Attitude measurement system and method and oil well borehole trajectory measurement system and method

Abstract

The invention discloses a system and a method for continuously measuring postures of a rigid bracket (100) at a gravity field by utilizing a two-axis gyroscope as well as a system and a method for measuring a wellbore track of an oil well. The system for continuously measuring the postures by utilizing the two-axis gyroscope comprises a gyroscope sensor (200), an accelerometer (300) and a calculation unit (500). According to the systems and the methods disclosed by the invention, the defects that a gyroscope point measurement operation is complicated and wastes time are overcome, and the disadvantages of continuous measurement of a three-axis gyroscope that the outer diameter is great and the hardware cost is high are avoided; the continuous measurement of the oil field track in a moving process of the rigid bracket (100) can be realized; and the well logging time is shortened, the well logging efficiency is improved and the manufacturing cost of hardware is reduced.

Description

technical field [0001] The invention relates to the field of inertial measurement, and in particular to a method and a system for continuously measuring the attitude of a rigid support in a gravity field by using a two-axis gyroscope, and a method and a system for continuously measuring the trajectory of an oil well borehole. Background technique [0002] In order to cope with the increasing demand for oil in the world economy, the accurate and efficient measurement of oil well trajectory in production logging is becoming more and more important, which requires instruments with high precision and high logging efficiency. The trajectory of the oil well can be obtained by measuring the attitude of the instrument in the wellbore. The attitude of the instrument is uniquely determined by three parameters: inclination angle, azimuth angle and high side angle. Such as figure 1 As shown, the inclination angle refers to the angle between the central axis of the instrument and the lo...

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Problems solved by technology

[0004] In order to overcome the cumbersome and time-consuming disadvantages of gyroscope point measurement operations, and avoid the shortcomings of large external diameter and high hardware cost of continuous measurement by a three-axis gyroscope, the present invention provides a method for continuously measuring the attitude of a rigid support in a gravity field by using a two-axis gyroscope. The system includes: a gyro sensor, the gyro sensor is rigidly connected to the rigid support and the two angular velocity sensitive axes of the gyro sensor are orthogonal to the central axis of the rigid support, and are used to measure the directions of the two angular velocity sensitive axes of the gyro sensor Accelerometer, rigidly connected with the rigid support, used to measure the inclination angle and high side angle of the rigid support; calculation unit, used for according to the inclination angle, high side angle and azimuth angle of the rigid support at the initial moment, The high side angle at any moment and the angular velocity in the direction of the two angular velocity sensitive axes measured by the gyro sensor during the period from the initial moment to any moment, calculate the azimuth angle of the rigid support at any moment, and then combine the accelerometer measured The inclination angle and high side angle of the rigid support at this arbitrary moment determine the attitude of the rigid support at this arbitrary moment

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