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Single-vector heading and 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 problem of inability to extract attitude information, and achieve the effect of low calculation cost, high calculation accuracy, and reduced calculation accuracy

Active Publication Date: 2022-07-19
山东石油化工学院 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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  • Single-vector heading and attitude information extraction method
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  • Single-vector heading and attitude information extraction method

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Experimental program
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Embodiment 1

[0127] 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.

[0128] Step one: set g bn =[0.58,0.58,0.58] T , ...

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Abstract

The invention discloses a method for extracting single-vector heading and attitude information. value range, and finally determine the value range of the roll angle. The invention only uses a single vector measurement value to extract the heading information, and provides a new technology method for obtaining the heading information by using the vector measurement value. According to the Euler angle calculation function, The analytical formula for determining all the extreme points of Euler angles is developed, which can effectively improve the utilization of vector heading information, and significantly reduce the amount of calculation while ensuring the accuracy of the calculation. It has the advantages of low computational cost and high computational accuracy.

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 of 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 measur...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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