Strapdown inertial combine measurement controller adapted to whole-optical fiber digital slope level

Abstract

The present invention discloses a strapdown inertial combination measurement control device applicable to all-fibre digital clinometer, it is used for measuring well course of oil well and gas well, in particular it is applicable to conventional measurement with line and measurement while drilling. Said control device adopts strapdown inertial navigation principle, and utilizes main navigation system formed from optical-fibre gyroscope and anti-vibration accelerometer, under the condition of different working environments and measurement accuracy requirements respectively utilizes several external information of logging cable rope length, flux-gate sensor and zero speed and combines kalman filter so as to make system error estimation and correction of main inertial navigation system, and can limit error diffusion of inertial navigation system and form a high-accuracy combination inertial measurement instrument.

Description

technical field [0001] The present invention relates to an information processing control device for improving the measurement accuracy of an all-fiber digital inclinometer, more particularly, it refers to an information fusion process using sensing information collected by external multi-sensors and inertial information collected by an optical fiber gyroscope, The strapdown inertial combination measurement control device can effectively improve the measurement accuracy of the all-fiber digital inclinometer working for a long time. Background technique [0002] With the depletion of oil resources, it is more and more difficult to extract. In the process of oil drilling, there is an urgent need for high-precision inclinometers that can accurately measure wellbore trajectory parameters to provide reliable design and development information for industrial departments. Especially for ultra-deep wells, when blowout events occur in deep high-pressure formations, it is necessary t...

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Problems solved by technology

The fluxgate inclinometer has the advantages of simple structure, low price and stable performance, but it cannot realize the wellbore trajectory measurement of the measured oil well with magnetic interference; the mechanical gyro inclinometer can make up for this shortcoming , but the inherent rotation mechanism inside the mechanical gyroscope makes it have defects such as complex structure, easy damage, poor vibration resistance, and large drift.

[0004] The all-fiber digital inclinometer is a borehole trajectory measurement instrument based on the principle of fiber optic gyro strapdown inertial measurement. Since the inertial measurement error composed of fiber optic gyro and accelerometer will increase with time, the inclinometer The measurement accuracy in the long-term working environment is low, and it is difficult to meet the long-term high-precision measurement requirements in the actual use of petroleum logging

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