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Method and device for dynamic measurement of gravity tool face angle of rotary steerable platform

A tool face angle, stable platform technology, applied in the measurement device, navigation through velocity/acceleration measurement, navigation and other directions, can solve the problem of not giving the gravity tool face angle and so on

Active Publication Date: 2019-11-01
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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  • Method and device for dynamic measurement of gravity tool face angle of rotary steerable platform
  • Method and device for dynamic measurement of gravity tool face angle of rotary steerable platform
  • Method and device for dynamic measurement of gravity tool face angle of rotary steerable 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 an arrangement 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 average difference of the Z-axis acceleration measurement before and after data fusion is about 0.63g, and the centrifug...

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 posture change of the stable platform is continuous, and the gravity tool face angle measured by the measuring method of the present invention is preprocessed to retain useful deviations and eliminate discontinuous jumps.

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Abstract

The invention relates to a method and device for dynamically measuring the face angle of a gravity tool on a rotation-guiding stable platform, which adopts the corresponding acceleration, magnetic field and angular velocity data measured by a double accelerometer, a three-axis fluxgate sensor and a gyroscope when the stable platform is in motion. After pre-filtering, it can automatically judge the sensor failure under different working conditions and different sensor failures and switch to the corresponding calculation method to solve the gravity tool face angle, realize the measurement of the gravity tool face angle, and improve the reliability of the gravity tool face angle measurement and through complementary filtering, the gravity tool face angle measured and calculated by dual accelerometers or single accelerometers or fluxgate sensors and the ground velocity measured by gyroscopes are used to weaken the impact of lateral vibration and torsional vibration on the measured value of gravity tool face angle The influence of the obtained gravity tool face angle measurement value 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 Patents(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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