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Dynamic measurement method and device for face angle of gravity tool of rotary guide stable platform

A tool face angle, stable platform technology, applied in the direction of measuring device, navigation through speed/acceleration measurement, navigation, etc., can solve the problem that the gravity tool face angle is not given

Active Publication Date: 2017-12-26
CHINA UNIV OF PETROLEUM (EAST CHINA)
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method does not provide a detailed formula for calculating the gravity tool face angle through the original measurement data of the fluxgate.

Method used

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  • Dynamic measurement method and device for face angle of gravity tool of rotary guide stable platform
  • Dynamic measurement method and device for face angle of gravity tool of rotary guide stable platform
  • Dynamic measurement method and device for face angle of gravity tool of rotary guide stable platform

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Embodiment 1

[0151] Embodiment 1: In this embodiment, the angle between the main accelerometer and the auxiliary accelerometer is arranged in the way of γ=180°, and the stable platform is horizontally installed on the fixed frame. Referring to Figure 4, the rotational speed of the stable platform varies within ±2.5rps. When the rotational speed of the stable platform changes from +2.5rps to -2.5rps or from -2.5rps to +2.5rps, the motion acceleration has a greater impact on the measured values ​​of the Y-axis and Z-axis. The difference of the acceleration measurement value before and after the Y-axis data processing is about 2.8g, and the fluctuation of the Y-axis measurement value is significantly reduced. After processing by the double acceleration data fusion method, the influence of the motion acceleration on the measurement value is effectively suppressed. The mean difference of Z-axis acceleration measurement value before and after data fusion is about 0.63g, and the centrifugal accel...

Embodiment 2

[0152] Embodiment 2: In this embodiment, see Image 6 , the stable platform rotates at a constant speed of 1rps, and the error e obtained when the conventional processing method is used to measure the gravity tool face angle is discontinuous. However, the attitude change of the stable platform itself is continuous, and the gravity tool face angle measured by the measuring method of the present invention is preprocessed by the gravity tool face angle, which retains useful deviations and eliminates discontinuous jumps.

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Abstract

The invention relates to a dynamic measurement method and device for a face angle of a gravity tool of a rotary guide stable platform. After pre-filtering is carried out on corresponding accelerated speed, magnetic field and angular speed data, which are measured by double accelerometers, a three-axis magnetic flux gate sensor and a gyroscope when the stable platform moves, faults of the sensors are automatically judged when different sensors have faults under different working conditions and a corresponding solving method is switched to solve the face angle of the gravity tool, so that the measurement of the face angle of the gravity tool is realized and the reliability of the measurement of the face angle of the gravity tool is improved; the face angle of the gravity tool, which is measured and solved by the double accelerometers or the single accelerometer or the magnetic flux gate sensor, and a speed over ground, which is measured through the gyroscope, are fused through complementary filtering, and influences, caused by transverse vibration and torsional vibration, on a measured value of the face angle of the gravity tool are weakened; the measured value of the face angle of the gravity tool is more accurate.

Description

technical field [0001] The invention belongs to the technical field of attitude dynamic measurement of drilling tools, and relates to a single-axis inertial platform attitude measurement technology, in particular to a method and device for dynamically measuring the gravity tool face angle of a rotation-guiding stable platform. Background technique [0002] In petroleum directional drilling technology, the gravity tool face is a very important process parameter. After the steerable drilling tool with a certain bending angle with the drill string is lowered to the bottom of the well, the intersection line between the curved surface and the bottom circular plane starts from the high side of the bottom circular surface, and the angle turned clockwise is called the gravity tool face. The curved face of a steerable drilling tool is called the device face. Conventional steering drilling tools are bent joints or angled screw drilling tools, and rotary steering drilling tools are a ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 王伟亮耿艳峰
Owner CHINA UNIV OF PETROLEUM (EAST CHINA)
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