A drilling tool probe automated calibration apparatus and method of use

Abstract

The application discloses a kind of drilling tool probe automatic calibration equipment and use method, belong to petroleum engineering rotary steering drilling technical field, for the automatic calibration and test verification of probe. Overcome the influence of sensor non-orthogonal error and actual operation temperature on measurement accuracy, the method can be used to quickly calibrate the drilling tool direction probe, eliminate the mechanical installation error caused by the non-orthogonality of sensor, and add temperature compensation to the calibration process, so as to solve the disadvantages of only calibrating at traditional room temperature and ignoring the influence of high temperature downhole, improve the calibration accuracy and efficiency of drilling tool direction probe, standardize the calibration process. At the same time, the automatic rotating heating device in the system can also cooperate with the lower computer to quickly verify the accuracy of the calibrated probe, speeding up the iteration of the overall calibration process.

Description

Technical Field

[0001] This invention belongs to the field of rotary steerable drilling technology in petroleum engineering. It is used for automated testing and verification of probe calibration, overcoming the influence of sensor non-orthogonal error and actual operating temperature on measurement accuracy. In particular, it relates to an automated calibration device and method for drill string orientation probes. Background Technology

[0002] Oil and natural gas, as vital strategic energy sources for the nation, ensure the development needs of various industries in my country. Due to the continuous exploitation of conventional oil and gas resources in recent years, the development of major conventional oilfields has entered its later stages. Simultaneously, my country possesses abundant unconventional oil and gas resources, thus ushering in an era of unconventional oil and gas extraction. Rotary steerable drilling technology, developed in recent years, is an automated drilling technology capable of effectively and rapidly developing unconventional oil and gas reservoirs. Its technology is complex and involves a wide range of fields. The accuracy of attitude measurement of the rotary steerable drilling tool directly determines the final drilling efficiency and success rate, making it a crucial element of this technology. Attitude measurement technology, as a key component of rotary steerable drilling technology, directly determines whether the drill string can efficiently and reliably hit the target oil reservoir during drilling operations. Accurate attitude angle calculation can prevent the drill string from deviating from the predetermined drilling trajectory due to angle calculation errors during drilling operations, thereby improving drilling efficiency and reducing drilling costs.

[0003] In practical applications, the attitude data for drill string attitude measurement primarily originates from the directional probe, whose internal sensors consist of accelerometers and fluxgate magnetometers. Errors in drill string attitude measurement mainly stem from two sources: first, mechanical installation errors caused by the non-orthogonality between the axes of the internal sensors; and second, drift in sensor output due to high formation temperatures during actual drilling, altering the sensor's output characteristics. Both factors contribute to a discrepancy between the actual and theoretical sensor outputs, resulting in inaccurate drill string attitude measurement. This causes the actual drilling trajectory to deviate from the expected trajectory, severely impacting drilling efficiency.

[0004] Therefore, there is a need for an automated calibration device and system for drill string directional probes to solve the problems of mechanical installation errors caused by the non-orthogonality of sensors in existing drill string directional probes and inaccurate sensor measurements caused by the rapid increase in formation temperature during actual drilling. Summary of the Invention

[0005] The purpose of this invention is to provide an automated calibration system for drill pipes, which solves the problems of mechanical installation errors caused by the non-orthogonality of sensors in drill pipes and inaccurate sensor measurements caused by the rapid increase in formation temperature during actual drilling.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an automated calibration device for drill pipes, including a calibration mechanism and a testing and verification mechanism. The calibration mechanism includes a host computer and a data acquisition instrument. The testing and verification mechanism includes a power supply, a slave computer, and an automatic rotating heating device. The power supply is electrically connected to the host computer, the data acquisition instrument, the slave computer, and the automatic rotating heating device. The host computer is electrically connected to the data acquisition instrument and the automatic rotating heating device.

[0007] The automatic rotary heating device includes a first rotary mechanism mounted on a base, a U-shaped bracket mounted on the first rotary mechanism, and a second rotary mechanism mounted on the U-shaped bracket. The second rotary mechanism has a mounting base with two connecting plates opposite each other. A tool face angle rotary motor and a conductive slip ring are respectively mounted on the two connecting plates. A drilling direction probe is connected between the tool face angle rotary motor and the conductive slip ring. A heating sleeve is mounted on the drilling direction probe, and an accelerometer and a three-axis fluxgate are installed inside the drilling direction probe. The accelerometer, the three-axis fluxgate, and the heating sleeve are electrically connected to the conductive slip ring. The tool face angle rotary motor, the conductive slip ring, the first rotary mechanism, and the second rotary mechanism are electrically connected to the data acquisition instrument, the lower-level machine, the upper-level machine, and the power supply, respectively.

[0008] The first and second rotating mechanisms each include an azimuth angle rotary motor and a dial mounted on the base, and a well inclination angle rotary motor and a dial mounted on a U-shaped frame. The output shaft of the azimuth angle rotary motor passes through the dial and is rotatably connected to and fixedly connected to the U-shaped bracket. The output shaft of the well inclination angle rotary motor in the second rotating mechanism passes through the dial and is rotatably connected to and fixedly connected to the mounting base. The azimuth angle rotary motor is electrically connected to the lower-level machine and the power supply.

[0009] The output shaft of the tool face angle rotary motor is fixedly connected to one end of the drilling direction probe via a coupling, wherein a scale is provided on the connecting plate where the tool face angle rotary motor is installed.

[0010] Three accelerometers are arranged orthogonally in pairs inside the drilling directional probe, and their output shafts are electrically connected to the conductive slip rings. A gap is maintained between the accelerometers and the triaxial fluxgate. The data output from the accelerometers and the triaxial fluxgate sensor is used as the raw data source for attitude measurement. An automatic rotating heating device controlled by a host computer rotates the directional probe to different actual attitudes to obtain the actual output values ​​of the accelerometers and the triaxial fluxgate sensor under these actual attitudes. The directional probe is fixed by a connecting plate mounting fixture and will not have relative displacement with the rotating device. A power supply provides power to the sensors in the drilling directional probe and the automatic rotating heating device, while the data acquisition system collects the raw attitude data and transmits it to the host computer for data analysis and processing. The data flow from acquisition to final processing is automated. Through GPIB bus communication and SCPI command control, the host computer can automatically control the power supply channel opening and closing, as well as the output voltage and current, enabling the selection and activation of the data acquisition instrument's sampling channel. Finally, the acquired raw data is sent to the host computer for analysis and processing. That is, all the instruments used are controlled by a host computer and the data is processed automatically, which improves calibration efficiency and reduces errors caused by repeated manual experimental operations.

[0011] The lower-level machine includes a conditioning circuit module, an AD analog-to-digital conversion module, a main controller and a computing module, and a communication module. It is used to quickly acquire the original signal of the automatic rotating heating device and calculate the corrected signal with the written calibration coefficients, and then calculate the corrected attitude angle.

[0012] An automated calibration device for drill pipes and a method for using it, the method comprising the following steps:

[0013] Step 1: Set up an automated calibration system for the drill string orientation probe, including an automatic rotary heating device, power supply, data acquisition instrument, lower-level computer, and upper-level computer, all electrically connected via GPIB bus and connecting cables. The drill string orientation probe contains three single-axis accelerometers and one three-axis fluxgate sensor; the outputs of these sensors serve as the raw data source for attitude measurement. The upper-level computer controls the automatic rotary heating device to rotate the drill string to different realistic attitudes to obtain the actual sensor output values ​​under these attitudes.

[0014] Step 2: Construct a mathematical model for the calibration of mechanical installation errors and temperature compensation of the drill string direction probe.

[0015] For accelerometers:

[0016]

[0017] GCM(T)=GCM0+GCM1(T-25)+GCM2(T-25)2 +GCM2(T-25) 3

[0018] GB(T)=GB0+GB1(T-25)+GB2(T-25) 2 +GB3(T-25) 3

[0019] For fluxgates:

[0020]

[0021] HCM(T)=HCM0+HCM1(T-25)+HCM2(T-25) 2 +HCM3(T-25) 3

[0022] HB(T)=HB0+HB1(T-25)+HB2(T-25) 2 +HB3(T-25) 3

[0023] Wherein, Gx~Hz are the values ​​after mechanical correction and temperature compensation, gx~hz are the original signals of the measured values, and T represents the actual drilling environment temperature. GCM(T) and HCM(T) are compensation correction matrices related to the actual drilling environment temperature T, and GB(T) and HB(T) are zero-point bias matrices related to the actual drilling environment temperature T.

[0024] Step 3: Calculate the various correction parameters in the mathematical model, including mechanical position error correction and temperature fitting compensation parameters. Finally, write these parameters into the lower-level computer to complete the calibration of the probe. Based on the mathematical model in Step 2, calculate the parameters therein.

[0025] The calculation process for each parameter is as follows: The starting position of the correction sequence is determined based on the local magnetic inclination, and the correction point positions are determined based on the starting position. The original sampling data at these correction points is used to calculate the zero-point offset of each sensor axis at different temperatures and the mechanical installation error correction matrix. Sensor temperature modeling is performed. The automatic rotating heating device can directly heat the directional probe, with a maximum heating temperature of 150℃, which can fully simulate the ambient temperature experienced by the probe downhole. The heating sleeve of the automatic rotating heating device is controlled by the host computer to heat the drilling directional probe to different temperatures. Each sensor is rotated to either an upward or downward position along the vertical direction of gravity to acquire output signals, and the sensor scaling factor and zero-point offset at different heating temperatures are calculated. The scaling factors obtained at different temperatures are fitted with the zero-point bias and each element in the mechanical error correction matrix with (T-25) degrees Celsius using the least squares method. That is, an nth-degree polynomial is obtained (according to this model, the fitting order is third). The combination of polynomial coefficients obtained after fitting is the parameter GCM0~GCM3, HCM0~HCM3, GB0~GB3, HB0~HB3 required in the final model, and is written into the lower-level machine.

[0026] Taking an accelerometer as an example, obtaining the scaling factor and zero-point offset first requires acquiring the accelerometer's output value under one gravitational acceleration or one opposite gravitational acceleration. This is done by using an automatic rotating heating device to rotate each sensor to either an upward or downward position along the vertical direction of gravity to obtain the output signal. Then, the scaling factor and zero-point offset are calculated using the following two equations. V1 and V2 represent the original signal output under one gravitational acceleration or the opposite direction, SF represents the scaling factor, and GB represents the zero-point offset. The formula is:

[0027]

[0028] The heating sleeves of the automatic rotating heating device are heated to the set temperature using a host computer control system. Step two is repeated, and the output values ​​of each axis sensor under one gravitational acceleration or one reverse gravitational acceleration are collected. The scaling factor and zero-point offset at different temperature points can be obtained. To overcome the problem of inaccurate output values ​​under one gravitational acceleration or one reverse gravitational acceleration caused by mechanical installation errors of the sensors during calibration, the well inclination angle and azimuth angle rotary motors in the automatic rotating heating device can be coordinated to drive each axis sensor in the drilling direction probe to move within the range of 0°±3° and 180°±3° in each direction, respectively, to obtain the true maximum value of each sensor output within the angle range. This value is the true scaling factor SF.

[0029] After completing steps two and three, we can obtain the axis scaling factors SFx~SFz, zero-point offsets GBx~GBz, and the element values ​​Fcosxx~Fcoszz in the mechanical error correction matrix at these set temperatures, where the mechanical error correction matrix is ​​a third-order square matrix. We then perform least-squares fitting on the scaling factors and zero-point offsets obtained at different temperatures in the above steps, as well as the elements in the mechanical error correction matrix, and (T-25) degrees Celsius, respectively, to obtain an nth-degree polynomial:

[0030]

[0031] The order of the fitting polynomial can be set according to the specific accuracy requirements of the project. Based on the established mathematical model for drilling direction probe mechanical installation error calibration and temperature compensation, the fitting order is set to third order. The combination of polynomial coefficients obtained after fitting are the parameters required in the final model: GCM0~GCM3, HCM0~HCM3, GB0~GB3, HB0~HB3. Taking the accelerometer calibration parameters GCM0~GCM3 and GB0~GB3 as an example, the principle and method for obtaining the fluxgate parameters HCM0~HCM3 and HB0~HB3 are the same as the accelerometer method. The accuracy of the calibrated probe is quickly verified using a lower-level computer and an automatic rotating heating device. The above data such as GCM0~GCM3, HCM0~HCM3, GB0~GB3, and HB0~HB3 are written into the lower-level computer to complete the calibration. The lower-level main control chip calculates the final correction and zero-point offset matrices GCM(T), HCM(T), GB(T), and HB(T) required by the accelerometer and fluxgate, which are related to the actual drilling operation temperature T. The actual drilling operation temperature T is measured by the temperature sensor attached to the accelerometer in the probe.

[0032] Step 4: Utilize the automatic rotary heating device and lower-level computer to conduct rapid testing and verification of the calibrated probe, including static, dynamic, and temperature measurements. Install the directional probe in the automatic rotary heating device. The drilling directional probe is fixed by a connecting plate and mounting clamps, preventing relative displacement with the rotation system. As different rotary motors rotate, the directional probe rotates at different angles in space according to a predetermined plan. The actual attitude angles (well inclination, azimuth, and tool face angle) after rotation are read from the scale. At this time, the sensor's original signal output line and power line are led outwards through conductive slip rings and input to the lower-level computer. After calculation according to the model using the calibration and zero-point offset matrix written into the lower-level computer in Step 3, the calibrated measurement values ​​are obtained, and the calibrated attitude angles can then be solved. The automatic rotary heating device is then heated to different temperatures. By comparing the calibrated attitude angles with the actual attitude angles, the accuracy of the calibrated probe's attitude measurement can be verified. The automated rotary heating device consists of a rotary motor that controls the rotation of the drilling directional probe at three attitude angles (inclination, azimuth, and tool face angle), a heating sleeve, an angle scale, clamps, and a support structure. The rotation of all attitude angles is driven by the rotary motor controlled by a host computer. The inclination angle rotation range is 0–180°, the azimuth angle rotation range is 0–360°, and the rotation speed is uniform. There is no limitation on the tool face angle rotation angle, and the motor controlling the tool face angle rotation speed is adjustable within the range of 0–500 rpm. The maximum heating temperature of the heating sleeve is 150℃. The accuracy of static and dynamic measurements of the drilling directional probe at different temperatures is tested to verify the reliability of the calibration coefficients.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] This invention proposes an automated calibration device and method for drill pipes. During the calibration process, all instruments used, from data acquisition and processing, power supply, and the rotation of pipe calibration points to pipe heating, are automatically controlled, reducing time and economic losses due to human error. In addition to calibrating non-orthogonal mechanical installation errors, temperature compensation correction is also performed, which significantly reduces attitude angle calculation errors caused by mechanical installation errors and drastic temperature changes in actual downhole conditions.

[0035] This invention proposes an automated calibration device and method for drill string probes. It can simulate three attitude angles and rotational speeds of the drill string, with each of these angles driven by a motor. During mechanical calibration, the device is controlled by a host computer, which rotates the probe to each calibration point. The device also includes a heating function, allowing it to collect sensor output values ​​at different temperatures while performing mechanical error calibration. The host computer then directly performs temperature modeling and calculates compensation coefficients. This not only improves the calibration process but also significantly simplifies the redundancy of the required calibration instruments.

[0036] This invention proposes an automated calibration device and method for drill pipes. After calibration, the drill pipe does not need to be disassembled. It can directly cooperate with the lower-level machine to verify the calibration accuracy at different temperatures, thus realizing automated testing and verification of drill pipe calibration. The entire device has a symmetrical structure that drives the directional drill pipe to rotate in all directions, which saves more space and is easier to transport and carry compared to traditional devices.

[0037] The present invention proposes an automated calibration device and method for drill pipes, which can efficiently and conveniently complete the entire calibration process and verify accuracy. The system has high overall integrity and has practical engineering value in overcoming the influence of sensor non-orthogonal error and actual operating temperature on measurement accuracy. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the device structure of the present invention;

[0039] Figure 2 This is a schematic diagram of the hardware connection of the automated calibration mechanism of the present invention;

[0040] Figure 3 This is a schematic diagram of the hardware connection of the automated testing and verification mechanism of the present invention;

[0041] Figure 4 This is a schematic diagram of the automatic rotary heating device of the present invention;

[0042] Figure 5 This is a diagram showing the positional relationship between the accelerometer and the fluxgate in the directional probe of the drill bit of the present invention;

[0043] Figure 6 This is a schematic diagram of the process of the present invention.

[0044] In the diagram: 1. Host computer; 2. GPIB connection cable; 3. Power supply; 4. Data acquisition instrument; 5. Sub-computer; 6. Connecting cable; 7. Automatic rotating heating device; 7-1. Conductive slip ring; 7-2 Drilling direction probe; 7-3. U-shaped bracket; 7-4. Tool face angle rotary motor; 7-5. Mounting base; 7-6. First rotating mechanism; 7-7. Second rotating mechanism; 7-8. Accelerometer; 7-9. Three-axis fluxgate. Detailed Implementation

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0046] like Figure 1As shown, an automated calibration device for drill pipes includes a calibration mechanism and a testing and verification mechanism. The calibration mechanism includes a host computer 1 and a data acquisition instrument 4. The testing and verification mechanism includes a power supply 3, a slave computer 5, and an automatic rotating heating device 7. The power supply 4 is electrically connected to the host computer 1, the data acquisition instrument 4, the slave computer 5, and the automatic rotating heating device 7 via GPIB connection cable 2 and connection cable 6, respectively. The host computer 1 is electrically connected to the data acquisition instrument 4 and the automatic rotating heating device 7. During the calibration process, the instruments used for data acquisition and processing, power supply, rotation of the drill pipe calibration points, and drill pipe heating are all automatically controlled, reducing time and economic losses caused by human error. In addition to calibrating non-orthogonal mechanical installation errors, temperature compensation correction is also performed, greatly reducing attitude angle calculation errors caused by mechanical installation errors and drastic temperature changes in actual downhole conditions.

[0047] like Figure 2 , Figure 3 , Figure 4 , Figure 5As shown, in this embodiment, the accelerometers 7-8 are three single-axis quartz flexible accelerometers, and the three-axis fluxgate 7-9 is a Mag612 three-axis fluxgate sensor. The automatic rotating heating device 7 includes a first rotating mechanism 7-6 mounted on a base. The first rotating mechanism 7-6 includes an azimuth rotating motor and an azimuth scale mounted on the base. The base is mechanically connected to the azimuth rotating motor, and the output shaft of the azimuth rotating motor passes through the azimuth scale and is rotatably connected. A U-shaped bracket 7-3 is mounted on the first rotating mechanism 7-6. The output shaft of the azimuth rotating motor on the first rotating mechanism 7-6 is fixedly connected to the U-shaped bracket 7-3, and the U-shaped bracket 7-3 is rotatably connected to the azimuth scale for rotating the U-shaped bracket 7-3 and referencing its angular changes. A second rotating mechanism 7-7 is mounted on the U-shaped bracket 7-3, and the second rotating mechanism 7-7 has the same structure as the first rotating mechanism 7-6. The azimuth rotary motor output shaft on the second rotating mechanism 7-7 is equipped with a mounting base 7-5, which is connected by a coupling mechanism for rotating the mounting base 7-5. The other end of the mounting base 7-5 is rotatably connected to another vertical plate of the U-shaped bracket 7-3 via a well inclination angle rotating shaft. Two connecting plates are arranged opposite each other on the mounting base 7-5. The connecting plates are respectively equipped with a tool face angle rotary motor 7-4 and a conductive slip ring 7-1. A drilling direction probe 7-2 is arranged between the tool face angle rotary motor 7-4 and the conductive slip ring 7-1, and is fixedly connected by a tool clamp and the connecting plate. The conductive slip ring 7-1 is an LPC cap-type slip ring. One end of the drilling direction probe 7-2 is fixedly connected to the conductive slip ring 7-1 and rotatably connected to the mounting base 7-5 through the conductive slip ring 7-1. The drilling direction probe 7-2 contains three accelerometers 7-8 and one triaxial fluxgate 7-9. The three accelerometers 7-8 are arranged at an angle inside the drilling direction probe 7-2. The wires of the three accelerometers 7-8 and the triaxial fluxgate 7-9 are electrically connected to the conductive slip ring 7-1, with a gap between them. A heating sleeve is installed on the drilling direction probe 7-2 and is electrically connected to the conductive slip ring 7-1. The other end of the drilling direction probe 7-2 is fixedly connected to the output shaft of the tool face angle rotary motor 7-4 through a connector. The tool face angle rotary motor 7-4 is electrically connected to the conductive slip ring 7-1 and is used to provide rotational force to the drilling direction probe 7-2.The automatic rotating heating device 7 is equipped with a host computer 1, a data acquisition instrument 4, a power supply 3, and a slave computer 5. The power supply 4 is electrically connected to the host computer 1, the data acquisition instrument 4, the slave computer 5, and the conductive slip ring 7-1 via GPIB connection cable 2 and connection cable 6, respectively. The host computer 1 is electrically connected to the data acquisition instrument 4 and the conductive slip ring 7-1. The slave computer 5 includes a conditioning circuit module, an AD conversion module, a main controller and a calculation module, and a communication module. It is used to quickly acquire the original signal of the automatic rotating heating device and calculate the corrected signal with the written calibration coefficients, and then calculate the corrected attitude angle. In specific calibration and verification, it includes static and dynamic test verification. In static test verification, the host computer 1 controls the rotating motor to make the automatic rotating heating device 7 move the probe to any attitude, including rotation of the well inclination angle, azimuth angle, and tool face angle. The original signal output by the probe is acquired by the slave computer and calculated with the calibration coefficients previously written to the slave computer to obtain the corrected data, and then the attitude angle is calculated. The accuracy of the calibration coefficients can be verified by comparing the obtained attitude angle with the rotation angle of the rotary motor controlled by the host computer. During dynamic testing, the host computer 1 controls the motor that drives the tool face angle to rotate continuously, with its speed adjustable from 0 to 500 rpm. At this time, the accuracy of the speed measurement when the directional probe rotates axially and the accuracy of the azimuth angle and well inclination angle calculation in this state can be verified. The verification method is the same as that for static testing and needs to be verified together with the lower computer. Specific implementation: The power supply 3 supplies power to the drilling directional probe 7-2 and the automatic rotary heating device 7. The data acquisition instrument 4 collects the output signals of the accelerometer 7-8 and the three-axis fluxgate magnetometer 7-9 sensor in the drilling directional probe 7-2 inside the heating sleeve. The output of the drilling directional probe 7-2 is connected to the board attached to the data acquisition instrument 4 via cable 6. The host computer 1 is responsible for controlling the voltage and current output of the power supply 3, setting the sampling channel and sampling frequency of the data acquisition instrument 4, controlling the rotation of the automatic rotary heating device 7 at different attitude angles and the heating of the heating sleeve, and is responsible for the final data processing. The power supply 3 is connected to the data acquisition instrument 4 via a dual GPIB cable 2, and then connected to the host computer 1. The drilling direction probe 7-2 is installed on the automatic rotary heating device 7. After obtaining the calibration point position, the probe is placed at the standard attitude calibration point angle by reading the scale to obtain the sensor measurement values ​​under these attitudes. Non-orthogonal mechanical installation error correction is performed to eliminate the mechanical installation error caused by the non-orthogonality of the sensors. At the same time, temperature compensation is added to the calibration process, thereby solving the drawback of ignoring the influence of high temperature downhole when calibrating only at traditional room temperature, and improving the accuracy and efficiency of drill string direction probe calibration.

[0048] like Figure 1 and Figure 6As shown, an automated calibration device and method for drilling rig probing are disclosed. The method includes the following steps: Step 1: Setting up the automated calibration device for drilling rig directional probing; Step 2: Constructing a mathematical model for the calibration and temperature compensation of the mechanical installation error of the drilling rig directional probing; Step 3: Calculating the correction parameters in the mathematical model, including the mechanical position error correction and temperature fitting compensation parameters, and finally writing these parameters into the lower-level machine to complete the calibration of the probing; Step 4: Using an automatic rotary heating device and the lower-level machine, performing rapid testing and verification of the calibrated probing, including static, dynamic, and temperature measurements. This method can efficiently and conveniently complete the entire calibration process and verify accuracy. The system has high overall integrity and has practical engineering value in overcoming the non-orthogonal error of sensors and the influence of actual operating temperature on measurement accuracy. In specific implementation, the drilling rig directional probing, composed of an accelerometer and a fluxgate magnetometer, is first subjected to mechanical error calibration and temperature compensation correction. This step requires the setup of the automated calibration device for drilling rig directional probing. The host computer 1 automatically controls the data acquisition instrument 4, the power supply 3, and the automatic rotating heating device 7. The automatic rotating heating device 7 collects the original signal of the drilling direction probe 7-2 at a specific correction position and performs mechanical error correction on the host computer to obtain the mechanical error matrix and the zero-point offset matrix.

[0049] A temperature compensation mathematical model and formula are established. The host computer 1 uses a programmable automatic rotating heating device to heat the directional probe. The temperature points can be 20℃, 50℃, 70℃, 90℃, 110℃, and 130℃. The above process is repeated using the host computer 1's automatic programmable data acquisition instrument 4, power supply 3, and automatic rotating heating device 7. The automatic rotating heating device 7 collects the original signal of the drilling directional probe 7-2 at a specific correction position and performs mechanical error correction on the host computer to obtain the mechanical error matrix and zero-point offset matrix. This process is then used to obtain the elements of the mechanical error matrix and zero-point offset matrix at these temperature points. Simultaneously, it is necessary to find the output characteristics of the accelerometer 7-8 and the three-axis fluxgate sensor 7-9 at these temperature points. These characteristics include the sensor's scaling factor and zero-point offset. Taking an accelerometer as an example, obtaining the scaling factor and zero-point offset requires obtaining the accelerometer's output under one gravitational acceleration or one reverse gravitational acceleration. That is, by using an automatic rotating heating device to rotate each sensor to two positions, one upward and one downward, along the vertical direction of gravity, to obtain the output signal, and then using the following two equations to calculate the scaling factor and zero-point offset.

[0050]

[0051] To overcome the problem of inaccurate output values ​​measured under one gravitational acceleration or one reverse gravitational acceleration due to mechanical installation errors of the sensors during calibration, the inclination angle and azimuth angle rotary motors in the automatic rotary heating device can be coordinated to drive the sensors of each axis in the probe to move within the range of 0°±3° and 180°±3° in each direction, respectively, to obtain the true maximum value of each sensor output within the angle range. This value is the true scaling factor SF. Based on the established mathematical model, the scaling factor obtained at different temperatures (20℃, 50℃, 70℃, 90℃, 110℃, and 130℃) is fitted with the zero-point bias and the elements in the mechanical error correction matrix with (T-25)℃ using the third-order least squares method, i.e., a cubic polynomial is obtained:

[0052]

[0053] The combination of polynomial coefficients obtained after fitting constitutes the parameter matrices GCM0~GCM3, HCM0~HCM3, GB0~GB3, and HB0~HB3 required in the final model. The above example uses the accelerometer calibration parameters GCM0~GCM3 and GB0~GB3 as an example; the principle and method for obtaining the fluxgate parameters HCM0~HCM3 and HB0~HB3 are consistent with those for the accelerometer. The number of temperature points and temperature values ​​are for reference only; the corresponding heating temperature and number of points can be set according to the highest temperature of different geological environments. Similarly, the third-order least squares polynomial fitting in this embodiment is only for reference; the fitting order n can be increased or decreased according to actual accuracy requirements. The combined polynomial coefficients obtained after fitting are then used to form the parameter matrices GCM0~GCM3, HCM0~HCM3, GB0~GB3, and HB0~HB3 required in the final model. These model parameters are then written into the lower-level computer. The drilling direction probe 7-2 is installed on the automatic rotary heating device 7. Together with the lower-level computer 5, static and dynamic measurements of the probe at different temperatures can be achieved to verify the previous calibration results. Specifically, during static testing, the upper-level computer controls the rotary motor to position the probe in any orientation, including rotation of the inclination angle, azimuth angle, and tool face angle. The raw signal output from the probe is acquired by the lower-level computer and calculated with the calibration coefficients previously written into the lower-level computer 5 to obtain calibrated data. Then, the attitude angle is calculated, and the resulting attitude angle is compared with the angle of rotation controlled by the rotary motor controlled by the upper-level computer 1 to verify the accuracy of the calibration coefficients. During dynamic testing and verification, the host computer 1 controls the tool face angle rotary motor to rotate continuously, with its speed adjustable between 0 and 500 rpm. At this time, the accuracy of the speed measurement when the directional probe rotates axially can be verified, as well as the accuracy of the azimuth angle and well inclination angle calculation in this state. The verification method is the same as that for static testing and needs to be verified together with the lower computer 5. While performing the above dynamic and static testing and verification, the host computer 1 can set the heating temperature to control the automatic rotating heating device 7 to heat the probe, thereby verifying the reliability of the calibration coefficient under different ambient temperatures.

[0054] like Figure 2As shown, power supply 3 supplies power to the drilling directional probe 7-2 and the automatic rotating heating device 7. Data acquisition instrument 4 collects the output signals of the accelerometer 7-8 and the three-axis fluxgate sensor 7-9 in the drilling directional probe 7-2 inside the heating sleeve. The output of the drilling directional probe 7-2 is connected to the board attached to the data acquisition instrument 4 via cable 6. The host computer 1 is responsible for programmable control of the voltage and current output of power supply 3, setting the sampling channels and sampling frequency of data acquisition instrument 4, controlling the rotation of the automatic rotating heating device 7 at different attitude angles and the heating of the heating sleeve, and is responsible for the final data processing. The power supply 3 is connected to the data acquisition instrument 4 via a dual GPIB cable 2 and then connected to the host computer 1. The drilling direction probe 7-2 is installed on the automatic rotary heating device 7. After obtaining the position of the correction point, the probe is placed at a standard attitude angle to obtain the sensor measurement values ​​under these standard attitudes. Non-orthogonal mechanical installation error correction is performed, and the combination of polynomial coefficients obtained after fitting is the parameter matrix of each order required in the final model: GCM0~GCM3, HCM0~HCM3, GB0~GB3, HB0~HB3. The above example uses the determination of accelerometer calibration parameters GCM0~GCM3 and GB0~GB3. The principle and method for determining fluxgate parameters HCM0~HCM3 and HB0~HB3 are the same as for the accelerometer. Each calibration parameter is written into the lower-level computer 5. Based on the actual temperature T measured by the temperature sensor attached to the heating probe, and according to the established mathematical model, GCM(T), HCM(T), GB(T), and HB(T) are calculated in the lower-level computer 5. This allows for the determination of the calibrated and compensated sensor signals, thereby calculating the calibrated attitude angle and improving the accuracy of the drill bit attitude angle calculation. After calibration, to quickly verify the calibration accuracy, refer to... Figure 3 As shown, the automatic rotary heating device 7 can perform static, dynamic, and temperature tests on the drilling directional probe 7-2. The host computer 1 is used to programmably control the power supply and the automatic rotary heating device 7, and is connected to the communication line via the GPIB connection cable 2; the power supply 3 is responsible for supplying power to the automatic rotary heating device 7, the drilling directional probe 7-2, and the slave computer 5, all of which are connected via connecting cables 6. (Reference) Figure 2 and Figure 3 The host computer 1, power supply 3, and automatic rotating heating device 7 shown are all the same instrument. (Reference) Figure 4 and Figure 5As shown, the drilling direction probe 7-2 is installed in the automatic rotary heating device 7 using a connecting plate and a clamp. The accelerometer 7-8 and the triaxial fluxgate 7-9 are installed in the structure of the drilling direction probe 7-2. The accelerometer 7-8 and the triaxial fluxgate 7-9 sensors are connected to the frame to form the drilling direction probe 7-2. The signals of the accelerometer 7-8 and the triaxial fluxgate 7-9 sensors are transmitted to the lower computer 5 through the conductive slip ring 7-1 to complete the signal connection. Static testing and verification: The upper computer 1 controls the rotation of the tool face angle rotary motor, which drives the drilling direction probe 7-2 to rotate axially. This is the rotation of the tool face angle of the drilling direction probe 7-2. The rotation angle can be determined according to the scale. This can simulate the rotation of the drilling direction probe 7-2 along the axial direction. The original signals of the accelerometer 7-8 and the three-axis fluxgate 7-9 sensor are collected by the lower computer 1 and calculated with the previously written calibration coefficient to obtain the calibrated tool face angle. This angle is compared with the angle rotated on the scale to quickly verify the accuracy of the tool face angle calibration. The equipment is fixed to the support platform with fixing screws. By controlling the rotation of the second rotation mechanism 7-7 azimuth angle rotary motor, the support platform rotates around the rotation axis. The rotation angle is 0° to 180°, which drives the rotation of the drilling direction probe 7-2 in the axial plane, thus simulating the rotation of the well inclination angle. The raw signals from the accelerometer 7-8 and the triaxial flux sensor 7-9 are acquired by the lower-level computer 5 and calculated with the previously written calibration coefficients to obtain the corrected wellbore inclination angle. This angle is compared with the angle rotated on the dial to quickly verify the accuracy of the wellbore inclination angle calibration. By controlling the azimuth rotation motor, the support arm of the drilling direction probe 7-2 on the automatic rotating heating device 7 can rotate around the azimuth rotation axis, with a rotation angle of 0° to 360°, thus simulating the rotation of the drill string azimuth angle. The raw signals from the accelerometer 7-8 and the triaxial flux sensor 7-9 are acquired by the lower-level computer 5 and calculated with the previously written calibration coefficients to obtain the corrected azimuth angle. This angle is compared with the angle rotated on the dial to quickly verify the accuracy of the azimuth angle calibration. Dynamic testing and verification are performed by controlling the motor rotation using the upper-level computer 1. The rotation speed is adjustable from 0 to 500 rpm. This verifies the accuracy of the calibrated wellbore inclination angle calculation under rotation conditions. This setup, used in conjunction with the method, can quickly verify the static accuracy of the calculated drill string tool face angle, inclination angle, and azimuth angle after calibration. In rotation, it can verify the dynamic accuracy of the inclination angle and azimuth angle. Temperature testing utilizes an automatic rotary heating device 7 to heat the probe, reaching a maximum temperature of 150℃. This simulates downhole temperature conditions in oil and gas wells, verifying the calibration effect of the directional probe under different operating temperatures. This improves the accuracy and efficiency of drill string directional probe calibration, standardizing and streamlining the calibration process.Meanwhile, the automatic rotating heating device in this system can also work with the lower-level computer to quickly verify the accuracy of the calibrated probe, thus accelerating the iteration of the overall calibration process.

[0055] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any simple modifications, alterations, or equivalent structural changes made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A method for using an automated calibration device for drill pipes, characterized in that, The automated calibration equipment for drilling tools includes a calibration mechanism and a testing and verification mechanism. The calibration mechanism includes a host computer and a data acquisition instrument. The testing and verification mechanism includes a power supply, a slave computer, and an automatic rotating heating device. The power supply is electrically connected to the host computer, the data acquisition instrument, the slave computer, and the automatic rotating heating device. The host computer is electrically connected to the data acquisition instrument and the automatic rotating heating device. The automatic rotary heating device includes a first rotary mechanism mounted on a base, a U-shaped bracket mounted on the first rotary mechanism, and a second rotary mechanism mounted on the U-shaped bracket. The second rotary mechanism has a mounting base, and two connecting plates are arranged opposite each other on the mounting base. A tool face angle rotary motor and a conductive slip ring are respectively mounted on the two connecting plates. A drilling direction probe is provided between and connected to the tool face angle rotary motor and the conductive slip ring. A heating sleeve is provided on the drilling direction probe, and an accelerometer and a three-axis fluxgate are installed inside the drilling direction probe. The accelerometer, the three-axis fluxgate, and the heating sleeve are electrically connected to the conductive slip ring. The tool face angle rotary motor, the conductive slip ring, the first rotary mechanism, and the second rotary mechanism are electrically connected to the data acquisition instrument, the lower-level machine, the upper-level machine, and the power supply, respectively. Includes the following steps: Step 1: Set up an automated calibration device for the drill string direction probe; Step 2: Construct a mathematical model for the calibration of mechanical installation errors and temperature compensation of the drill string directional probe; Step 3: Calculate the various correction parameters in the mathematical model, including the mechanical position error correction and temperature fitting compensation parameters, and finally write these parameters into the lower-level computer to complete the calibration of the probe. Step 4: Use the automatic rotary heating device and the lower computer to conduct rapid tests and verifications on the calibrated probe, including static, dynamic and temperature tests. The mathematical model includes: For accelerometers: For fluxgates: Among them, G x ~G z H X ~H Z These represent the values ​​of the accelerometer and fluxgate magnetometer after mechanical calibration and temperature compensation, respectively. X ~g Z h X ~h Z These are the raw signals from the accelerometer and fluxgate measurements. GCM(T) and HCM(T) are the mechanical error correction and temperature compensation matrices related to the actual drilling operation temperature T. GB(T) and HB(T) are the zero-point offset matrices related to the actual drilling operation temperature T. Based on the mathematical model in step two, the parameters are calculated. The calculation process for each parameter is as follows: the starting position of the correction sequence is determined according to the local magnetic inclination, and the correction point position is determined according to the starting position. The zero-point offset of each axis of the sensor at different temperatures and the mechanical installation error correction matrix are calculated using the original sampling data under these correction points. Sensor temperature modeling is performed, and the automatic rotating heating device directly heats the directional probe, with a maximum heating temperature of 150℃, which can fully simulate the ambient temperature that the probe is subjected to downhole. The heating sleeve of the automatic rotating heating device is controlled by the host computer to heat the drilling directional probe to different temperatures, and the automatic rotating heating device is used to heat the probe to different temperatures. The rotating heating device rotates each sensor to either the upward or downward position along the vertical direction of gravity to acquire output signals, and calculates the sensor scaling factor and zero-point offset at different heating temperatures. The scaling factor and zero-point offset calculated at different temperatures, as well as each element in the mechanical error correction matrix, are fitted with T-25 degrees Celsius using the least squares method to obtain an nth-degree polynomial. According to this model, the fitting order is third-order. The combination of polynomial coefficients obtained after fitting is the parameter GCM0~GCM3, HCM0~HCM3, GB0~GB3, and HB0~HB3 required in the final model, and is written into the lower-level machine. The rapid static, dynamic, and temperature tests and verifications include verifying the accuracy of the drill string attitude tool face angle, well inclination angle, and azimuth angle calculated under different heating temperatures; Static testing verifies that the upper computer controls the rotating motor of the automatic rotating heating device to rotate the drilling direction probe to different attitude angles such as tool face angle, well inclination angle, and azimuth angle. The original sensor signals are collected by the lower computer and written into the calibration coefficients for calculation. The corrected well inclination angle, tool face angle, and azimuth angle are obtained and compared with the actual rotation angle read by the scale of the testing device to quickly verify the accuracy of the calibration. Dynamic testing and verification utilizes a host computer to control the tool face angle rotary motor to drive the drill string direction probe to rotate axially. The rotation speed is adjustable from 0 to 500 rpm. At this time, the accuracy of the well inclination angle and azimuth angle after calibration can be verified under the rotation state. Temperature testing utilizes an automatic rotating heating device to heat the probe, with a maximum heating temperature of 150℃.

2. The method of using the automated calibration equipment for drill pipes according to claim 1, characterized in that: The first rotating mechanism and the second rotating mechanism each include an azimuth angle and a well inclination angle rotary motor and a scale plate respectively mounted on the base and the U-shaped frame. The output shaft of the azimuth angle rotary motor passes through the scale plate and is rotatably connected and fixedly connected to the U-shaped bracket. The output shaft of the well inclination angle rotary motor on the second rotating mechanism passes through the scale plate and is rotatably connected and fixedly connected to the mounting base. The azimuth angle and well inclination angle rotary motors are electrically connected to the lower-level machine and the power supply. The output shaft of the azimuth angle and well inclination angle rotary motors is fixedly connected to the drilling direction probe.

3. The method of using the automated calibration equipment for drill pipes according to claim 2, characterized in that: The output shaft of the tool face angle rotary motor is fixedly connected to one end of the drilling direction probe via a coupling, wherein a scale is provided on the connecting plate where the tool face angle rotary motor is installed.

4. The method of using the automated calibration equipment for drill pipes according to claim 1, characterized in that: There are three accelerometers, which are arranged orthogonally in pairs inside the probe in the drilling direction and are electrically connected to the conductive slip rings respectively. There is a gap between the accelerometers and the triaxial fluxgate.

5. The method of using the automated calibration equipment for drill pipes according to claim 1, characterized in that: The lower-level machine includes a conditioning circuit module, an AD analog-to-digital conversion module, a main controller and a computing module, and a communication module. It is used to quickly acquire the original signal of the probe placed in the automatic rotating heating device and calculate the corrected signal with the written calibration coefficients, and then calculate the corrected attitude angle.

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