A method for real-time positioning data transmission and monitoring of a mountain geophysical drilling rig

Abstract

This invention belongs to the field of geophysical exploration technology and discloses a method for real-time positioning data transmission and monitoring of mountain geophysical drilling rigs. The method includes installing a combined navigation and positioning device on the mountain geophysical drilling rig; the combined navigation and positioning device collects the working status and location information of the mountain geophysical drilling rig and sends the data to an information management platform via a network communication module; the information management platform processes and analyzes the received data, performing real-time judgments on the working status, location, and accuracy of the drilling rig's location information. This invention reduces well relocation and resurveying work in the measurement process, lowers production costs, provides accurate location information for subsequent chemical dosing processes, and plays a significant role in improving the quality of seismic exploration field data. It has highly practical application value in seismic exploration acquisition and construction. This invention is applicable to the real-time positioning and monitoring of mountain geophysical drilling rigs.

Description

Technical Field

[0001] This invention belongs to the field of geophysical exploration technology, specifically a method for real-time positioning data transmission and monitoring of mountain geophysical drilling rigs. Background Technology

[0002] Natural resources such as oil and natural gas are buried deep underground, requiring specialized equipment for drilling and exploration to determine their concentration areas; otherwise, extraction is impossible. Drilling rigs used to drill underground to detect natural resources are collectively called geophysical drilling rigs. Mountainous areas, characterized by hills and mountains, require specialized geophysical drilling rigs called mountain geophysical drilling rigs.

[0003] In seismic data acquisition projects, mountain geophysical drilling operations are carried out according to the well location coordinates determined by surveyors. However, there may be situations where some drilling rigs cannot be placed at the designated measurement points for drilling operations. In such cases, surveyors need to re-measure the drilling rig positions and then carry out drilling operations, resulting in repeated measurement procedures and increased production costs. Summary of the Invention

[0004] The purpose of this invention is to provide a method for real-time positioning data transmission and monitoring of mountain geophysical drilling rigs, so as to realize real-time positioning monitoring and trajectory playback of mountain geophysical drilling rigs during seismic exploration drilling operations, and real-time transmission of coordinate parameters of mountain geophysical drilling rigs that are not drilling at the measurement point.

[0005] To achieve the above objectives, the present invention employs the following technical methods:

[0006] A method for real-time positioning data transmission and monitoring of a mountain geophysical drilling rig includes the following steps:

[0007] S1. Install a combined navigation and positioning device on the mountain geophysical drilling rig;

[0008] S2. The combined navigation and positioning device collects the working status and location information of the mountain geophysical drilling rig and sends it to the information management platform through the network communication module.

[0009] S3, the information management platform processes and analyzes the received data information, and performs real-time judgment on the working status of the mountain geophysical drilling rig, judgment on the drilling rig location information, and accuracy analysis of the mountain geophysical drilling rig location information.

[0010] As a limitation: the integrated navigation and positioning device in step S1 includes a GNSS receiver based on RTK calculation, an IMU sensor and a network communication module. The network communication module adopts GPRS or CDMA. In the network communication module, a fixed IP address, username and password provided by the data processing center of the continuously operating CORS system established by the multi-base station network RTK technology are set, and the username and password are used to log in to the CORS system server.

[0011] As a further clarification: Step S2 specifically involves the IMU sensor collecting the status of the mountain geophysical drilling rig, the GNSS receiver receiving the CORS differential information and locating the position information of the mountain geophysical drilling rig in real time, the IMU sensor sending the collected status of the mountain geophysical drilling rig to the information management platform through the network communication module, and the GNSS receiver receiving the CORS differential information and locating the position information of the mountain geophysical drilling rig in real time and sending it to the information management platform through the network communication module.

[0012] As another limitation: the information management platform in step S3 processes and analyzes the received data information by using closed-loop indirect Kalman filtering for information fusion and error correction.

[0013] As a constraint, the closed-loop indirect Kalman filter state model in step S3 is:

[0014]

[0015]

[0016]

[0017] Where: 0 is 0 3×3 Zero matrix;

[0018] The observation model is as follows:

[0019]

[0020]

[0021] In the above formula, Indicates INS attitude error. This represents the angular velocity of rotation of the carrier's coordinate system relative to the inertial coordinate system. δ represents the rotational angular velocity at the moment of navigation and positioning, and ν represents the error. n f represents the vector projection transformation. n Indicates the change in specific force. Represents the Earth's angular velocity of rotation. The Earth's angular velocity is represented by its revolution around the Sun, p represents the projected coordinate system, M1-M7 represent the system's white noise vector, and w... ε Indicates angular velocity error, w ▽ X represents the angular velocity variable, W represents the selected state variable, F represents the actual angular velocity, G represents the actual specific force, and G represents the gravitational acceleration. Let I represent the direction cosine matrix from the carrier coordinate system to the geographic coordinate system, Y represent the position observation, h(x) represent the function of the state variable x, and H represent the measurement matrix.

[0022] As a further limitation, the method for determining the working status of the mountain geophysical drilling rig in step S3 is as follows:

[0023] A zero-velocity detector is constructed, and the vibration amplitude within a continuous time period is statistically analyzed. If the vibration amplitude within a continuous time period is less than the threshold value of the vibration amplitude under the working state of the mountain geophysical drilling rig in the information management platform, it is determined that the mountain geophysical drilling rig is in a stationary state; otherwise, it is determined that the mountain geophysical drilling rig is in a working state.

[0024] The constructed zero-velocity detector is as follows:

[0025]

[0026] In the formula: y k This is the initial value of the IMU sensor accuracy level, y n This represents the measured value of the real-time data accuracy level output by the IMU sensor, where N represents the N sets of data output by the IMU sensor. Ω represents error statistics. n Indicates the runtime range. Indicates the change in the z-direction per unit time;

[0027] The vibration frequency is analyzed by FFT, and the amplitude-frequency characteristics of the vibration noise of the IMU sensor are analyzed. The amplitude-frequency characteristics of the mountain geophysical drilling rig in drilling mode and standby mode are compared with those of the mountain geophysical drilling rig in standby mode, which are pre-set in the information management platform. If the amplitude-frequency characteristics of the vibration noise of the IMU sensor are the same as those of the mountain geophysical drilling rig in drilling mode, it is determined that the mountain geophysical drilling rig is in drilling mode. If the amplitude-frequency characteristics of the vibration noise of the IMU sensor are the same as those of the mountain geophysical drilling rig in standby mode, it is determined that the mountain geophysical drilling rig is in standby mode.

[0028] The method for determining drilling rig location information is as follows:

[0029] The drilling design coordinates are set on the information management platform. The difference between the location information collected by the GNSS receiver and the drilling rig design coordinates is calculated. If the difference is less than or equal to the preset error value, the drilling rig position is judged to meet the requirements. If the difference is greater than the preset error value, the drilling rig position is judged to not meet the requirements.

[0030] The method for analyzing the accuracy of location information of mountain geophysical drilling rigs is as follows:

[0031] The accuracy of the location information of the mountain geophysical drilling rig includes the planar accuracy and elevation accuracy of the location of the mountain geophysical drilling rig. The accuracy of the location information of the mountain geophysical drilling rig is determined by judging whether the location measurement of the mountain geophysical drilling rig is a single-point solution, a fixed solution or a floating solution.

[0032] The beneficial effects achieved by this invention, due to the adoption of the above-described solution, compared with the prior art, are as follows:

[0033] This invention provides a method for real-time positioning, data transmission, and monitoring of mountain geophysical drilling rigs. By using a GNSS receiver to receive CORS differential information, the method provides real-time positioning of the drilling rig, accurately locating it and uploading the data to an information management platform in real time. It also monitors whether the drilling rig is operating within its designed location range. Furthermore, by using an IMU sensor to collect the drilling rig's operating status and uploading it to the information management platform in real time, this method reduces the need for relocation and re-measurement in the measurement process, lowers production costs, and provides precise location information for subsequent drilling operations. This method plays a crucial role in improving the quality of seismic exploration field data and has significant practical application value in seismic exploration and acquisition operations.

[0034] This invention is applicable to real-time positioning and monitoring of mountain geophysical drilling rigs. Attached Figure Description

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0036] Figure 1 For the implementation of this invention, the amplitude-frequency characteristics of the mountain geophysical exploration drilling rig in the drilling state and the amplitude-frequency characteristics in the standby state are pre-set in the information management platform. Detailed Implementation

[0037] The present invention will be further described below with reference to the embodiments. However, those skilled in the art should understand that the present invention is not limited to the following embodiments. Any improvements and equivalent changes made based on the specific embodiments of the present invention are within the scope of protection of the claims of the present invention.

[0038] Example: A method for real-time positioning data transmission and monitoring of a mountain geophysical drilling rig.

[0039] A method for real-time positioning data transmission and monitoring of a mountain geophysical drilling rig includes the following steps:

[0040] S1. Install a combined navigation and positioning device at the top of the mast of the mountain geophysical drilling rig. The combined navigation and positioning device includes a GNSS receiver based on RTK calculation, an IMU sensor and a network communication module. The network communication module adopts GPRS or CDMA. In the network communication module, set the fixed IP address, username and password given by the data processing center of the continuously running CORS system established by the multi-base station network RTK technology. Use the username and password to log in to the CORS system server.

[0041] S2. The IMU sensor collects the status of the mountain geophysical drilling rig. After receiving the CORS differential information, the GNSS receiver locates the position of the mountain geophysical drilling rig in real time. The IMU sensor sends the collected status of the mountain geophysical drilling rig to the information management platform through the network communication module. The GNSS receiver sends the received CORS differential information to the information management platform through the network communication module.

[0042] S3. The information management platform uses closed-loop indirect Kalman filtering to fuse and correct the data information sent by the IMU sensor and the location information sent by the GNSS receiver, and then performs real-time judgment of the working status of the mountain geophysical drilling rig, judgment of the drilling rig location information, and analysis of the accuracy of the mountain geophysical drilling rig location information.

[0043] The state model of the closed-loop indirect Kalman filter is:

[0044]

[0045]

[0046]

[0047] Where: 0 is 0 3×3 Zero matrix;

[0048] The observation model is as follows:

[0049]

[0050]

[0051] In the above formula, Indicates INS attitude error. This represents the angular velocity of rotation of the carrier's coordinate system relative to the inertial coordinate system. δ represents the rotational angular velocity at the moment of navigation and positioning, and ν represents the error. n f represents the vector projection transformation. n Indicates the change in specific force. Represents the Earth's angular velocity of rotation. The Earth's angular velocity is represented by its revolution around the Sun, p represents the projected coordinate system, M1-M7 represent the system's white noise vector, and w... ε Indicates angular velocity error, w ▽ X represents the angular velocity variable, W represents the selected state variable, F represents the actual angular velocity, G represents the actual specific force, and G represents the gravitational acceleration. Let I represent the direction cosine matrix from the carrier coordinate system to the geographic coordinate system, Y represent the position observation, h(x) represent the function of the state variable x, and H represent the measurement matrix.

[0052] The following are methods for determining the working status of a mountain geophysical drilling rig:

[0053] A zero-velocity detector is constructed to statistically analyze the vibration amplitude over a continuous time period. If the vibration amplitude over this continuous time period is less than the pre-set threshold for vibration amplitude under the working state of the mountain geophysical drilling rig in the information management platform, the mountain geophysical drilling rig is determined to be in a stationary state; otherwise, it is determined to be in a working state. The constructed zero-velocity detector is as follows:

[0054]

[0055] In the formula: y k This is the initial value of the IMU sensor accuracy level, y n This represents the measured value of the real-time data accuracy level output by the IMU sensor, where N represents the N sets of data output by the IMU sensor. Ω represents error statistics. n Indicates the runtime range. Indicates the change in the z-direction per unit time;

[0056] The vibration frequency was analyzed using FFT to determine the amplitude-frequency characteristics of the IMU sensor's vibration noise. These characteristics were then compared with the pre-set amplitude-frequency characteristics of the mountain geophysical drilling rig under drilling and standby states within the information management platform. The pre-set amplitude-frequency characteristics of the mountain geophysical drilling rig under drilling and standby states within the information management platform are as follows: Figure 1 As shown, if the amplitude-frequency characteristics of the vibration noise of the IMU sensor are the same as those of the mountain geophysical drilling rig in the drilling state, then the mountain geophysical drilling rig is judged to be in the drilling state; if the amplitude-frequency characteristics of the vibration noise of the IMU sensor are the same as those of the mountain geophysical drilling rig in the standby state, then the mountain geophysical drilling rig is judged to be in the standby state.

[0057] The method for determining drilling rig location information is as follows:

[0058] Set the drilling design coordinates on the information management platform, and calculate the difference between the location information collected by the GNSS receiver and the drilling rig design coordinates. If the difference is ≤2m, the drilling rig position is considered to meet the requirements; if the difference is >2m, the drilling rig position is considered to not meet the requirements.

[0059] The method for analyzing the accuracy of location information of mountain geophysical drilling rigs is as follows:

[0060] The accuracy of the location information of the mountain geophysical drilling rig includes the planar accuracy and elevation accuracy of the location of the mountain geophysical drilling rig. The accuracy of the location information of the mountain geophysical drilling rig is determined by judging whether the location measurement of the mountain geophysical drilling rig is a single-point solution, a fixed solution or a floating solution.

Claims

1. A method for real-time positioning data transmission and monitoring of a mountain geophysical drilling rig, characterized in that, Includes the following steps: S1. Install a combined navigation and positioning device on the mountain geophysical drilling rig; S2. The combined navigation and positioning device collects the working status and location information of the mountain geophysical drilling rig and sends it to the information management platform through the network communication module. S3. The information management platform processes and analyzes the received data information, and performs real-time judgment on the working status of the mountain geophysical drilling rig, judgment on the drilling rig location information, and analysis on the accuracy of the mountain geophysical drilling rig location information. The method for determining the working status of the mountain geophysical drilling rig in step S3 is as follows: A zero-velocity detector is constructed, and the vibration amplitude within a continuous time period is statistically analyzed. If the vibration amplitude within a continuous time period is less than the threshold value of the vibration amplitude under the working state of the mountain geophysical drilling rig in the information management platform, it is determined that the mountain geophysical drilling rig is in a stationary state; otherwise, it is determined that the mountain geophysical drilling rig is in a working state. The constructed zero-velocity detector is as follows: ； In the formula: This is the initial value of the IMU sensor accuracy level. This represents the measured value of the real-time data accuracy level output by the IMU sensor, where N represents the N sets of data output by the IMU sensor. Indicates error statistics. Indicates the runtime range. Indicates the change in the z-direction per unit time; The vibration frequency is analyzed by FFT, and the amplitude-frequency characteristics of the vibration noise of the IMU sensor are analyzed. The amplitude-frequency characteristics of the mountain geophysical drilling rig in drilling mode and standby mode are compared with those of the mountain geophysical drilling rig in standby mode, which are pre-set in the information management platform. If the amplitude-frequency characteristics of the vibration noise of the IMU sensor are the same as those of the mountain geophysical drilling rig in drilling mode, it is determined that the mountain geophysical drilling rig is in drilling mode. If the amplitude-frequency characteristics of the vibration noise of the IMU sensor are the same as those of the mountain geophysical drilling rig in standby mode, it is determined that the mountain geophysical drilling rig is in standby mode. The method for determining drilling rig location information is as follows: The drilling design coordinates are set on the information management platform. The difference between the location information collected by the GNSS receiver and the drilling rig design coordinates is calculated. If the difference is less than or equal to the preset error value, the drilling rig position is judged to meet the requirements. If the difference is greater than the preset error value, the drilling rig position is judged to not meet the requirements. The method for analyzing the accuracy of location information of mountain geophysical drilling rigs is as follows: The accuracy of the location information of the mountain geophysical drilling rig includes the planar accuracy and elevation accuracy of the location of the mountain geophysical drilling rig. The accuracy of the location information of the mountain geophysical drilling rig is determined by judging whether the location measurement of the mountain geophysical drilling rig is a single-point solution, a fixed solution or a floating solution.

2. The method for real-time positioning data transmission and monitoring of a mountain geophysical drilling rig according to claim 1, characterized in that, In step S1, the integrated navigation and positioning device includes a GNSS receiver based on RTK calculation, an IMU sensor, and a network communication module. The network communication module uses GPRS or CDMA. In the network communication module, a fixed IP address, username, and password provided by the data processing center of the continuously operating CORS system established by the multi-base station network RTK technology are set. The username and password are used to log in to the CORS system server.

3. The method for real-time positioning data transmission and monitoring of a mountain geophysical drilling rig according to claim 2, characterized in that, Step S2 specifically involves the IMU sensor collecting the status of the mountain geophysical drilling rig, the GNSS receiver receiving the CORS differential information and locating the location information of the mountain geophysical drilling rig in real time, the IMU sensor sending the collected status of the mountain geophysical drilling rig to the information management platform through the network communication module, and the GNSS receiver receiving the CORS differential information and locating the location information of the mountain geophysical drilling rig in real time and sending it to the information management platform through the network communication module.

4. A method for real-time positioning data transmission and monitoring of a mountain geophysical drilling rig according to any one of claims 1-3, characterized in that, In step S3, the information management platform processes and analyzes the received data information, specifically by using closed-loop indirect Kalman filtering for information fusion and error correction.

5. A method for real-time positioning data transmission and monitoring of a mountain geophysical drilling rig according to claim 4, characterized in that, The closed-loop indirect Kalman filter state model in step S3 is as follows: Where: 0 is Zero matrix; The observation model is as follows: In the above formula, Indicates INS attitude error. This represents the angular velocity of rotation of the carrier's coordinate system relative to the inertial coordinate system. This represents the rotational angular velocity at the moment of navigation and positioning. Indicates error. Represents vector projection transformation, Indicates the change in specific force. Represents the Earth's angular velocity of rotation. This represents the Earth's angular velocity due to its revolution around the sun. Indicates the projected coordinate system. Represents the system's white noise vector. Indicates angular velocity error. Represents the angular velocity variable. This indicates the selection of a state variable. Represents the actual angular velocity. To express the true comparison, Represents gravitational acceleration. This represents the direction cosine matrix from the carrier coordinate system to the geographic coordinate system. Represents a unit vector. Indicates location observations, A function representing the state variable x. This represents the measurement matrix.

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