A full-attitude differential optimization positioning method, system and device

Abstract

The present invention discloses a full-attitude differential optimization positioning method, system and equipment. The full-attitude differential optimization probe includes: a pressure-resistant tube, a skeleton, a sensor module and a circuit board module. The sensor module and the circuit board module are connected and arranged on the skeleton, and the sensor module, the circuit board module and the skeleton are arranged in the pressure-resistant tube; the sensor module includes at least one axial three-axis fluxgate sensor, at least three radial three-axis fluxgate sensors and at least one three-axis acceleration sensor; the three-axis fluxgate sensor is used to detect the magnetic field signal generated by the target well and collect relevant data of the magnetic field signal; the three-axis acceleration sensor is used to detect the gravity acceleration component of the full-attitude differential optimization probe itself; the circuit board module is used to power the sensor module and transmit the data collected by the sensor module. The present invention optimizes and realizes full-attitude differential positioning, avoiding the problem of magnetic field gradient annihilation caused by sensor measurement errors.

Description

Technical Field

[0001] The present invention relates to the field of downhole detection technology, and in particular to a full-attitude differential optimization positioning method, system and equipment. Background Art

[0002] Drilling rescue wells is a special measure in oil and gas engineering. It is suitable for dealing with deep well blowout accidents on land and sea, and can also be used to plug abandoned old wells with complex well conditions in gas storage facilities. It has multiple functions. Unlike conventional directional wells, it is difficult to predetermine the drilling target, depth target, etc. for rescue wells, and high requirements are placed on trajectory control. Due to the uncertainty of the target wellbore trajectory, the key to successfully drilling and connecting rescue wells lies in accurately locating the target well. When the target is a blowout accident well, personnel and equipment must stay away from the wellhead of the target well to ensure safety; when the target is an abandoned old well, there are often fish trapped in the well and sometimes the wellhead cannot be found. Therefore, the tool generally cannot be directly lowered into the target well, and traditional technology cannot achieve efficient connection between the rescue well and the target well. Summary of the invention

[0003] In view of the above problems, the present invention is proposed to provide a full-attitude differential optimization positioning method, system and device that overcome the above problems or at least partially solve the above problems.

[0004] In a first aspect, an embodiment of the present invention provides a full-attitude differential optimization probe, characterized in that it includes: a pressure-resistant tube, a frame, a sensor module and a circuit board module, wherein the sensor module and the circuit board module are electrically connected and arranged on the frame, and the sensor module, the circuit board module and the frame are arranged in the pressure-resistant tube;

[0005] The sensor module includes at least one axial three-axis fluxgate sensor, at least three radial three-axis fluxgate sensors and at least one three-axis acceleration sensor; the radial three-axis fluxgate sensor is arranged on the same cross section of the pressure-resistant cylinder, and the axial three-axis fluxgate sensor and one of the radial three-axis fluxgate sensors are arranged on the same longitudinal section of the pressure-resistant cylinder;

[0006] The axial three-axis fluxgate sensor and the radial three-axis fluxgate sensor are used to detect the magnetic field signal generated by the target well and collect relevant data of the magnetic field signal; the three-axis acceleration sensor is used to detect the gravity acceleration component of the full-attitude differential optimization probe itself;

[0007] The circuit board module is used to supply power to the sensor module and transmit relevant data collected by the sensor module.

[0008] In one embodiment, the at least three radial three-axis fluxgate sensors are evenly arranged on the cross section and are equidistant from the center of the cross section;

[0009] The Z axis of the three-axis fluxgate sensor is parallel to the central axis of the pressure-resistant cylinder, and the X axis and Y axis of the three-axis fluxgate sensor are parallel to each other and in the same direction, and intersect with the central axis of the pressure-resistant cylinder.

[0010] In one embodiment, the above-mentioned full-attitude differential optimization probe further includes: a guide shoe;

[0011] The first end of the pressure-resistant cylinder is connected to the guide shoe.

[0012] In one embodiment, the three-axis acceleration sensor is arranged on the skeleton and located on a side close to the guide shoe, and the X-axis, Y-axis and Z-axis of the three-axis acceleration sensor are respectively parallel and in the same direction as the X-axis, Y-axis and Z-axis of the three-way fluxgate sensor.

[0013] In one embodiment, the full-attitude differential optimization probe further includes: a weighted tube and an interface end plug;

[0014] One end of the weighted cylinder is connected to the interface end plug, and the other end is connected to the second end of the pressure-resistant cylinder. The cable connected to the circuit board module in the pressure-resistant cylinder passes through the weighted cylinder and the interface end plug to be connected to the ground data acquisition system;

[0015] The axial three-axis fluxgate sensor is arranged on the frame and close to one side of the weighted cylinder.

[0016] In one embodiment, the full-attitude differential optimization probe further includes: a temperature sensor, disposed on the frame, for collecting ambient temperature data of the full-attitude differential optimization probe;

[0017] The circuit board module is also used to transmit the temperature data collected by the temperature sensor.

[0018] In a second aspect, an embodiment of the present invention provides a downhole tool string for use in a rescue well of a target well, wherein the downhole tool string comprises: a linear electrode connected by a cable and the full-attitude differential optimization probe as described above;

[0019] The linear electrode is used to inject an alternating current into the surrounding formation of the rescue well to stimulate the target well to generate a corresponding alternating magnetic field.

[0020] In one embodiment, the aforementioned downhole tool string further includes: a torpedo head and a connector, wherein the torpedo head, the connector, the linear electrode and the full-attitude differential optimization probe are sequentially connected by cables.

[0021] In a third aspect, an embodiment of the present invention provides a downhole passive magnetic guidance differential positioning system, comprising: an industrial computer, a computing device and the downhole tool string as described above; wherein:

[0022] The industrial computer is respectively connected to the downhole tool string and the computing device as described above;

[0023] The industrial computer is used to provide power to the downhole tool string and control signals for linear electrodes in the downhole tool string;

[0024] The computing device is used to determine the relative position between the rescue well and the target well based on the relevant data of the magnetic field signal generated by the target well detected and transmitted by the full-attitude differential optimization probe in the downhole tool string and the gravity attitude data of the full-attitude differential optimization probe itself.

[0025] In a fourth aspect, an embodiment of the present invention provides a differential positioning method for performing downhole passive magnetic guidance using the aforementioned differential positioning system, comprising:

[0026] The linear electrodes of the downhole tool string are controlled by an industrial computer to inject alternating current into the surrounding formations of the rescue well;

[0027] Through the full-attitude differential optimization probe of the downhole tool string, relevant data of the alternating magnetic field signal generated by the alternating current gathered in the target well and the gravity attitude data of the full-attitude differential optimization probe itself are collected;

[0028] The relative position between the target well and the rescue well is determined by a computing device according to the relevant data of the alternating magnetic field signal and the gravity attitude data.

[0029] Further, the relative position between the target well and the rescue well includes: the horizontal distance between the target well and the rescue well;

[0030] The horizontal distance is calculated by the following equations:

[0031]

[0032] Among them, H ix , H iy , H iz are the magnetic field signal amplitudes of the i-th three-axis fluxgate sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H i is the magnetic field signal amplitude of the i-th fluxgate sensor; G x , G y , G z are the acceleration components of the three-axis acceleration sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H m , H n is the maximum and minimum value of the combined amplitude of the magnetic field signal; r is the horizontal distance between the rescue well and the target well; d mnIt is half of the horizontal projection distance between the fluxgate sensor with the largest magnetic field signal amplitude and the fluxgate sensor with the smallest magnetic field signal amplitude, that is, the best differential optimization distance; θ is the vector The angle between the three-axis fluxgate sensor with the largest amplitude and the three-axis fluxgate sensor with the smallest amplitude.

[0033] In a fifth aspect, an embodiment of the present invention provides a method for determining a relative position between a target well and a rescue well, comprising:

[0034] Acquire the data related to the magnetic field signal generated by the target well collected by the axial three-axis fluxgate sensor and the radial three-axis fluxgate sensor in the full-attitude differential optimization probe, and the data of the gravity acceleration component of the probe itself collected by the three-axis acceleration sensor in the full-attitude differential optimization probe;

[0035] The horizontal distance between the target well and the rescue well is calculated by the following set of equations:

[0036]

[0037] Among them, H ix , H iy , H iz are the magnetic field signal amplitudes of the i-th three-axis fluxgate sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H i is the magnetic field signal amplitude of the i-th fluxgate sensor; G x , G y , G z are the acceleration components of the three-axis acceleration sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H m , H n is the maximum and minimum value of the combined amplitude of the magnetic field signal; r is the horizontal distance between the rescue well and the target well; d mn It is half of the horizontal projection distance between the fluxgate sensor with the largest magnetic field signal amplitude and the fluxgate sensor with the smallest magnetic field signal amplitude, that is, the best differential optimization distance; θ is the vector The angle between the three-axis fluxgate sensor with the largest amplitude and the three-axis fluxgate sensor with the smallest amplitude.

[0038] In a sixth aspect, an embodiment of the present invention provides a device for determining a relative position between a target well and a rescue well, comprising:

[0039] An acquisition module is used to acquire the relevant data of the magnetic field signal generated by the target well collected by the axial three-axis fluxgate sensor and the radial three-axis fluxgate sensor in the full-attitude differential optimization probe, and the data of the gravity acceleration component of the probe itself collected by the three-axis acceleration sensor in the full-attitude differential optimization probe;

[0040] The calculation module is used to calculate the horizontal distance between the target well and the rescue well by the following equation group:

[0041]

[0042] Among them, H ix , H iy , H iz are the magnetic field signal amplitudes of the i-th three-axis fluxgate sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H i is the magnetic field signal amplitude of the i-th fluxgate sensor; G x , G y , G z are the acceleration components of the three-axis acceleration sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H m , H n is the maximum and minimum value of the combined amplitude of the magnetic field signal; r is the horizontal distance between the rescue well and the target well; d mn It is half of the horizontal projection distance between the fluxgate sensor with the largest magnetic field signal amplitude and the fluxgate sensor with the smallest magnetic field signal amplitude, that is, the best differential optimization distance; θ is the vector The angle between the three-axis fluxgate sensor with the largest amplitude and the three-axis fluxgate sensor with the smallest amplitude.

[0043] In the seventh aspect, an embodiment of the present invention provides a computing device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for determining the relative position between a target well and a rescue well as described above when executing the computer program.

[0044] In an eighth aspect, an embodiment of the present invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method for determining the relative position between a target well and a rescue well as described above.

[0045] In a ninth aspect, an embodiment of the present invention provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the method for determining the relative position between a target well and a rescue well as described above.

[0046] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least:

[0047] The full-attitude differential positioning optimization probe, downhole tool string, differential positioning system, downhole passive magnetic guidance differential positioning method and method for determining the relative position between the target well and the rescue well provided by the embodiment of the present invention can not only detect the alternating magnetic field and geomagnetic field signal generated by the focusing current of the target well in real time, but also determine the gravity posture of the current probe. When the magnetic field signal data and the gravity posture data are transmitted to the ground computing device through the cable, the computing device can perform differential optimization according to the alternating magnetic field signal data and the gravity posture data, and then accurately determine the relative position between the rescue well and the target well. The embodiment of the present invention does not need to estimate the magnitude of the target well's concentrated current, avoiding the problem of large positioning error caused by the uncertainty of the target well's concentrated current; at the same time, the embodiment of the present invention optimizes and realizes full-attitude differential positioning, avoiding the problem of gradient annihilation caused by sensor measurement errors, and can provide a basis for the next step of directional drilling in the rescue of accident wells, the re-entry plugging or repair of old wells, and the collision prevention of cluster wells and adjacent wells.

[0048] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0049] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0051] Figure 1 It is a structural schematic diagram of a full-attitude differential optimization probe in an embodiment of the present invention;

[0052] Figure 2 It is a schematic diagram of the arrangement positions of the three-axis fluxgate sensor and the three-axis acceleration sensor in the full-attitude differential optimization probe tube in the pressure-resistant cylinder in an embodiment of the present invention;

[0053] Figure 3 Schematic diagram of the structure of a downhole passive magnetic guidance differential positioning system in an embodiment of the present invention;

[0054] Figure 4 Flow chart of the full-attitude differential optimization positioning method in an embodiment of the present invention;

[0055] Figure 5 A schematic diagram of a relative position calculation model between a rescue well and a target well in an embodiment of the present invention;

[0056] Figure 6 It is a structural block diagram of a device for determining the relative position between a target well and a rescue well in an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0058] The inventors of the present invention have found in the long-term research and development process that some solutions have appeared in the prior art for the problem that the target well is difficult to locate, such as a method of associating the magnetic field signal strength by estimating the size of the target well casing concentrated current. The positioning result of this method requires secondary correction, which affects the effectiveness and accuracy of positioning; for example, the target well is located by injecting current into the rescue well to stimulate the magnetic field in the target well. When the inventors of the present invention locate the target well according to the method proposed in the patent document "Device and method for measuring the distance between adjacent wells based on the degree of magnetic field gradient" (application publication number CN109869140A), it is found that this method is greatly affected by the posture of the probe. For example, when the well inclination is large or the connection line of the two fluxgate sensors of the probe is not collinear with the connection line of the rescue well and the target well, the gradient is easily annihilated by the measurement error of the sensor, and the scope of application is limited. In extreme cases, when the well inclination is large or the two sensors are perpendicular to the target well and the drilling well, the magnetic field gradient is annihilated, and the error is even as high as 100%, which cannot meet the general magnetic guidance positioning under full posture conditions.

[0059] In order to better solve the problem of large positioning error under the condition of uncertain current accumulation in the casing of the target well, the embodiment of the present invention provides a full-attitude differential optimization probe 1, referring to Figure 1 and Figure 2 As shown, it includes: a pressure-resistant tube 11, a frame ( Figure 1 Not shown), sensor module ( Figure 1 Not shown) and circuit board module ( Figure 1 (not shown in the figure), wherein the sensor module and the circuit board module are electrically connected and arranged on the skeleton, and the sensor module, the circuit board module and the skeleton are arranged in the pressure-resistant cylinder 11.

[0060] The pressure-resistant tube 11 can well protect the sensor module and the circuit board module, ensuring that they can work normally even in complex conditions underground.

[0061] The above-mentioned circuit board module includes a power supply circuit board and a communication circuit board, wherein the power supply circuit board is used to supply power to each sensor arranged on the frame, and the communication circuit board is used to transmit data to each sensor arranged on the frame.

[0062] The sensor module includes at least one axial three-axis fluxgate sensor 12, at least three radial three-axis fluxgate sensors 13, 14, 15 and at least one three-axis acceleration sensor 16; the radial three-axis fluxgate sensors 13, 14, 15 are arranged on the same cross section of the pressure-resistant cylinder 11 (of course, the number of three-axis fluxgate sensors can be greater than 3, and the embodiment of the present invention Figure 2 Taking 3 as an example), the axial three-axis fluxgate sensor 12 and the radial three-axis fluxgate sensor 13 are arranged on the same longitudinal section of the pressure-resistant cylinder;

[0063] The axial three-axis fluxgate sensor 12 and the radial three-axis fluxgate sensors 13 to 15 are used to detect the magnetic field signal generated by the target well and collect relevant data of the magnetic field signal;

[0064] A three-axis acceleration sensor 17 is used to detect the gravity acceleration component of the full-attitude differential optimization probe 1 itself;

[0065] The circuit board module is used to supply power to the sensor module and transmit relevant data collected by the sensor module.

[0066] The axial three-axis fluxgate sensor 12 and the radial three-axis fluxgate sensors 13-15 are used to detect the alternating magnetic field generated by the target well string and the geomagnetic field signal in the area. The three-axis acceleration sensor 16 is used to detect the gravity acceleration component of the probe, calculate the well inclination and azimuth of the probe itself, and assist in positioning.

[0067] Preferably, in the embodiment of the present invention, the three-axis fluxgate sensor may be a high-precision sensor, that is, the sensor accuracy is above 0.05nT, so as to ensure accurate positioning results.

[0068] Preferably, the three radial three-axis fluxgate sensors 13-15 are evenly arranged on the cross section and are equidistant from the center of the cross section; that is, the angle between the three radial three-axis fluxgate sensors is 120°, and the distances from the central axis of the cross section are equal.

[0069] Reference Figure 2 As shown, the Z axes of the axial three-axis fluxgate sensor 12 and the radial three-axis fluxgate sensors 13 to 15 are parallel to the central axis of the pressure-resistant cylinder, and the X axes and Y axes of the axial three-axis fluxgate sensor 12 and the radial three-axis fluxgate sensors 13 to 15 are parallel to each other and in the same direction, and intersect with the central axis of the pressure-resistant cylinder.

[0070] The above-mentioned full-attitude differential optimization probe provided by the embodiment of the present invention further includes: a temperature sensor ( Figure 1 and Figure 2 (not shown in the figure), which is arranged on the frame and used to collect the ambient temperature data of the full-attitude differential optimization probe;

[0071] The circuit board module is also used to transmit temperature data collected by the temperature sensor.

[0072] The temperature sensor monitors the temperature of the probe tube to ensure that each sensor in the probe tube operates in a suitable temperature environment.

[0073] Reference Figure 1 As shown, the above-mentioned full-attitude differential optimization probe may further include: a guide shoe 17;

[0074] The first end of the pressure-resistant cylinder 11 is connected to the guide shoe 17 .

[0075] Correspondingly, the three-axis acceleration sensor 15 is arranged on the skeleton and located on the side close to the guide shoe 17, and the X-axis, Y-axis and Z-axis of the three-axis acceleration sensor 16 are parallel and in the same direction as the X-axis, Y-axis and Z-axis of the axial three-axis fluxgate sensor 12 and the radial three-axis fluxgate sensor 14 respectively.

[0076] Reference Figure 1 The full-attitude differential optimization probe shown also includes: a weighted tube 18 and an interface end plug ( Figure 1 not shown);

[0077] One end of the weighted tube 18 is connected to the interface end plug, and the other end is connected to the second end of the pressure-resistant tube 11. The cable connected to the circuit board module in the pressure-resistant tube 11 passes through the weighted tube 18 and the interface end plug to be connected to the ground data acquisition system;

[0078] The axial three-axis fluxgate sensor 12 is arranged on the frame and close to one side of the weighted cylinder 18 .

[0079] The purpose of providing the weight tube 18 is to increase the deadweight of the full-attitude differential optimization probe and facilitate the lowering of the probe into the wellbore.

[0080] Based on the structure and function of the aforementioned full-attitude differential optimization probe, an embodiment of the present invention further provides a downhole tool string, which is used in a rescue well.

[0081] Reference Figure 3 As shown, the downhole tool string includes: a linear electrode 2 connected by a cable and the aforementioned full-attitude differential optimization probe 1; wherein:

[0082] The linear electrode 2 is used to inject an alternating current into the surrounding formation of the rescue well to stimulate the target well to generate a corresponding alternating magnetic field.

[0083] Further, refer to Figure 3 As shown, the downhole tool string may further include: a torpedo head 3 and a connector 4;

[0084] The full-attitude differential optimization probe 1 is connected to the linear electrode 2 through the insulating tape 10 , and is connected to the connector 4 , the torpedo head 3 and the cable 5 .

[0085] The cable 5 may be a four-core or seven-core cable in the prior art. The embodiment of the present invention does not limit which cable to use.

[0086] Reference Figure 3 As shown, the embodiment of the present invention also provides a downhole passive magnetic guidance differential positioning system, comprising: an industrial computer 6, a computing device 7 and a downhole tool string as described above; wherein:

[0087] The industrial computer 6 is respectively connected to the downhole tool string and the computing device 7 as mentioned above;

[0088] The industrial computer 6 is used to provide power to the downhole tool string and provide control signals to the linear electrode 2 in the downhole tool string;

[0089] The computing device 7 is used to determine the relative position between the rescue well and the target well based on the relevant data of the magnetic field signal generated by the target well detected and transmitted by the full-attitude differential optimization probe in the downhole tool string and the gravity attitude data of the full-attitude differential optimization probe itself.

[0090] The computing device 7 can be any device with program computing function, including but not limited to: computers, mobile phones, tablet computers, microcomputers and other intelligent devices.

[0091] Figure 3 In the shown downhole passive magnetic guidance differential positioning system, when it is working, the industrial computer 6 and the computing device 7 are located on the ground, and the downhole tool string is located underground.

[0092] The working process of the system is as follows: when the rescue well 8 is drilled to the target well depth, the drilling tools in the rescue well 8 are taken out, and the downhole tool string connected by the cable 5 is placed in the rescue well 8. The downhole tool string is connected to the ground industrial control computer 6 through a standard interface, and the industrial control computer 6 is connected to the computing device 7, and connected to the industrial frequency power supply (220V / 50Hz) to provide power and control signals to the downhole tool string. When it is necessary to work, the ground industrial control computer 6 controls the linear electrode 2 in the well to inject an excitation current into the surrounding formation. Since the conductivity of the metal pipe string of the target well 9 is much greater than the formation, the excitation current will gather on the metal pipe string of the target well 9, forming an upward gathering current and a downward gathering current; wherein, the downward gathering current generates an alternating magnetic field around the target well 9, and the differential positioning optimization probe 1 detects the alternating magnetic field signal and its own gravity posture, and transmits it to the computing device 7 (such as a computer) on the ground through a series of channels such as the cable 5. The computing device 7 determines the relative position of the rescue well and the target well according to the data signal detected by the downhole differential positioning optimization probe 1.

[0093] The full-attitude differential positioning optimization probe, downhole tool string, and differential positioning system provided by the embodiment of the present invention can not only detect the alternating magnetic field and geomagnetic field signals generated by the focusing current of the target well in real time, but also determine the current probe's own gravity attitude. When the magnetic field signal data and the own gravity attitude data are transmitted to the ground computing device through a cable, the computing device can perform differential optimization based on the alternating magnetic field signal data and the gravity attitude data, and then accurately determine the relative position of the rescue well and the target well. The embodiment of the present invention does not need to estimate the magnitude of the concentrated current of the target well, avoiding the problem of large positioning error caused by the uncertainty of the concentrated current of the target well; at the same time, the embodiment of the present invention optimizes and realizes full-attitude differential positioning, avoiding the problem of magnetic field gradient annihilation caused by sensor measurement errors, and can provide a basis for the next step of directional drilling in the rescue of accident wells, the re-entry plugging or repair of old wells, and the collision prevention of cluster wells and adjacent wells.

[0094] Based on the aforementioned downhole passive magnetic guidance differential positioning system, the embodiment of the present invention also provides a full-attitude differential optimization positioning method using the downhole passive magnetic guidance differential positioning system, referring to Figure 4 As shown, the method includes:

[0095] S41, controlling the linear electrodes of the downhole tool string through the industrial computer to inject alternating current into the surrounding formations of the rescue well;

[0096] S42, collecting, through the full-attitude differential optimization probe of the downhole tool string, relevant data of the alternating magnetic field signal generated by the alternating current gathered in the target well and the gravity attitude data of the full-attitude differential optimization probe itself;

[0097] S43. Determine the horizontal distance between the target well and the rescue well through a computing device according to the relevant data of the alternating magnetic field signal and the gravity attitude data.

[0098] Accordingly, in the above step S43, the horizontal distance between the target well and the rescue well is calculated using the following equation group:

[0099]

[0100] In the above formula, H ix , H iy , H iz are the magnetic field signal amplitudes of the i-th three-axis fluxgate sensor in the full-attitude differential optimization probe in the X, Y, and Z axes (including the axial three-axis fluxgate sensor and the radial three-axis fluxgate sensor); H i is the magnetic field signal amplitude of the i-th fluxgate sensor; G x , G y , G z are the acceleration components of the three-axis acceleration sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H m , H n is the maximum and minimum value of the combined amplitude of the magnetic field signal; r is the horizontal distance between the rescue well and the target well; d mn It is half of the horizontal projection distance between the fluxgate sensor with the largest magnetic field signal amplitude and the fluxgate sensor with the smallest magnetic field signal amplitude, which is also the best differential optimization distance; θ is the vector The angle between the three-axis fluxgate sensor with the largest amplitude and the three-axis fluxgate sensor with the smallest amplitude.

[0101] Figure 5 What is shown is a schematic diagram of a relative position calculation model between a rescue well 8 and a target well 9 in the downhole passive magnetic guidance differential positioning method of the present invention.

[0102] Figure 5 In, r m is the distance between the three-axis fluxgate sensor with the largest magnetic field signal amplitude and the rescue well, r n is the distance between the three-axis fluxgate sensor with the smallest magnetic field signal amplitude and the rescue well, r is the distance between the midpoint of the line connecting the above two three-axis fluxgate sensors and the rescue well, θ is the angle between r and the line connecting the three-axis fluxgate sensor with the largest magnetic field signal amplitude and the three-axis fluxgate sensor with the smallest magnetic field signal amplitude; the distance between the three radial three-axis fluxgate sensors 13, 14, and 15 is 2d, the distance between the radial three-axis fluxgate sensor 13 and the axial three-axis fluxgate sensor 12 is 2D, G represents the gravity acceleration signal, and H represents the magnetic field signal.

[0103] For the computing device of the passive magnetic guidance differential positioning system in the well, the embodiment of the present invention further provides a method for determining the relative position between the target well and the rescue well, the method comprising the following steps:

[0104] Acquire the data related to the magnetic field signal generated by the target well collected by the axial three-axis fluxgate sensor and the radial three-axis fluxgate sensor in the full-attitude differential optimization probe, and the data of the gravity acceleration component of the probe itself collected by the three-axis acceleration sensor in the full-attitude differential optimization probe;

[0105] The horizontal distance between the target well and the rescue well is calculated by the following set of equations:

[0106]

[0107] Among them, H ix , H iy , H iz are the magnetic field signal amplitudes of the i-th three-axis fluxgate sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H i is the magnetic field signal amplitude of the i-th fluxgate sensor; G x , G y , G z are the acceleration components of the three-axis acceleration sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H m , H n is the maximum and minimum value of the combined amplitude of the magnetic field signal; r is the horizontal distance between the rescue well and the target well; d mn It is half of the horizontal projection distance between the fluxgate sensor with the largest magnetic field signal amplitude and the fluxgate sensor with the smallest magnetic field signal amplitude, which is also the best differential optimization distance; θ is the vector The angle between the three-axis fluxgate sensor with the largest amplitude and the three-axis fluxgate sensor with the smallest amplitude.

[0108] Preferably, if the inclination angle of the rescue well is large during actual production, the calculation can be simplified, that is, only the relevant parameters collected by the axial three-axis fluxgate sensor 12 and the radial three-axis fluxgate sensor 13 located on the same longitudinal section are selected to participate in the calculation of the aforementioned set of equations to obtain the data on the relative position between the target well and the rescue well.

[0109] Based on the same inventive concept, an embodiment of the present invention also provides a device for determining the relative position between a target well and a rescue well. Since the principles of the problems solved by these devices are similar to the aforementioned methods for determining the relative position between a target well and a rescue well, the implementation of the device can refer to the implementation of the aforementioned method, and the repeated parts will not be repeated.

[0110] The embodiment of the present invention provides a device for determining the relative position between a target well and a rescue well, referring to Figure 6 As shown, including:

[0111] An acquisition module 61 is used to acquire the data related to the magnetic field signal generated by the target well collected by the axial three-axis fluxgate sensor and the radial three-axis fluxgate sensor in the full-attitude differential optimization probe, and the data of the gravity acceleration component of the probe itself collected by the three-axis acceleration sensor in the full-attitude differential optimization probe;

[0112] The calculation module 62 is used to calculate the horizontal distance between the target well and the rescue well by the following equation group:

[0113]

[0114] Among them, H ix , H iy , H iz are the magnetic field signal amplitudes of the i-th three-axis fluxgate sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H i is the magnetic field signal amplitude of the i-th fluxgate sensor; G x , G y , G z are the acceleration components of the three-axis acceleration sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H m , H n is the maximum and minimum value of the combined amplitude of the magnetic field signal; r is the horizontal distance between the rescue well and the target well; d mn It is half of the horizontal projection distance between the fluxgate sensor with the largest magnetic field signal amplitude and the fluxgate sensor with the smallest magnetic field signal amplitude, which is also the best differential optimization distance; θ is the vector The angle between the three-axis fluxgate sensor with the largest amplitude and the three-axis fluxgate sensor with the smallest amplitude.

[0115] An embodiment of the present invention also provides a computing device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the aforementioned method for determining the relative position between a target well and a rescue well when executing the computer program.

[0116] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program for executing the method for determining the relative position between a target well and a rescue well.

[0117] An embodiment of the present invention provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method for determining the relative position between a target well and a rescue well as described above is implemented.

[0118] Regarding the device for determining the relative position between the target well and the rescue well in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0119] The embodiment of the present invention does not need to lower tools or instruments into the target well, and has no direct impact on the target well; and does not need to estimate the size of the concentrated current in the target well, thereby eliminating the positioning error caused by current uncertainty and improving the accuracy of passive magnetic guidance positioning; the differential positioning method of downhole passive magnetic guidance solves the problem of annihilation of magnetic field gradient positioning error under general postures, and is suitable for passive magnetic guidance positioning under different postures of downhole probes.

[0120] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0121] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0122] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0123] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0124] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A full-attitude differential optimization probe, characterized in that: include: A pressure-resistant tube, a frame, a sensor module and a circuit board module, wherein the sensor module and the circuit board module are electrically connected and arranged on the frame, and the sensor module, the circuit board module and the frame are arranged in the pressure-resistant tube; The sensor module includes at least one axial three-axis fluxgate sensor, at least three radial three-axis fluxgate sensors and at least one three-axis acceleration sensor; the radial three-axis fluxgate sensor is arranged on the same cross section of the pressure-resistant cylinder, and the axial three-axis fluxgate sensor and one of the radial three-axis fluxgate sensors are arranged on the same longitudinal section of the pressure-resistant cylinder; The axial three-axis fluxgate sensor and the radial three-axis fluxgate sensor are used to detect the magnetic field signal generated by the target well and collect relevant data of the magnetic field signal; the three-axis acceleration sensor is used to detect the gravity acceleration component of the full-attitude differential optimization probe itself; The circuit board module is used to supply power to the sensor module and transmit relevant data collected by the sensor module.

2. The full-attitude differential optimization probe according to claim 1, characterized in that: The at least three radial three-axis fluxgate sensors are evenly arranged on the cross section and are equidistant from the center of the cross section; The Z axis of the three-axis fluxgate sensor is parallel to the central axis of the pressure-resistant cylinder, and the X axis and Y axis of the three-axis fluxgate sensor are parallel to each other and in the same direction, and intersect with the central axis of the pressure-resistant cylinder.

3. The full-attitude differential optimization probe as claimed in claim 2, characterized in that: Also includes: Lead shoes; The first end of the pressure-resistant cylinder is connected to the guide shoe.

4. The full-attitude differential optimization probe as claimed in claim 3, characterized in that: The three-axis acceleration sensor is arranged on the frame and located on a side close to the guide shoe, and the X-axis, Y-axis and Z-axis of the three-axis acceleration sensor are respectively parallel and in the same direction as the X-axis, Y-axis and Z-axis of the three-axis fluxgate sensor.

5. The full-attitude differential optimization probe as claimed in claim 3, characterized in that: Also includes: Weighted cylinder and interface end plugs; One end of the weighted cylinder is connected to the interface end plug, and the other end is connected to the second end of the pressure-resistant cylinder. The cable connected to the circuit board module in the pressure-resistant cylinder passes through the weighted cylinder and the interface end plug to be connected to the ground data acquisition system; The axial three-axis fluxgate sensor is arranged on the frame and close to one side of the weighted cylinder.

6. The full-attitude differential optimization probe according to any one of claims 1 to 5, characterized in that: Also includes: A temperature sensor, disposed on the frame, for collecting ambient temperature data of the full-attitude differential optimization probe; The circuit board module is also used to transmit the temperature data collected by the temperature sensor.

7. A downhole tool string, characterized in that: Used in a rescue well of a target well, the downhole tool string comprises: a linear electrode connected by a cable and a full-attitude differential optimization probe as described in any one of claims 1 to 6; The linear electrode is used to inject an alternating current into the surrounding formation of the rescue well to stimulate the target well to generate a corresponding alternating magnetic field.

8. The downhole tool string according to claim 7, characterized in that: Also includes: The torpedo head and the connector, the full-attitude differential optimization probe is connected to the linear electrode through an insulating tape, and is connected to the connector, the torpedo head and the cable.

9. A downhole passive magnetic guidance differential positioning system, characterized in that: include: An industrial computer, a computing device and a downhole tool string as claimed in claim 7 or 8; wherein: The industrial computer is connected to the downhole tool string as claimed in claim 7 or 8 and the computing device respectively; The industrial computer is used to provide power to the downhole tool string and control signals for linear electrodes in the downhole tool string; The computing device is used to determine the relative position between the rescue well and the target well based on the relevant data of the magnetic field signal generated by the target well detected and transmitted by the full-attitude differential optimization probe in the downhole tool string and the gravity attitude data of the full-attitude differential optimization probe itself.

10. A method for performing downhole passive magnetic guidance differential positioning using the differential positioning system as claimed in claim 9, characterized in that: include: The linear electrodes of the downhole tool string are controlled by an industrial computer to inject alternating current into the surrounding formations of the rescue well; Through the full-attitude differential optimization probe of the downhole tool string, relevant data of the alternating magnetic field signal generated by the alternating current gathered in the target well and the gravity attitude data of the full-attitude differential optimization probe itself are collected; Determine the relative position between the target well and the rescue well by a computing device according to the relevant data of the alternating magnetic field signal and the gravity attitude data; The relative position between the target well and the rescue well includes: the horizontal distance between the target well and the rescue well; The horizontal distance is calculated by the following equations: Among them, H ix , H iy , H iz are the magnetic field signal amplitudes of the i-th three-axis fluxgate sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H i is the magnetic field signal amplitude of the i-th fluxgate sensor; G x , G y , G z are the acceleration components of the three-axis acceleration sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H m , H n is the maximum and minimum value of the combined amplitude of the magnetic field signal; r is the horizontal distance between the rescue well and the target well; d mn It is half of the horizontal projection distance between the fluxgate sensor with the largest magnetic field signal amplitude and the fluxgate sensor with the smallest magnetic field signal amplitude, that is, the best differential optimization distance; θ is the vector The angle between the three-axis fluxgate sensor with the largest amplitude and the three-axis fluxgate sensor with the smallest amplitude.

11. A method for determining the relative position between a target well and a rescue well, characterized in that: include: Acquire the relevant data of the magnetic field signal generated by the target well collected by the axial three-axis fluxgate sensor and the radial three-axis fluxgate sensor in the full-attitude differential optimization probe, and the data of the gravity acceleration component of the probe itself collected by the three-axis acceleration sensor in the full-attitude differential optimization probe; The horizontal distance between the target well and the rescue well is calculated by the following set of equations: Among them, H ix , H iy , H iz are the magnetic field signal amplitudes of the i-th three-axis fluxgate sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H i is the magnetic field signal amplitude of the i-th fluxgate sensor; G x , G y , G z are the acceleration components of the three-axis acceleration sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H m , H n is the maximum and minimum value of the combined amplitude of the magnetic field signal; r is the horizontal distance between the rescue well and the target well; d mn It is half of the horizontal projection distance between the fluxgate sensor with the largest magnetic field signal amplitude and the fluxgate sensor with the smallest magnetic field signal amplitude, that is, the best differential optimization distance; θ is the vector The angle between the three-axis fluxgate sensor with the largest amplitude and the three-axis fluxgate sensor with the smallest amplitude.

12. A device for determining the relative position between a target well and a rescue well, characterized in that: include: An acquisition module is used to acquire the relevant data of the magnetic field signal generated by the target well collected by the axial three-axis fluxgate sensor and the radial three-axis fluxgate sensor in the full-attitude differential optimization probe, and the data of the gravity acceleration component of the probe itself collected by the three-axis acceleration sensor in the full-attitude differential optimization probe; The calculation module is used to calculate the horizontal distance between the target well and the rescue well by the following equations: Among them, H ix , H iy , H iz are the magnetic field signal amplitudes of the i-th three-axis fluxgate sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H i is the magnetic field signal amplitude of the i-th fluxgate sensor; G x , G y , G z are the acceleration components of the three-axis acceleration sensor in the full-attitude differential optimization probe in the X, Y, and Z axes; H m , H n is the maximum and minimum value of the combined amplitude of the magnetic field signal; r is the horizontal distance between the rescue well and the target well; d mn It is half of the horizontal projection distance between the fluxgate sensor with the largest magnetic field signal amplitude and the fluxgate sensor with the smallest magnetic field signal amplitude, that is, the best differential optimization distance; θ is the vector The angle between the three-axis fluxgate sensor with the largest amplitude and the three-axis fluxgate sensor with the smallest amplitude.

13. A computing device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for determining the relative position between the target well and the rescue well as claimed in claim 11 is implemented.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the method for determining the relative position between a target well and a rescue well according to claim 11.

15. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method for determining the relative position between a target well and a rescue well according to claim 11 is implemented.

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