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Univector heading attitude information extraction method

A technology of information extraction and attitude, which is applied in the directions of surveying, earthwork drilling, wellbore/well components, etc., can solve the problems such as the inability to extract attitude information, and achieve the effects of low calculation cost, reduced calculation accuracy and high calculation accuracy

Active Publication Date: 2022-06-03
山东石油化工学院 +1
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  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The above methods all require measurement components from two vectors, and attitude information cannot be extracted when there is only a single vector measurement

Method used

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  • Univector heading attitude information extraction method
  • Univector heading attitude information extraction method
  • Univector heading attitude information extraction method

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Embodiment 1

In the northeast sky reference coordinate system g r =[0, 0, 9.8] T , m r =[-3627, 29344, 44065] T , the gravitational acceleration measurement g b =[-5.39,-8.01, 0.89] T , the geomagnetic vector measurements m b =[913, 53204, -406] T , where the unit of gravitational acceleration vector is m / s 2 , and the unit of the geomagnetic vector is Nat. Using the above two-vector measurement values ​​and the traditional TRIAD method, the reference value of the heading angle can be obtained: 6.55 degrees, the reference value of the pitch angle: -55.41 degrees, the reference value of the roll angle: 80.65 degrees, and the complete value range of the heading angle is [ -180,180] degrees, the complete value range of the pitch angle is [-90,90] degrees, and the complete value range of the roll angle is [-180,180] degrees. The method of the present invention is used to extract the geomagnetic vector heading information.

[0018] Step one: set g bn =[0.58,0.58,0.58] T , the init...

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Abstract

The invention discloses a one-way vector heading attitude information extraction method, which comprises the following steps of: 1, calculating an initial transformation matrix, then obtaining a general transformation matrix expression, then determining a value range of a pitch angle, then determining a value range of a course angle, and finally determining a value range of a roll angle; according to the method, the attitude and heading information is extracted only by using a single vector measurement value, a new technical method for obtaining the attitude and heading information by using the vector measurement value is provided, an analytic calculation formula for determining all Euler angle extreme points is given according to an Euler angle calculation function, the utilization rate of the vector attitude and heading information can be effectively improved, and the accuracy of the attitude and heading information is improved. The calculation amount is obviously reduced while the calculation accuracy is ensured, and the method has the advantages of low calculation cost and high calculation precision.

Description

technical field [0001] The invention relates to the technical field of directional drilling, in particular to a method for extracting single-vector heading information. Background technique [0002] In oil and natural gas exploration and development projects, the use of directional drilling technology can adopt reasonable drilling trajectories according to specific conditions such as geological conditions and oil and gas reservoir locations to maximize social and economic benefits. In the process of directional drilling, in order to monitor and control the actual drilling trajectory, it is necessary to obtain the heading information of the drilling tool and the wellbore trajectory at different well depths. A common method for obtaining heading information is to use a three-axis accelerometer and a three-axis magnetic sensor to measure the coordinates of the gravitational acceleration vector and the geomagnetic vector in the coordinate system of the heading and attitude measu...

Claims

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Application Information

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IPC IPC(8): G06F17/18G06F17/16E21B47/024E21B47/022
CPCG06F17/18G06F17/16E21B47/022E21B47/024
Inventor 石岗于云华商红蕾陈洪帅薛清然
Owner 山东石油化工学院
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