Intelligent sensing system and method for dynamic measurement of drilling tool posture

Abstract

The application discloses an intelligent sensing system and method for dynamic measurement of a drilling tool posture, which can detect whether a fault sensor exists in a triaxial acceleration sensor, a triaxial magnetoresistance sensor and a triaxial gyroscope sensor in the intelligent sensing system for dynamic measurement of the drilling tool posture, and can remove data output by the fault sensor when the fault sensor exists, so that influence on measurement of the drilling tool posture is avoided, the accuracy of data of the drilling tool posture is ensured, and the possibility of an engineering accident is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of oil drilling, in particular to an intelligent sensing system and method for dynamic measurement of a drilling tool posture. BACKGROUND

[0002] In the field of oil drilling, posture detection of a drilling tool, i.e. measurement of tool face angle, inclination and azimuth of the drilling tool, can help engineers understand the working state of the drilling tool in the well and is crucial for control of the drilling process. However, due to the complex environment in the well, one or more of the sensors in the intelligent sensing system for dynamic measurement of the drilling tool posture may fail when the posture of the drilling tool is detected, resulting in problems in the data of the detected drilling tool posture, and even possibly causing engineering accidents. SUMMARY

[0003] The purpose of the present application is to provide an intelligent sensing system and method for dynamic measurement of a drilling tool posture, which can ensure the accuracy of the data of the drilling tool posture and reduce the possibility of engineering accidents.

[0004] To solve the above technical problems, the present application provides an intelligent sensing system for dynamic measurement of a drilling tool posture, comprising A three-axis acceleration sensors, B three-axis magnetoresistance sensors and C three-axis gyroscope sensors, wherein A is a positive integer not less than 2, B is a positive integer, and C is a positive integer.

[0005] The processor is configured to acquire data collected by the A three-axis acceleration sensors, the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors.

[0006] The processor is configured to determine whether there is a faulty sensor among the A three-axis acceleration sensors, the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors according to the data.

[0007] If so, the data output by the faulty sensor is removed.

[0008] Preferably, when A is greater than 2, the data collected by the A three-axis acceleration sensors is acquired, comprising:

[0009] At N1 sampling moments, the acceleration of a K-axis measured by the A three-axis acceleration sensors is acquired, respectively, wherein the K-axis includes an X-axis, a Y-axis and a Z-axis, and N1 is a positive integer.

[0010] The processor is configured to determine whether there is a faulty sensor among the A three-axis acceleration sensors according to the data, comprising:

[0011] Two three-axis acceleration sensors are selected from the A three-axis acceleration sensors to form a three-axis acceleration sensor group, and the number of the three-axis acceleration sensor groups is one;

[0012] The following operations are performed on each of the three-axis acceleration sensor groups:

[0013] It is determined whether the three-axis acceleration sensor group is abnormal according to the acceleration of the K-axis;

[0014] If all the three-axis acceleration sensor groups have performed the above operations and there is an abnormal three-axis acceleration sensor group, and if each of the three-axis acceleration sensor groups in which the three-axis acceleration sensor is located is abnormal, it is determined that there is a faulty sensor among the A three-axis acceleration sensors, and the faulty sensor is the three-axis acceleration sensor.

[0015] Preferably, when A is equal to 2, the intelligent sensing system for dynamic measurement of the tool posture comprises a first three-axis acceleration sensor and a second three-axis acceleration sensor, and the first three-axis acceleration sensor and one of the C three-axis gyroscope sensors form a 6-axis IMU.

[0016] Data collected by the A three-axis acceleration sensors is obtained, including:

[0017] At N1 sampling moments, the acceleration of the K-axis measured by the first three-axis acceleration sensor and the second three-axis acceleration sensor is obtained respectively, the K-axis includes the X-axis, the Y-axis and the Z-axis, and N1 is a positive integer;

[0018] It is determined whether there is a faulty sensor among the A three-axis acceleration sensors according to the data, including:

[0019] The first three-axis acceleration sensor and the second three-axis acceleration sensor form a three-axis acceleration sensor group;

[0020] It is determined whether the three-axis acceleration sensor group is abnormal according to the acceleration of the K-axis;

[0021] If the three-axis acceleration sensor group is abnormal, the following operations are performed:

[0022] When the tool is stationary, a first average value of the magnitude of the sum of the gravity vectors of the first three-axis acceleration sensor at N2 sampling moments and a second average value of the magnitude of the sum of the gravity vectors of the second three-axis acceleration sensor at N2 sampling moments are obtained respectively, N2 is a positive integer;

[0023] It is determined whether the absolute value of the difference between the first average value and 1g is greater than a preset threshold value, and whether the absolute value of the difference between the second average value and 1g is greater than the preset threshold value;

[0024] If the absolute value of the difference between the first average value and 1g is greater than the preset threshold value, it is determined that there is a faulty sensor in the A three-axis acceleration sensors, and the faulty sensor is the first three-axis acceleration sensor;

[0025] If the absolute value of the difference between the second average value and 1g is greater than the preset threshold value, it is determined that there is a faulty sensor in the A three-axis acceleration sensors, and the faulty sensor is the second three-axis acceleration sensor;

[0026] If the absolute value of the difference between the first average value and 1g is not greater than the preset threshold value and the absolute value of the difference between the second average value and 1g is not greater than the preset threshold value, the gyro data of the K-axis measured by the three-axis gyro sensor in the 6-axis IMU is obtained at N3 sampling moments, and the average value of the gyro data of the K-axis and the variance of the gyro data of the K-axis are obtained, N3 being a positive integer;

[0027] It is judged whether the number of average values greater than a preset average threshold value among the average value of the X-axis gyro data, the average value of the Y-axis gyro data and the average value of the Z-axis gyro data is greater than 2, and whether the number of variances greater than a preset variance threshold value among the variance of the X-axis gyro data, the variance of the Y-axis gyro data and the variance of the Z-axis gyro data is greater than 2;

[0028] If neither is greater than 2, it is determined that there is a faulty sensor in the A three-axis acceleration sensors, and the second three-axis acceleration sensor is the faulty sensor;

[0029] Otherwise, it is determined that there is a faulty sensor in the A three-axis acceleration sensors, and the first three-axis acceleration sensor is the faulty sensor.

[0030] Preferably, judging whether the three-axis acceleration sensor group is abnormal according to the K-axis acceleration comprises:

[0031] The K-axis accelerations at the same sampling moment are subtracted to obtain N1 K-axis acceleration difference values;

[0032] The opposite numbers of the N1 acceleration difference values are determined;

[0033] The K-axis acceleration difference probability of N1 K-axis acceleration difference values between the K-axis acceleration difference value and the opposite number of the respective K-axis acceleration difference value on a preset K-axis acceleration difference value normal distribution is determined;

[0034] The K-axis acceleration difference probability product is obtained by multiplying the N1 K-axis acceleration difference probability values;

[0035] If the acceleration difference probability product of the K-axis is less than the N1th power of the preset acceleration difference probability threshold of the K-axis, continue to detect whether the acceleration difference probability products of the K-axis at the continuous M groups of N1 sampling moments are all less than the N1th power of the preset acceleration difference probability threshold of the K-axis, M being a positive integer;

[0036] If the acceleration difference probability products of the K-axis at the continuous M groups of N1 sampling moments are all less than the N1th power of the preset acceleration difference probability threshold of the K-axis, determine that the three-axis acceleration sensor group is abnormal.

[0037] Preferably, when the sum of B and C is greater than 2, the data collected by B three-axis magnetoresistance sensors and C three-axis gyroscope sensors are obtained, including:

[0038] At N4 sampling moments, a first rotation speed of the K-axis is obtained according to the magnetoresistance data of the K-axis measured by B three-axis magnetoresistance sensors, and a second rotation speed of the K-axis is obtained according to the gyroscope data of the K-axis measured by C three-axis gyroscope sensors, the K-axis including X-axis, Y-axis and Z-axis, N4 being a positive integer;

[0039] According to the data, it is determined whether there is a faulty sensor in B three-axis magnetoresistance sensors and C three-axis gyroscope sensors, including:

[0040] Two sensors are selected from B three-axis magnetoresistance sensors and C three-axis gyroscope sensors to form one three-axis rotation speed sensor group, wherein the three-axis rotation speed sensor group includes two three-axis magnetoresistance sensors or includes two three-axis gyroscope sensors or includes one three-axis magnetoresistance sensor and one three-axis gyroscope sensor, and the number of the three-axis rotation speed sensor groups is ;

[0041] Each three-axis rotation speed sensor group is operated as follows:

[0042] According to the rotation speed of the three-axis rotation speed sensor group, it is determined whether the three-axis rotation speed sensor group is abnormal;

[0043] After all the three-axis rotation speed sensor groups have completed the above operation and there is an abnormal three-axis rotation speed sensor group, if each three-axis rotation speed sensor group in which the three-axis magnetoresistance sensor / three-axis gyroscope sensor is located is abnormal, it is determined that there is a faulty sensor in B three-axis magnetoresistance sensors and C three-axis gyroscope sensors, and the faulty sensor is the three-axis magnetoresistance sensor / three-axis gyroscope sensor.

[0044] Preferably, when the sum of B and C is equal to 2, the data collected by B three-axis magnetoresistance sensors and C three-axis gyroscope sensors are obtained, including:

[0045] obtaining a first rotation speed of the K-axis according to the magnetic resistance data of the K-axis measured by the three-axis magnetic resistance sensor, and obtaining a second rotation speed of the K-axis according to the gyroscope data of the K-axis measured by the three-axis gyroscope sensor, the K-axis including the X-axis, the Y-axis and the Z-axis, N4 being a positive integer;

[0046] judging whether there is a faulty sensor in the B three-axis magnetic resistance sensors and the C three-axis gyroscope sensors according to the data, comprising:

[0047] forming a three-axis rotation speed sensor group by the three-axis magnetic resistance sensor and the three-axis gyroscope sensor;

[0048] judging whether the three-axis rotation speed sensor group is abnormal according to the rotation speed of the three-axis rotation speed sensor group;

[0049] if the three-axis rotation speed sensor group is abnormal, performing the following operations:

[0050] obtaining an average value of the magnetic field intensity measured by the three-axis magnetic resistance sensor at N5 sampling time points, N5 being a positive integer;

[0051] judging whether the absolute value of the difference between the average value of the magnetic field intensity and the geomagnetic intensity is greater than a preset threshold value;

[0052] if the absolute value of the difference between the average value of the magnetic field intensity and the geomagnetic intensity is greater than the preset threshold value, determining that there is a faulty sensor in the B three-axis magnetic resistance sensors and the C three-axis gyroscope sensors, and the faulty sensor is the three-axis magnetic resistance sensor;

[0053] if the absolute value of the difference between the average value of the magnetic field intensity and the geomagnetic intensity is not greater than the preset threshold value, obtaining the magnetic resistance data of the K-axis measured by the three-axis magnetic resistance sensor at N6 sampling time points, and obtaining an average value of the magnetic resistance data of the K-axis and a variance of the magnetic resistance data of the K-axis, N6 being a positive integer;

[0054] judging whether the number of the average values of the magnetic resistance data of the X-axis, the Y-axis and the Z-axis greater than a first preset average threshold value is greater than 2, and whether the number of the variances of the magnetic resistance data of the X-axis, the Y-axis and the Z-axis greater than a first preset variance threshold value is greater than 2;

[0055] if both are not greater than 2, entering the step of judging whether the three-axis gyroscope is abnormal;

[0056] Otherwise, it is determined that there is a faulty sensor among the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors, and the faulty sensor is the three-axis magnetoresistance sensor.

[0057] It is determined whether the three-axis gyroscope is abnormal, including:

[0058] At N7 sampling moments, the gyroscope data of the K-axis measured by the three-axis gyroscope sensor is obtained, and the average value of the gyroscope data of the K-axis and the variance of the gyroscope data of the K-axis are obtained, N7 being a positive integer;

[0059] It is determined whether the number of the average values of the gyroscope data of the X-axis, the Y-axis and the Z-axis greater than the second preset average threshold is greater than 2, and whether the number of the variances of the gyroscope data of the X-axis, the Y-axis and the Z-axis greater than the second preset variance threshold is greater than 2;

[0060] If both are not greater than 2, it is determined that there is no faulty sensor among the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors;

[0061] Otherwise, it is determined that there is a faulty sensor among the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors, and the faulty sensor is the three-axis gyroscope sensor.

[0062] Preferably, it is determined whether the three-axis rotation speed sensor group is abnormal according to the rotation speed of the three-axis rotation speed sensor group, including:

[0063] The rotation speeds of the three-axis rotation speed sensor group at the same sampling moment are subtracted to obtain N4 rotation speed difference values of the K-axis;

[0064] The opposite numbers of the N4 rotation speed difference values are determined;

[0065] The K-axis rotation speed difference value probability between the K-axis rotation speed difference value and the opposite number of the corresponding rotation speed difference value on the K-axis preset rotation speed difference value normal distribution is determined;

[0066] The K-axis rotation speed difference value probability is multiplied to obtain the K-axis rotation speed difference value probability product;

[0067] If the K-axis rotation speed difference value probability product is less than the N4th power of the K-axis preset rotation speed difference value probability threshold, it is determined whether the K-axis rotation speed difference value probability product of the continuous M groups of N4 sampling moments is less than the N4th power of the K-axis preset acceleration difference value probability threshold, M being a positive integer;

[0068] If the product of the speed difference value probabilities of the K-axis in the continuous M groups of N4 sampling moments is less than the N4th power of the preset speed difference value probability threshold of the K-axis, it is determined that the three-axis speed sensor group is abnormal.

[0069] Preferably,

[0070] The processor is further configured to determine a tool face angle, a deviation, and a direction of the drilling tool according to data output by the non-faulty sensors of the A three-axis acceleration sensors, the B three-axis magnetoresistance sensors, and the C three-axis gyro sensors.

[0071] The application further provides a method for dynamically measuring a drilling tool posture, and a processor in an intelligent sensing system for dynamically measuring a drilling tool posture.

[0072] The processor is further configured to determine a tool face angle, a deviation, and a direction of the drilling tool according to data output by the non-faulty sensors of the A three-axis acceleration sensors, the B three-axis magnetoresistance sensors, and the C three-axis gyro sensors.

[0073] The processor is further configured to determine a tool face angle, a deviation, and a direction of the drilling tool according to data output by the non-faulty sensors of the A three-axis acceleration sensors, the B three-axis magnetoresistance sensors, and the C three-axis gyro sensors.

[0074] If yes, the data output by the faulty sensors is removed.

[0075] Preferably, after the data output by the faulty sensors is removed, the method further comprises:

[0076] The processor is further configured to determine a tool face angle, a deviation, and a direction of the drilling tool according to data output by the non-faulty sensors of the A three-axis acceleration sensors, the B three-axis magnetoresistance sensors, and the C three-axis gyro sensors.

[0077] The application provides an intelligent sensing system and a method for dynamically measuring a drilling tool posture, which can detect whether there is a faulty sensor in the three-axis acceleration sensor, the three-axis magnetoresistance sensor, and the three-axis gyro sensor in the intelligent sensing system for dynamically measuring a drilling tool posture. BRIEF DESCRIPTION OF DRAWINGS

[0078] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the prior art and embodiments. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0079] Figure 1 The structural schematic diagram of the intelligent sensing system for dynamic measurement of the posture of the drilling tool provided by the present application;

[0080] Figure 2 The system framework schematic diagram of the method for diagnosing and correcting the posture of the drilling tool provided by the present application;

[0081] Figure 3 The flow chart of the method for dynamic measurement of the posture of the drilling tool provided by the present application. DETAILED DESCRIPTION

[0082] The core of the present application is to provide an intelligent sensing system and method for dynamic measurement of the posture of the drilling tool, which can ensure the accuracy of the data of the posture of the drilling tool and reduce the possibility of engineering accidents.

[0083] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0084] Please refer to Figure 1 , Figure 1 The structural schematic diagram of the intelligent sensing system for dynamic measurement of the posture of the drilling tool provided by the present application, which comprises A three-axis acceleration sensors 1, B three-axis magnetoresistance sensors 2 and C three-axis gyroscope sensors 3, and further comprises a processor 4, A is a positive integer not less than 2, B is a positive integer, and C is a positive integer;

[0085] The processor 4 is used for acquiring the data collected by the A three-axis acceleration sensors 1, the B three-axis magnetoresistance sensors 2 and the C three-axis gyroscope sensors 3;

[0086] According to the data, it is judged whether there is a faulty sensor in the A three-axis acceleration sensors 1, the B three-axis magnetoresistance sensors 2 and the C three-axis gyroscope sensors 3;

[0087] If yes, the data output by the faulty sensor is removed.

[0088] When a sensor in the intelligent sensing system for dynamic measurement of the tool posture fails, for example, the sensor stops measuring or the sensor fixing device loosens, the data of the tool posture measured by the intelligent sensing system for dynamic measurement of the tool posture can be problematic.

[0089] To solve the above technical problems, the data collected by each sensor in the intelligent sensing system for dynamic measurement of the tool posture is first acquired, and then whether there is a faulty sensor in the intelligent sensing system for dynamic measurement of the tool posture is determined according to the data collected by each sensor. The data collected by each sensor can be acquired without stopping the tool, i.e., during the dynamic measurement of the tool, which does not increase the cost and reduce the efficiency.

[0090] When the number of three-axis acceleration sensors is greater than 2, any two three-axis acceleration sensors in the plurality of three-axis acceleration sensors can form a three-axis acceleration sensor group, and whether there is a faulty sensor in the three-axis acceleration sensors is determined based on the difference between the three-axis accelerations of the plurality of three-axis acceleration sensor groups. When the number of three-axis acceleration sensors is equal to 2, the two three-axis acceleration sensors first form a three-axis acceleration sensor group, and whether there is a faulty sensor in the three-axis acceleration sensors is determined based on the six-axis IMU formed by the three-axis gyroscope sensor and the three-axis acceleration sensor. When the number of three-axis magnetoresistance sensors and three-axis gyroscope sensors is greater than 2, since the data measured by the three-axis magnetoresistance sensors and the three-axis gyroscope sensors can both obtain the three-axis rotational speed, any two three-axis magnetoresistance sensors or any two three-axis gyroscope sensors or one three-axis magnetoresistance sensor and one three-axis gyroscope sensor in the three-axis magnetoresistance sensors and the three-axis gyroscope sensors form a three-axis rotational speed sensor group, and whether there is a faulty sensor in the three-axis magnetoresistance sensors and the three-axis gyroscope sensors is determined based on the difference between the three-axis rotational speeds of the plurality of three-axis rotational speed sensor groups. When the number of three-axis magnetoresistance sensors and three-axis gyroscope sensors is equal to 2, the three-axis magnetoresistance sensor and the three-axis gyroscope sensor first form a three-axis rotational speed sensor group, and whether there is a faulty sensor in the three-axis magnetoresistance sensor and the three-axis gyroscope sensor is determined based on the magnetoresistance data measured by the three-axis magnetoresistance sensor and the gyroscope data measured by the three-axis gyroscope.

[0091] Since the data of the tool posture is obtained by complex operation on the data output by each sensor in the intelligent sensing system for dynamic measurement of the tool posture, removing the data output by the faulty sensor after the faulty sensor is found can avoid affecting the data of the tool posture, and the method is simple and effective.

[0092] In summary, this invention can detect whether there are faulty sensors among the three-axis accelerometer, three-axis magnetoresistive sensor, and three-axis gyroscope sensor in the intelligent sensing system for dynamic measurement of drill bit attitude. When a faulty sensor is present, the data output by the faulty sensor can be removed to avoid affecting the measurement of drill bit attitude, ensuring the accuracy of drill bit attitude data and reducing the possibility of engineering accidents.

[0093] Based on the above embodiments:

[0094] In a preferred embodiment, when A is greater than 2, the data collected by A triaxial accelerometers 1 are acquired, including:

[0095] At N1 sampling times, the acceleration along the K-axis measured by A triaxial accelerometers 1 is acquired respectively. The K-axis includes the X-axis, Y-axis and Z-axis, and N1 is a positive integer.

[0096] Based on the data, determine whether there is a faulty sensor among the A triaxial accelerometers 1, including:

[0097] Two triaxial accelerometers are selected from A triaxial accelerometers 1 to form a triaxial accelerometer group. The number of triaxial accelerometer groups is: indivual;

[0098] Perform the following operations on each triaxial accelerometer sensor group:

[0099] Determine if the triaxial accelerometer group is malfunctioning based on the acceleration along the K-axis;

[0100] After all the above operations have been performed on all triaxial accelerometer groups and there is an abnormality in a triaxial accelerometer group, if all triaxial accelerometer groups containing the triaxial accelerometer are abnormal, then it is determined that there is a faulty sensor among A triaxial accelerometers 1, and the faulty sensor is a triaxial accelerometer.

[0101] In this embodiment, when there are two or more triaxial accelerometers in the intelligent sensing system for dynamic measurement of drill string attitude, the presence of a faulty sensor in the triaxial accelerometers of the intelligent sensing system for dynamic measurement of drill string attitude is determined based on the acceleration measured by each triaxial accelerometer. Specifically, firstly, at N1 sampling times, the acceleration measured by A triaxial accelerometers 1 is acquired, each acceleration consisting of the acceleration along the X-axis, Y-axis, and Z-axis; then, two triaxial accelerometers are selected from the A triaxial accelerometers 1 to form a triaxial accelerometer group, and the number of triaxial accelerometer groups is [number missing]. Based on the acceleration along the X-axis, Y-axis, and Z-axis, the system determines whether each triaxial acceleration sensor group is abnormal. Finally, based on the results of determining whether all triaxial acceleration sensor groups are abnormal, the system determines whether there is a faulty sensor among the A triaxial acceleration sensors 1, and if a faulty sensor is found, it can locate the faulty sensor.

[0102] For example, an intelligent sensing system for dynamic measurement of drill bit attitude includes three triaxial accelerometers: A1, A2, and A3. First, at three sampling times (T1, T2, and T3), the X-axis, Y-axis, and Z-axis accelerations measured by A1, A2, and A3 are acquired respectively. Then, A1, A2, and A3 are divided into three triaxial accelerometer groups: A1A2, A2A3, and A1A3. Based on the X-axis, Y-axis, and Z-axis accelerations measured by A1 and A2, the system determines whether the A1A2 triaxial accelerometer group is malfunctioning. The system also determines whether the accelerations measured by A2 and A3 are abnormal. The Z-axis acceleration is used to determine whether the triaxial accelerometer group A2A3 is malfunctioning. The malfunction of the triaxial accelerometer group A1A3 is determined based on the X-axis acceleration, Y-axis acceleration, and Z-axis acceleration measured by A1 and A3. For example, if A1A2 is malfunctioning, A2A3 is normal, and A1A3 is also malfunctioning, then it is determined that there is a faulty sensor among the three accelerometer sensors in the intelligent sensing system for dynamic measurement of drill bit attitude, and the faulty sensor is A1. If A1A2 is malfunctioning, A2A3 is normal, and A1A3 is also normal, then it is determined that there is no faulty sensor among the three accelerometer sensors in the intelligent sensing system for dynamic measurement of drill bit attitude.

[0103] In summary, the present invention can determine whether there is a faulty sensor among A triaxial accelerometers 1 by using the X-axis acceleration, Y-axis acceleration and Z-axis acceleration of each triaxial accelerometer to form a triaxial accelerometer group. The method is accurate and simple.

[0104] Furthermore, the process of determining whether there is a faulty sensor among the A triaxial accelerometers 1 in this invention does not require stopping the drilling tool, thus avoiding the drawbacks of increased operating costs and reduced work efficiency.

[0105] As a preferred embodiment, when A equals 2, the intelligent sensing system for dynamic measurement of drill attitude includes a first triaxial accelerometer and a second triaxial accelerometer. The first triaxial accelerometer and one of the three-axis gyroscope sensors 3 from the C triaxial gyroscope sensors form a 6-axis IMU.

[0106] Acquire data collected by A triaxial accelerometers 1, including:

[0107] At N1 sampling times, the acceleration along the K-axis measured by the first triaxial accelerometer and the second triaxial accelerometer is acquired respectively. The K-axis includes the X-axis, Y-axis and Z-axis, and N1 is a positive integer.

[0108] Based on the data, determine whether there is a faulty sensor among the A triaxial accelerometers 1, including:

[0109] The first triaxial accelerometer and the second triaxial accelerometer are combined to form a triaxial accelerometer group;

[0110] Determine if the triaxial accelerometer group is malfunctioning based on the acceleration along the K-axis;

[0111] If the triaxial accelerometer sensor assembly malfunctions, perform the following operations:

[0112] When the drill bit is stationary, the first average value of the magnitude of the gravity vector sum of the first triaxial accelerometer at N2 sampling times and the second average value of the magnitude of the gravity vector sum of the second triaxial accelerometer at N2 sampling times are obtained respectively, where N2 is a positive integer;

[0113] Determine whether the absolute value of the difference between the first average value and 1g is greater than a preset threshold, and whether the absolute value of the difference between the second average value and 1g is greater than a preset threshold;

[0114] If the absolute value of the difference between the first average value and 1g is greater than the preset threshold, then it is determined that there is a faulty sensor among the A triaxial acceleration sensors 1, and the faulty sensor is the first triaxial acceleration sensor.

[0115] If the absolute value of the difference between the second average value and 1g is greater than the preset threshold, then it is determined that there is a faulty sensor among the A triaxial acceleration sensors 1, and the faulty sensor is the second triaxial acceleration sensor.

[0116] If the absolute value of the difference between the first average value and 1g is not greater than a preset threshold and the absolute value of the difference between the second average value and 1g is not greater than a preset threshold, then at N3 sampling times, the gyroscope data of the K-axis measured by the three-axis gyroscope sensor in the 6-axis IMU is acquired, and the average value of the K-axis gyroscope data and the variance of the K-axis gyroscope data are obtained, where N3 is a positive integer.

[0117] Determine whether the number of values ​​of the average values ​​of the X-axis gyroscope data, the average values ​​of the Y-axis gyroscope data, and the average values ​​of the Z-axis gyroscope data that are greater than a preset average threshold is greater than 2, and whether the number of values ​​of the variances of the X-axis gyroscope data, the variances of the Y-axis gyroscope data, and the variances of the Z-axis gyroscope data that are greater than a preset variance threshold is greater than 2.

[0118] If none of them are greater than 2, then it is determined that there is a faulty sensor among the A triaxial accelerometer sensors 1, and the second triaxial accelerometer sensor is also a faulty sensor.

[0119] Otherwise, it is determined that there is a faulty sensor among the A triaxial accelerometers 1, and the first triaxial accelerometer is the faulty sensor.

[0120] In this embodiment, when there are two triaxial accelerometers in the drill bit attitude detection system, one of the triaxial accelerometers and one of the triaxial gyroscopes in the system constitute a 6-axis IMU to determine which of the two triaxial accelerometers is faulty in the event of a faulty sensor. Specifically, at N1 sampling times, the accelerations measured by the two triaxial accelerometers are acquired, each acceleration consisting of the X-axis, Y-axis, and Z-axis accelerations. Then, these two triaxial accelerometers are grouped together, and it is determined whether the triaxial accelerometer group is abnormal. If the triaxial accelerometer group is abnormal, it is further determined which of the two triaxial accelerometers is faulty.

[0121] For example, the intelligent sensing system for dynamic measurement of drill bit attitude includes two triaxial accelerometers, A1 and A2. A1 is a triaxial accelerometer within a 6-axis IMU, and B1 is a triaxial gyroscope within a 6-axis IMU. First, the X-axis, Y-axis, and Z-axis accelerations measured by A1 and A2 are acquired at three sampling times: T1, T2, and T3. Then, based on the X-axis, Y-axis, and Z-axis accelerations measured by A1 and A2, it is determined whether the triaxial accelerometer group A1A2 is malfunctioning.

[0122] If A1A2 is determined to be abnormal, the drill string is controlled to stop working. When the drill string is stationary, the first average value G1 of the magnitude of the gravity vector sum of A1 at N2 sampling times and the first average value G2 of the magnitude of the gravity vector sum of A2 at N2 sampling times are obtained. If the difference between G1 and 1g (i.e., one gravitational acceleration) is greater than 0.1, then A1 is determined to be a faulty sensor. If the difference between G2 and 1g (i.e., one gravitational acceleration) is greater than 0.1, then A2 is determined to be a faulty sensor.

[0123] If the difference between G1 and 1g and the difference between G2 and 1g are both no greater than 0.1, then acquire the K-axis gyroscope data measured by B1 at N3 sampling times, and obtain the average value X1 of the X-axis gyroscope data, the average value Y1 of the Y-axis gyroscope data, the average value Z1 of the Z-axis gyroscope data, the variance X2 of the X-axis gyroscope data, the variance Y2 of the Y-axis gyroscope data, and the variance Z2 of the Z-axis gyroscope data; determine whether the number of values ​​greater than 100 in X1, Y1, and Z1 is greater than 2, and whether the number of values ​​greater than 100 in X2, Y2, and Z2 is greater than 2.

[0124] If none of them are greater than 2, then A2 is determined to be a faulty sensor;

[0125] Otherwise, A1 is determined to be a faulty sensor.

[0126] Furthermore, this application does not impose any special limitations on the size of the preset threshold, the size of the preset average threshold, or the size of the preset variance threshold.

[0127] In summary, the present invention can accurately determine whether there is a faulty sensor among two triaxial accelerometers in a drill attitude detection system, and can accurately locate the faulty sensor if it exists. The method is accurate and simple.

[0128] As a preferred embodiment, determining whether the triaxial accelerometer group is malfunctioning based on the acceleration along the K-axis includes:

[0129] The acceleration differences along the K-axis at the same sampling time are subtracted to obtain N1 acceleration differences along the K-axis.

[0130] Determine the negative of N1 acceleration differences;

[0131] Determine the probability of acceleration difference on the K-axis between N1 acceleration differences on the K-axis and the opposite of their respective acceleration differences on the K-axis, based on a preset normal distribution of acceleration differences on the K-axis.

[0132] Multiply the probability values ​​of the acceleration differences of the N1 K-axis to obtain the probability product of the acceleration differences of the K-axis;

[0133] If the product of acceleration difference probabilities on the K-axis is less than the N1 power of the preset acceleration difference probability threshold on the K-axis, then continue to check whether the product of acceleration difference probabilities on the K-axis at M consecutive N1 sampling times is less than the N1 power of the preset acceleration difference probability threshold on the K-axis, where M is a positive integer;

[0134] If the product of the acceleration difference probability of the K-axis at M consecutive sampling times (N1 times) is less than the N1th power of the preset acceleration difference probability threshold of the K-axis, then the triaxial acceleration sensor group is determined to be abnormal.

[0135] In this embodiment, the acceleration differences along the K-axis of the triaxial accelerometer group at the same sampling time are mapped to a preset normal distribution of acceleration difference values ​​along the K-axis to obtain the probability of acceleration difference values ​​along the K-axis. Then, the product of these probabilities is compared to see if it is less than the N1 power of the preset threshold for acceleration difference probabilities along the K-axis. If so, it indicates that the triaxial accelerometer group may be abnormal. To avoid the influence of extreme data on the judgment result, it is further checked whether the product of the acceleration difference probabilities along the K-axis for M consecutive groups of N1 sampling times is less than the N1 power of the preset threshold for acceleration difference probabilities along the K-axis. If so, the triaxial accelerometer group is determined to be abnormal. Furthermore, the highest sampling frequency of the triaxial accelerometer group is greater than 500 Hz; for example, the highest sampling frequency of the triaxial accelerometer group can be 2000 Hz.

[0136] For example, in an intelligent sensing system for dynamic measurement of drill bit attitude, the three triaxial accelerometers A1, A2, and A3 are divided into three triaxial accelerometer groups: A1A2, A2A3, and A1A3. The following operations are performed on A1A2, A2A3, and A1A3, with A1A2 as an example. First, the X-axis accelerations of A1 and A2 at T1, T2, and T3 are subtracted to obtain X1, X2, and X3, respectively. The Y-axis accelerations of A1 and A2 at T1, T2, and T3 are subtracted to obtain Y1, Y2, and Y3, respectively. Finally, the Z-axis accelerations of A1 and A2 at T1, T2, and T3 are subtracted to obtain Z1, Z2, and Z3, respectively. Perform the following operations sequentially on X1, X2, and X3; Y1, Y2, and Y3; and Z1, Z2, and Z3, taking X1, X2, and X3 as an example. First, determine the probability P(X1) between X1 and the opposite of X1 on the preset normal distribution of acceleration along the X-axis. Similarly, obtain P(X2) and P(X3). Then, multiply P(X1), P(X2), and P(X3) to obtain P(X1)P(X2)P(X3), and then compare it with the preset normal distribution of acceleration along the X-axis. Let the probability threshold P(X) be cubed for comparison. If P(X1)P(X2)P(X3) is less than the cube of P(X), then continue to check whether P(X1)P(X2)P(X3) is less than the cube of P(X) for three consecutive sampling times. If P(X1)P(X2)P(X3) is less than the cube of P(X) for three consecutive sampling times, then A1A2 is determined to be an anomaly. Each sampling time includes three sampling times. If any of the following conditions are met, the product of P(X1)P(X2)P(X3) is less than the cube of P(X), or the product of P(Y1)P(Y2)P(Y3) is less than the cube of P(Y), or the product of P(Z1)P(Z2)P(Z3) is less than the cube of P(Z), then A1A2 is determined to be an anomaly.

[0137] Wherein, the preset normal distribution of acceleration is Where x is the acceleration difference of the K-axis of the triaxial accelerometer group obtained in the experiment, σ is the variance of the acceleration difference of the K-axis obtained in the experiment, and μ is the average value of the acceleration difference of the K-axis obtained in the experiment.

[0138] Furthermore, this application does not impose any special limitations on the preset probability threshold of the K-axis or the size of M.

[0139] In summary, the present invention can accurately determine whether the triaxial accelerometer group is abnormal, and the method is simple. Furthermore, determining whether the triaxial accelerometer group is abnormal does not require stopping the drilling tool, thus avoiding the drawbacks of increased operating costs and reduced work efficiency.

[0140] In a preferred embodiment, when the sum of B and C is greater than 2, data collected by B triaxial magnetoresistive sensors 2 and C triaxial gyroscope sensors 3 are acquired, including:

[0141] At N4 sampling times, the first rotational speed of the K-axis is obtained based on the magnetoresistive data of the K-axis measured by B triaxial magnetoresistive sensors 2, and the second rotational speed of the K-axis is obtained based on the gyroscope data of the K-axis measured by C triaxial gyroscope sensors 3. The K-axis includes the X-axis, Y-axis and Z-axis, and N4 is a positive integer.

[0142] Based on the data, determine whether there are any faulty sensors among the B triaxial magnetoresistive sensors 2 and the C triaxial gyroscope sensors 3, including:

[0143] Two sensors are selected from B triaxial magnetoresistive sensors 2 and C triaxial gyroscope sensors 3 to form a triaxial speed sensor group. Each triaxial speed sensor group includes two triaxial magnetoresistive sensors, two triaxial gyroscope sensors, or one triaxial magnetoresistive sensor and one triaxial gyroscope sensor. The number of triaxial speed sensor groups is [number missing]. indivual;

[0144] Perform the following operations on each triaxial speed sensor group:

[0145] Determine if the three-axis speed sensor group is malfunctioning based on its rotational speed.

[0146] After all the above operations have been performed on all three-axis speed sensor groups and there is an abnormality in any three-axis speed sensor group, if all three-axis speed sensor groups containing the three-axis magnetoresistive sensor / three-axis gyroscope sensor are abnormal, then it is determined that there is a faulty sensor among B three-axis magnetoresistive sensors 2 and C three-axis gyroscope sensors 3, and the faulty sensor is the three-axis magnetoresistive sensor / three-axis gyroscope sensor.

[0147] In this embodiment, when the number of triaxial magnetoresistive sensors and triaxial gyroscopes in the intelligent sensing system for dynamic measurement of drill string attitude is greater than two, the presence of faulty sensors in each triaxial magnetoresistive sensor and triaxial gyroscope is determined based on the rotational speeds measured by these sensors. Specifically, the magnetic tool face angle can be obtained from the magnetoresistive data of the triaxial magnetoresistive sensor using an arctangent function, and the rotational speed is obtained by dividing the difference in magnetic tool face angles at adjacent sampling times by the time interval between adjacent sampling times. Since both triaxial magnetoresistive sensors and triaxial gyroscopes can obtain rotational speeds, two triaxial gyroscopes, two triaxial magnetoresistive sensors, or one triaxial gyroscope plus one triaxial magnetoresistive sensor can constitute a triaxial rotational speed sensor group. The presence of faulty sensors in each triaxial magnetoresistive sensor and triaxial gyroscope in the intelligent sensing system for dynamic measurement of drill string attitude is determined based on the results of the assessment of whether all triaxial rotational speed sensor groups are abnormal, and if a faulty sensor is found, its location can be determined.

[0148] In summary, this invention can accurately determine whether there are faulty sensors among the triaxial magnetoresistive sensors and triaxial gyroscope sensors in the intelligent sensing system for dynamic measurement of drill bit attitude, and can locate faulty sensors when they are present. The method is simple and reliable. Furthermore, this invention does not require stopping the drill bit during the determination process, thus avoiding increased operating costs and reduced efficiency.

[0149] In a preferred embodiment, when the sum of B and C equals 2, data collected by B triaxial magnetoresistive sensors 2 and C triaxial gyroscope sensors 3 are acquired, including:

[0150] At N4 sampling times, the first rotational speed of the K-axis is obtained based on the magnetoresistive data of the K-axis measured by the three-axis magnetoresistive sensor, and the second rotational speed of the K-axis is obtained based on the gyroscope data of the K-axis measured by the three-axis gyroscope sensor. The K-axis includes the X-axis, Y-axis and Z-axis, and N4 is a positive integer.

[0151] Based on the data, determine whether there are any faulty sensors among the B triaxial magnetoresistive sensors 2 and the C triaxial gyroscope sensors 3, including:

[0152] A three-axis speed sensor group is formed by combining a three-axis magnetoresistive sensor and a three-axis gyroscope sensor.

[0153] Determine if the three-axis speed sensor group is malfunctioning based on its rotational speed.

[0154] If the triaxial speed sensor group malfunctions, perform the following operations:

[0155] At N5 sampling times, the average value of the magnetic field strength measured by the triaxial magnetoresistive sensor is obtained, where N5 is a positive integer;

[0156] Determine whether the absolute value of the difference between the average magnetic field strength and the geomagnetic strength is greater than a preset threshold.

[0157] If the absolute value of the difference between the average magnetic field strength and the geomagnetic strength is greater than a preset threshold, then it is determined that there is a faulty sensor among B triaxial magnetoresistive sensors 2 and C triaxial gyroscope sensors 3, and the faulty sensor is a triaxial magnetoresistive sensor.

[0158] If the absolute value of the difference between the average magnetic field strength and the geomagnetic strength is not greater than a preset threshold, then the magnetoresistive data of the K-axis measured by the triaxial magnetoresistive sensor is acquired at N6 sampling times, and the average value and variance of the magnetoresistive data of the K-axis are obtained, where N6 is a positive integer.

[0159] Determine whether the number of values ​​of the average value of the magnetoresistive data on the X-axis, the average value of the magnetoresistive data on the Y-axis, and the average value of the magnetoresistive data on the Z-axis that are greater than 2, and whether the number of values ​​of the variance of the magnetoresistive data on the X-axis, the variance of the magnetoresistive data on the Y-axis, and the variance of the magnetoresistive data on the Z-axis that are greater than 2.

[0160] If none of them are greater than 2, proceed to the step of determining whether the three-axis gyroscope is abnormal;

[0161] Otherwise, it is determined that there is a faulty sensor among B triaxial magnetoresistive sensors 2 and C triaxial gyroscope sensors 3, and the faulty sensor is a triaxial magnetoresistive sensor.

[0162] Determining if a three-axis gyroscope is malfunctioning includes:

[0163] At N7 sampling times, acquire the K-axis gyroscope data measured by the three-axis gyroscope sensor, and obtain the average value and variance of the K-axis gyroscope data, where N7 is a positive integer;

[0164] Determine whether the number of values ​​of the average values ​​of the X-axis gyroscope data, the average values ​​of the Y-axis gyroscope data, and the average values ​​of the Z-axis gyroscope data that are greater than the second preset average threshold is greater than 2, and whether the number of values ​​of the variances of the X-axis gyroscope data, the variances of the Y-axis gyroscope data, and the variances of the Z-axis gyroscope data that are greater than the second preset variance threshold is greater than 2.

[0165] If none of them are greater than 2, then it is determined that there are no faulty sensors among the B triaxial magnetoresistive sensors 2 and the C triaxial gyroscope sensors 3.

[0166] Otherwise, it is determined that there is a faulty sensor among B triaxial magnetoresistive sensors 2 and C triaxial gyroscope sensors 3, and the faulty sensor is a triaxial gyroscope sensor.

[0167] In this embodiment, when the drill attitude detection system has one triaxial magnetoresistive sensor and one triaxial gyroscope sensor, the rotational speeds measured by the triaxial magnetoresistive sensor and the triaxial gyroscope sensor are first acquired at N4 sampling times. Each rotational speed consists of the rotational speed along the X-axis, the rotational speed along the Y-axis, and the rotational speed along the Z-axis. Then, the triaxial magnetoresistive sensor and the triaxial gyroscope sensor are used as a triaxial rotational speed sensor group to determine whether the triaxial rotational speed sensor group is abnormal. If the triaxial rotational speed sensor group is abnormal, the average value and variance of the magnetic field strength measured by the triaxial magnetoresistive sensor and the magnetoresistive data along the K-axis are used to determine whether the triaxial magnetoresistive sensor is a faulty sensor. Similarly, the average value and variance of the gyroscope data along the K-axis measured by the triaxial gyroscope sensor are used to determine whether the triaxial gyroscope sensor is a faulty sensor.

[0168] Furthermore, there are no special restrictions on the size of the preset threshold, preset average threshold, and preset variance threshold.

[0169] In summary, this invention can accurately determine whether a faulty sensor exists in a drill bit attitude detection system that contains both a three-axis magnetoresistive sensor and a three-axis gyroscope sensor, and can accurately locate the faulty sensor if one is present. Furthermore, the process of determining the presence of a faulty sensor in this invention does not require stopping the drill bit, thus avoiding increased operating costs and reduced efficiency.

[0170] As a preferred embodiment, determining whether the three-axis speed sensor group is malfunctioning based on its rotational speed includes:

[0171] The rotational speeds of the three-axis speed sensor group at the same sampling time are subtracted to obtain the speed difference values ​​of N4 K axes;

[0172] Determine the negatives of the N4 speed differences;

[0173] Determine the probability of the speed difference on the K-axis between N4 speed difference values ​​on the K-axis and the opposite of their respective speed difference values, based on a preset normal distribution of speed difference values ​​on the K-axis.

[0174] Multiply the probabilities of the speed difference values ​​of the N4 K axes to obtain the product of the speed difference probabilities of the K axes;

[0175] If the product of the speed difference probability of the K-axis is less than the N4th power of the preset speed difference probability threshold of the K-axis, then continue to check whether the product of the speed difference probability of the K-axis at M consecutive N4 sampling times is less than the N4th power of the preset acceleration difference probability threshold of the K-axis, where M is a positive integer.

[0176] If the product of the speed difference probability of the K-axis in M ​​consecutive groups of N4 sampling times is less than the N4th power of the preset speed difference probability threshold of the K-axis, then the three-axis speed sensor group is determined to be abnormal.

[0177] In this embodiment, the speed difference of the K-axis at the same sampling moment of the three-axis speed sensor group is mapped to a preset normal distribution of speed difference values ​​for the K-axis to obtain the probability of the speed difference value for the K-axis. Then, it is compared whether the product of the probabilities of the speed difference values ​​for the K-axis is less than the N4th power of the preset speed difference probability threshold for the K-axis. If so, it indicates that the three-axis speed sensor group may be abnormal. To avoid the influence of extreme data on the judgment result, it is further detected whether the product of the probabilities of the speed difference values ​​for the K-axis for M consecutive groups of N4 sampling moments is less than the N4th power of the preset speed difference probability threshold for the K-axis. If so, it is determined that the three-axis speed sensor group is abnormal. In addition, the highest sampling frequency of the three-axis speed sensor group is greater than 500 Hz. For example, the highest sampling frequency of the three-axis speed sensor group can be 2000 Hz.

[0178] The preset speed difference value follows a normal distribution. Where x is the rotational speed difference of the K-axis of the triaxial speed sensor group obtained in the experiment, σ is the variance of the rotational speed difference of the K-axis obtained in the experiment, and μ is the average value of the rotational speed difference of the K-axis obtained in the experiment.

[0179] In summary, the present invention can accurately determine whether the triaxial speed sensor group is malfunctioning, and the method is simple. Furthermore, the process of determining whether the triaxial speed sensor group is malfunctioning does not require stopping the drilling tool, thus avoiding the problems of increased operating costs and reduced work efficiency.

[0180] In a preferred embodiment, the processor 4 is also used to determine the tool face angle, well inclination, and azimuth of the drill string based on the data output by the fault-free sensors among the A triaxial accelerometers 1, B triaxial magnetoresistive sensors 2, and C triaxial gyroscope sensors 3.

[0181] In this embodiment, the present invention can determine the tool face angle, well inclination, and azimuth of the drill string by calling a drill string attitude dynamic monitoring algorithm based on the data output by the fault-free sensors among A triaxial accelerometers 1, B triaxial magnetoresistive sensors 2, and C triaxial gyroscopes 3.

[0182] Please refer to Figure 2 , Figure 2This is a schematic diagram of the system framework for a method for diagnosing and correcting drill bit attitude provided by the present invention. Taking an intelligent sensing system for dynamic measurement of drill bit attitude, which includes two triaxial accelerometers, one triaxial magnetoresistive sensor, and one triaxial gyroscope sensor as an example, the system first performs triaxial accelerometer diagnosis by using the two triaxial accelerometers and the triaxial gyroscope sensor axis that forms a 6-axis IMU with one of the triaxial accelerometers. That is, it determines whether there is a faulty sensor among the two triaxial accelerometers. If there is a faulty sensor among the two triaxial accelerometers, the system performs triaxial accelerometer correction, that is, it discards the data output by the faulty sensor. Then, it outputs the data obtained by the two triaxial accelerometers without faulty sensors. Similarly, diagnosing the triaxial gyroscope and magnetoresistive sensors involves determining if a faulty sensor exists among the three triaxial magnetoresistive sensors and the triaxial gyroscope. If a faulty sensor is found, calibration is performed, discarding the data output from the faulty sensor and then outputting the data from the fault-free sensor among the three triaxial magnetoresistive and triaxial gyroscope sensors. Finally, based on the data measured by the fault-free sensors among the two triaxial accelerometers, one triaxial magnetoresistive sensor, and one triaxial gyroscope, the tool face angle, well inclination, and azimuth of the drill string are determined.

[0183] The tool face angle, well inclination, and azimuth of the drilling tools are crucial for controlling the drilling process. This invention can help engineers understand the working status of downhole drilling tools.

[0184] like Figure 3 As shown, Figure 3 The flowchart provided by this invention illustrates a method for dynamic measurement of drill string attitude. This method is applied to a processor in an intelligent sensing system for dynamic measurement of drill string attitude. The intelligent sensing system further includes A triaxial accelerometers, B triaxial magnetoresistive sensors, and C triaxial gyroscopes, where A is a positive integer not less than 2, B is a positive integer, and C is a positive integer. The method for measuring drill string attitude includes:

[0185] S11. Acquire data collected by A triaxial accelerometers, B triaxial magnetoresistive sensors, and C triaxial gyroscopes;

[0186] S12. Based on the data, determine whether there is a faulty sensor among the A three-axis accelerometer, B three-axis magnetoresistive sensor and C three-axis gyroscope sensor. If so, proceed to S13.

[0187] S13. Remove the data output by the faulty sensor.

[0188] Based on the above embodiments:

[0189] In a preferred embodiment, after removing the data output by the faulty sensor, the method further includes:

[0190] Based on the data output from the fault-free sensors among A (three-axis accelerometer), B (three-axis magnetoresistive sensor), and C (three-axis gyroscope sensor), the tool face angle, well inclination, and azimuth of the drill string are determined.

[0191] For a detailed description of the method for dynamic measurement of drill bit attitude provided by this invention, please refer to the above-described embodiment of the intelligent sensing system for dynamic measurement of drill bit attitude, which will not be repeated here.

[0192] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0193] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0194] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent sensing system for dynamic measurement of a drilling tool attitude, characterized by, The intelligent sensing system comprises A three-axis acceleration sensors, B three-axis magnetoresistance sensors and C three-axis gyroscope sensors, wherein A is a positive integer not less than 2, B is a positive integer, and C is a positive integer; the system further comprises a processor; The processor is configured to acquire data collected by the A three-axis acceleration sensors, the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors; Determine whether there is a faulty sensor among the A three-axis acceleration sensors, the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors according to the data; If yes, remove the data output by the faulty sensor; When A is greater than 2, the data collected by the A three-axis acceleration sensors comprises: At a sampling moment, K-axis accelerations measured by the A three-axis acceleration sensors are acquired respectively, the K-axis including X-axis, Y-axis and Z-axis, is a positive integer; Determine whether there is a faulty sensor among the A three-axis acceleration sensors according to the data, which comprises: Two of the three-axis acceleration sensors are selected from the A three-axis acceleration sensors to form a three-axis acceleration sensor group, and the number of the three-axis acceleration sensor groups is one. Each of the three-axis acceleration sensor groups is operated as follows: Determine whether the three-axis acceleration sensor group is abnormal according to the acceleration of the K-axis; After all the three-axis acceleration sensor groups have been operated and there is an abnormal three-axis acceleration sensor group, if all the three-axis acceleration sensor groups in which the three-axis acceleration sensors exist are abnormal, it is determined that there is a faulty sensor among the A three-axis acceleration sensors, and the faulty sensor is the three-axis acceleration sensor; When the sum of B and C is greater than 2, the data collected by the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors comprises: In at a sampling moment, a first rotation speed of the K-axis is obtained according to the K-axis magnetic resistance data measured by the B three-axis magnetic resistance sensors, a second rotation speed of the K-axis is obtained according to the K-axis gyroscope data measured by the C three-axis gyroscope sensors, the K-axis includes the X-axis, the Y-axis and the Z-axis, is a positive integer; Determine whether there is a faulty sensor among the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors according to the data, which comprises: Two sensors are selected from the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors to form a three-axis rotation speed sensor group, wherein the three-axis rotation speed sensor group includes two three-axis magnetoresistance sensors, or includes two three-axis gyroscope sensors, or includes one three-axis magnetoresistance sensor and one three-axis gyroscope sensor, and the number of the three-axis rotation speed sensor groups is . Each of the three-axis rotation speed sensor groups is operated as follows: Determine whether the three-axis rotation speed sensor group is abnormal according to the rotation speed of the three-axis rotation speed sensor group; After all the three-axis rotation speed sensor groups have been operated and there is an abnormal three-axis rotation speed sensor group, if all the three-axis rotation speed sensor groups in which the three-axis magnetoresistance sensors or the three-axis gyroscope sensors exist are abnormal, it is determined that there is a faulty sensor among the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors, and the faulty sensor is the three-axis magnetoresistance sensor or the three-axis gyroscope sensor.

2. The intelligent sensing system for dynamic measurement of drill string attitude of claim 1, wherein, When A is equal to 2, the intelligent sensing system for dynamic measurement of the tool posture comprises a first three-axis acceleration sensor and a second three-axis acceleration sensor, and the first three-axis acceleration sensor and one of the C three-axis gyroscope sensors form a 6-axis IMU; Acquire the data collected by the A three-axis acceleration sensors, which comprises: At a sampling moment, respectively acquire the acceleration of K-axis measured by the first three-axis acceleration sensor and the second three-axis acceleration sensor, the K-axis includes X-axis, Y-axis and Z-axis, is a positive integer; Determine whether there is a faulty sensor among the A three-axis acceleration sensors according to the data, which comprises: The first three-axis acceleration sensor and the second three-axis acceleration sensor form a three-axis acceleration sensor group; Determine whether the three-axis acceleration sensor group is abnormal according to the acceleration of the K-axis; If the three-axis acceleration sensor group is abnormal, the following operations are performed: obtaining a first average value of the magnitude of the sum of the gravity vectors of the first triaxial acceleration sensor at a plurality of sampling instants when the drilling tool is stationary, and obtaining a second average value of the magnitude of the sum of the gravity vectors of the second triaxial acceleration sensor at a plurality of sampling instants when the drilling tool is stationary, is a positive integer;​ determining whether the absolute value of the difference between the first average value and 1g is greater than a preset threshold value, and whether the absolute value of the difference between the second average value and 1g is greater than the preset threshold value; if the absolute value of the difference between the first average value and 1g is greater than the preset threshold value, determining that there is a faulty sensor in the A three-axis acceleration sensors, and the faulty sensor is the first three-axis acceleration sensor; if the absolute value of the difference between the second average value and 1g is greater than the preset threshold value, determining that there is a faulty sensor in the A three-axis acceleration sensors, and the faulty sensor is the second three-axis acceleration sensor; If the absolute value of the difference between the first average value and 1g is not greater than the preset threshold value and the absolute value of the difference between the second average value and 1g is not greater than the preset threshold value, then at a sampling moment, gyro data of the K-axis measured by a three-axis gyro sensor in the 6-axis IMU is acquired, and an average value of the gyro data of the K-axis and a variance of the gyro data of the K-axis are obtained, is a positive integer; determining whether the number of average values greater than a preset average threshold value among the average value of the X-axis gyroscope data, the average value of the Y-axis gyroscope data and the average value of the Z-axis gyroscope data is greater than 2, and whether the number of variances greater than a preset variance threshold value among the variance of the X-axis gyroscope data, the variance of the Y-axis gyroscope data and the variance of the Z-axis gyroscope data is greater than 2; if neither is greater than 2, determining that there is a faulty sensor in the A three-axis acceleration sensors, and the faulty sensor is the second three-axis acceleration sensor; otherwise, determining that there is a faulty sensor in the A three-axis acceleration sensors, and the faulty sensor is the first three-axis acceleration sensor.

3. The intelligent sensing system for dynamic measurement of drill tool attitude according to claims 1 or 2, wherein, determining whether the three-axis acceleration sensor group is abnormal according to the acceleration of the K-axis, comprising: The acceleration of the K-axis at the same sampling time is subtracted to obtain the acceleration difference value of the K-axis; determining the opposite of the acceleration difference value; determining a preset acceleration difference value normal distribution on the K-axis, a K-axis acceleration difference value probability between the K-axis acceleration difference value and the opposite number of the respective corresponding K-axis acceleration difference value. The acceleration difference probability product of the K-axis is obtained by multiplying the acceleration difference probability values of the K-axis. The acceleration difference probability product of the K-axis is obtained by multiplying the acceleration difference probability values of the K-axis. if the acceleration difference probability product of the K-axis is less than the preset acceleration difference probability threshold of the K-axis raised to the power of M, M being a positive integer, then the acceleration difference probability product of the K-axis at the next M groups of sampling instants is continuously detected whether or not the acceleration difference probability product of the K-axis is less than the preset acceleration difference probability threshold of the K-axis raised to the power of M, M being a positive integer; If M consecutive groups The product of the acceleration difference probabilities at each sampling time point along the K-axis is less than a preset acceleration difference probability threshold for the K-axis. If the power is increased to the power of 1, then the triaxial accelerometer sensor group is determined to be malfunctioning.

4. The intelligent sensing system for dynamic measurement of drill string attitude of claim 1, wherein, when the sum of B and C is equal to 2, acquiring data collected by B three-axis magnetoresistance sensors and C three-axis gyroscope sensors, comprising: At a first rotation speed of the K-axis is obtained according to the magnetic resistance data of the K-axis measured by the three-axis magnetic resistance sensor, a second rotation speed of the K-axis is obtained according to the gyroscope data of the K-axis measured by the three-axis gyroscope sensor, the K-axis includes the X-axis, the Y-axis and the Z-axis, is a positive integer; determining whether there is a faulty sensor in the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors according to the data, comprising: the three-axis magnetoresistance sensors and the three-axis gyroscope sensors form a three-axis rotation speed sensor group; determining whether the three-axis rotation speed sensor group is abnormal according to the rotation speed of the three-axis rotation speed sensor group; if the three-axis rotation speed sensor group is abnormal, performing the following operations: At a sampling time, an average value of the magnetic field intensity measured by the three-axis magnetoresistance sensor is obtained, is a positive integer; determining whether the absolute value of the difference between the average value of the magnetic field intensity and the geomagnetic intensity is greater than a preset threshold value; if the absolute value of the difference between the average value of the magnetic field intensity and the geomagnetic intensity is greater than the preset threshold value, determining that there is a faulty sensor in the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors, and the faulty sensor is the three-axis magnetoresistance sensor; If an absolute value of a difference between the average value of the magnetic field intensity and the geomagnetic intensity is not greater than the preset threshold value, then obtaining the magnetic resistance data of the K-axis measured by the three-axis magnetic resistance sensor at one sampling moment, and obtaining an average value of the magnetic resistance data of the K-axis and a variance of the magnetic resistance data of the K-axis, is a positive integer; determining whether the number of average values greater than a first preset average threshold value among the average value of the X-axis magnetoresistance data, the average value of the Y-axis magnetoresistance data and the average value of the Z-axis magnetoresistance data is greater than 2, and whether the number of variances greater than a first preset variance threshold value among the variance of the X-axis magnetoresistance data, the variance of the Y-axis magnetoresistance data and the variance of the Z-axis magnetoresistance data is greater than 2; if neither is greater than 2, entering the step of determining whether the three-axis gyroscope is abnormal; otherwise, determining that there is a faulty sensor in the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors, and the faulty sensor is the three-axis magnetoresistance sensor; determining whether the three-axis gyroscope is abnormal, comprising: At a sampling moment, acquiring the gyro data of the K-axis measured by the three-axis gyro sensor, and obtaining the average value of the gyro data of the K-axis and the variance of the gyro data of the K-axis, is a positive integer; determining whether the number of the average values of the gyroscope data of the X-axis, the average values of the gyroscope data of the Y-axis and the average values of the gyroscope data of the Z-axis greater than the second preset average threshold is greater than 2, and whether the number of the variances of the gyroscope data of the X-axis, the variances of the gyroscope data of the Y-axis and the variances of the gyroscope data of the Z-axis greater than the second preset variance threshold is greater than 2; if none of them is greater than 2, it is determined that there is no faulty sensor in the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors; otherwise, it is determined that there is a faulty sensor in the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors, and the faulty sensor is the three-axis gyroscope sensor.

5. The intelligent sensing system for dynamic measurement of drill tool attitude according to claims 1 or 4, wherein, determining whether the three-axis rotation speed sensor group is abnormal according to the rotation speed of the three-axis rotation speed sensor group, comprising: The rotational speeds of the three-axis speed sensor group at the same sampling time are subtracted to obtain... The rotational speed difference value of the K-axis; determining the opposite of the one rotational speed difference value; determining a preset speed difference value of the K-axis, a speed difference value probability of the K-axis between the speed difference value of the K-axis and the opposite number of the respective corresponding speed difference value. Will The probability product of the speed difference values ​​of the K-axis is obtained by multiplying the probabilities of the speed difference values ​​of the K-axis. If the product of the probabilities of the rotational speed difference of the K-axis is less than the preset probability threshold of the rotational speed difference of the K-axis Then, continue testing M consecutive groups. Whether the probability product of the rotational speed difference of the K-axis at each sampling time is less than the preset probability threshold of the acceleration difference of the K-axis. The power of M, where M is a positive integer; If M consecutive groups The product of the probabilities of the rotational speed differences along the K-axis at each sampling time point is less than a preset probability threshold for the rotational speed differences along the K-axis. If the power is increased to the power of 1, then the triaxial speed sensor group is determined to be malfunctioning.

6. The intelligent sensing system for dynamic measurement of drill string attitude of claim 1, wherein, The processor is further configured to determine a tool face angle, a deviation and a direction of the drilling tool according to data output by the non-faulty sensors among the A three-axis acceleration sensors, the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors.

7. A method of dynamically measuring a drilling tool attitude, characterized by, The intelligent sensing system for dynamic measurement of drilling tool posture further comprises A three-axis acceleration sensors, B three-axis magnetoresistance sensors and C three-axis gyroscope sensors, A is a positive integer not less than 2, B is a positive integer, and C is a positive integer. The method for measuring the posture of the drilling tool comprises: obtaining data collected by the A three-axis acceleration sensors, the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors; determining whether there is a faulty sensor among the A three-axis acceleration sensors, the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors according to the data; if yes, removing data output by the faulty sensor; wherein when A is greater than 2, obtaining data collected by the A three-axis acceleration sensors comprises: At a sampling moment, K-axis accelerations measured by the A three-axis acceleration sensors are acquired respectively, the K-axis including X-axis, Y-axis and Z-axis, is a positive integer; determining whether there is a faulty sensor among the A three-axis acceleration sensors according to the data, comprising: Two of the three-axis acceleration sensors are selected from the A three-axis acceleration sensors to form a three-axis acceleration sensor group, and the number of the three-axis acceleration sensor groups is one. performing the following operations on each of the three-axis acceleration sensor groups: determining whether the three-axis acceleration sensor group is abnormal according to the acceleration of the K-axis; after all the three-axis acceleration sensor groups have performed the above operations and there is an abnormal three-axis acceleration sensor group, if each of the three-axis acceleration sensor groups in which the three-axis acceleration sensor is located is abnormal, it is determined that there is a faulty sensor among the A three-axis acceleration sensors, and the faulty sensor is the three-axis acceleration sensor; wherein when the sum of B and C is greater than 2, obtaining data collected by the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors comprises: In at a sampling moment, a first rotation speed of the K-axis is obtained according to the K-axis magnetic resistance data measured by the B three-axis magnetic resistance sensors, a second rotation speed of the K-axis is obtained according to the K-axis gyroscope data measured by the C three-axis gyroscope sensors, the K-axis includes the X-axis, the Y-axis and the Z-axis, is a positive integer; determining whether there is a faulty sensor among the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors according to the data, comprising: Two sensors are selected from the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors to form a three-axis rotation speed sensor group, wherein the three-axis rotation speed sensor group includes two three-axis magnetoresistance sensors, or includes two three-axis gyroscope sensors, or includes one three-axis magnetoresistance sensor and one three-axis gyroscope sensor, and the number of the three-axis rotation speed sensor groups is . performing the following operations on each of the three-axis rotation speed sensor groups: determining whether the three-axis rotation speed sensor group is abnormal according to the rotation speed of the three-axis rotation speed sensor group; After the above operations are performed on all the three-axis rotation speed sensor groups and there is an abnormality in the three-axis rotation speed sensor groups, if there is an abnormality in each of the three-axis rotation speed sensor groups where the three-axis magnetoresistance sensor or the three-axis gyroscope sensor is located, it is determined that there is a faulty sensor among the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors, and the faulty sensor is the three-axis magnetoresistance sensor or the three-axis gyroscope sensor.

8. The method of dynamically measuring a drilling assembly attitude of claim 7, wherein, After removing the data output by the faulty sensor, the method further comprises: According to the data output by the non-faulty sensors among the A three-axis acceleration sensors, the B three-axis magnetoresistance sensors and the C three-axis gyroscope sensors, the tool face angle, the inclination and the azimuth of the drilling tool are determined.

Images