A drilling tool measurement weighted filtering method, medium and system based on historical information

Abstract

The application provides a drilling tool measurement weighted filtering method, medium and system based on historical information, and belongs to the technical field of drilling tool measurement. The drilling tool measurement weighted filtering method, medium and system based on historical information comprises the following steps: obtaining a pre-set historical tool face angle velocity curve, a historical tool face angle acceleration curve, a velocity weight matrix, an acceleration weight matrix and a tool face angle base point, wherein each point on the historical tool face angle velocity curve forms a first array in time sequence, and each point on the historical tool face angle acceleration curve forms a second array in time sequence; updating the historical tool face angle velocity curve according to the sampling measurement of a posture measurement system and obtaining a same-period weighted tool face angle; updating the historical tool face angle acceleration curve according to the sampling measurement of the posture measurement system and obtaining a cycle-weighted tool face angle; taking an average value of the cycle-weighted tool face angle and the same-period weighted tool face angle as a final tool face angle of a current measurement point, and filtering a next measurement point drilling tool face angle at the same time; and repeating the above steps when the drilling tool drills, so as to realize real-time high-precision measurement. The application can solve the problem of serious fluctuation of the measurement result of the posture measurement system, and the measurement result is more accurate.

Description

Technical Field

[0001] This invention belongs to the field of drilling tool measurement technology, and more specifically, relates to a weighted filtering method, medium, and system for drilling tool measurement based on historical information. Background Technology

[0002] Rotary steered drilling systems are a cutting-edge automated drilling technology that enables real-time steerable drilling, playing a significant role in resource exploration. Solving for the drill string attitude parameters is a crucial part of rotary steered drilling technology, affecting downhole tool attitude control and wellbore trajectory tracking control. Common attitude calculation methods include Euler angles, direction cosines, quaternions, and equivalent rotation vectors. The Euler angles method, also known as the three-parameter method, describes the process of the drill string performing three rotational movements in a specific sequence using three direction cosine matrices if the drill string is initially positioned in the reference coordinate system. Its attitude information can be represented by three different angles rotated along different coordinate axes; these three angles are called Euler angles. In rotary steered drilling systems, these three angles are called azimuth (A), inclination (I), and tool face (T). The Euler angles method is relatively simple and widely used. It employs an attitude measurement system composed of a gravity accelerometer, a fluxgate magnetometer, and an angle gyroscope, called a probe. The probe collects the three components of gravitational acceleration g. x ,g y ,g z , and the magnetic tricomponent b x ,b y ,b z Substituting these values ​​into equations (1) and (2), analytical or numerical solutions for the tool face angle (T), well inclination angle (I), and azimuth angle (A) can be obtained. Furthermore, the drilling speed measured by the angle gyroscope can be corrected based on the solution results, thereby better understanding the working state of the drilling tools.

[0003]

[0004]

[0005] When drilling tools are operating downhole, they experience intense vibrations, which severely degrade the accuracy of attitude measurement systems, with the gravity accelerometer being particularly affected. Because the frequency and amplitude of noise are similar to the signal, the signal-to-noise ratio is low, and commonly used high-pass, low-pass, and band-pass filters cannot effectively remove the interference. Even if gravity accelerometer data is discarded and only the less contaminated magnetic triaxial data is used to numerically calculate Euler angles, although the accuracy is high, it still suffers from the drawbacks of large computational load and long calculation time, failing to meet the requirements for real-time, dynamic measurement of drill tool attitude.

[0006] Our solution process usually needs to be combined with filtering algorithms. Filtering algorithms are an important step in signal processing. Common filtering algorithms include low-pass filtering, high-pass filtering, amplitude limiting filtering, mean filtering, etc. Using appropriate filtering methods for different scenarios can effectively eliminate interference and obtain suitable data.

[0007] Ideally, when the drilling tool is drilling downhole at a predetermined power, its drilling speed should be known and constant. However, when the drilling speed is measured during actual operation, it always fluctuates around the preset speed. There are two reasons for this: first, the change in resistance caused by rock friction during drilling leads to slight fluctuations in the drilling speed, which is an internal factor; second, the severe vibration of the drilling tool as a whole and electromagnetic interference during drilling cause varying degrees of interference to the various instruments in the attitude measurement system, resulting in measurement results deviating from the true value, which is an external factor. This is the main reason for the severe fluctuations in our measurement results. Summary of the Invention

[0008] In view of this, the present invention provides a weighted filtering method, medium and system for drill bit measurement based on historical information, which can solve the problem of severe fluctuations in the measurement results of attitude measurement systems and make the measurement results more accurate.

[0009] This invention is implemented as follows:

[0010] A first aspect of the present invention provides a drill string measurement weighted filtering method based on historical information, comprising the following steps:

[0011] S10. Obtain the pre-set historical tool face angular velocity curve V_history, historical tool face angular acceleration curve Acc_history, velocity weight matrix vwight, acceleration weight matrix accwight, and tool face angular base point Tf, wherein each point on the historical tool face angular velocity curve forms a first array in chronological order, and each point on the historical tool face angular acceleration curve forms a second array in chronological order.

[0012] S20. Update the historical tool face angular velocity curve based on the sampling measurement of the attitude measurement system and obtain the year-on-year weighted tool face angle;

[0013] S30. Update the historical tool face angle acceleration curve based on the sampling measurement of the attitude measurement system and obtain the cycle-weighted tool face angle;

[0014] S40. Take the average value of the weighted tool face angle of the same period and the weighted tool face angle of the same year as the final tool face angle of the current measuring point, and filter the tool face angle of the drill bit at the next measuring point.

[0015] S50. Repeat steps S10 to S40 above while the drill bit is drilling to achieve real-time high-precision measurement.

[0016] The technical advantages of the drill string measurement weighted filtering method based on historical information provided by this invention are as follows: By acquiring pre-set historical toolface angular velocity curves V_history, historical toolface angular acceleration curves Acc_history, velocity weight matrix vwight, acceleration weight matrix accwight, and toolface angle base point Tf, subsequent filtering is facilitated; by updating the historical toolface angular velocity curves based on sampling measurements from the attitude measurement system, the year-on-year weighted toolface angle is easily obtained; by updating the historical toolface angular acceleration curves based on sampling measurements from the attitude measurement system, the cycle-on-cycle weighted toolface angle is easily obtained; by averaging the cycle-on-cycle weighted toolface angle and the year-on-year weighted toolface angle as the final toolface angle of the current measuring point, and simultaneously filtering the drill string toolface angle of the next measuring point, the measurement system is prevented from receiving significant interference during measurement, thus avoiding measurement data exceeding the reasonable range.

[0017] Based on the above technical solution, the drill string measurement weighted filtering method based on historical information of the present invention can be further improved as follows:

[0018] The historical toolface angular velocity curve and the historical toolface angular acceleration curve have the same length, N, where N is calculated using the following formula:

[0019]

[0020] Where V is the predetermined rotational speed and f is the sampling frequency.

[0021] Furthermore, the values ​​of the velocity weight matrix are:

[0022] vwight[i]=i*2,i=1,2,…N;

[0023] The values ​​of the acceleration weight matrix are:

[0024]

[0025] The step of updating the historical toolface angular velocity curve based on the sampling measurement of the attitude measurement system and obtaining the year-on-year weighted toolface angle specifically includes:

[0026] First, the acceleration acc of the drill bit at the current sampling point is deduced from the tool face angle change measured and preliminarily calculated by the attitude measurement system.

[0027] Next, fill acc into Acc_history[N / 2] and calculate the overall weighted acceleration Acc.w-m In this array, Acc_history[N / 2] is located at the midpoint of the second array.

[0028] Again, Acc w-m Assign it to Acc_history[N / 2], then shift each element of the second array forward by one position, and insert the first element of the second array at the end of the second array;

[0029] Finally, by integrating the weighted acceleration, the current tool face angle Tyoy is obtained.

[0030] The step of updating the historical toolface angle acceleration curve based on the sampling measurement of the attitude measurement system and obtaining the cycle-weighted toolface angle specifically includes:

[0031] First, the rotational speed v of the drill bit at the current sampling point is deduced from the tool face angle change measured and preliminarily calculated by the attitude measurement system. rpm The calculation formula is as follows:

[0032]

[0033] Secondly, delete the first element of the second array, move each of the other elements of the second array forward by one position, and place the drilling speed of the current measuring point at the end of the second array;

[0034] Next, perform a dot product between the first array and the vwight array to calculate the weighted average value v of V_history. w-m,rpm The calculation speed is as follows:

[0035]

[0036] Finally, change the last element of the first array to v. w-m，rpm And calculate the current tool face angle Tmom, where the calculation formula is:

[0037]

[0038] The step of averaging the weighted tool face angle of the cycle and the weighted tool face angle of the same year as the final tool face angle of the current measuring point, and simultaneously filtering the tool face angle of the drill string at the next measuring point, specifically includes:

[0039] Step 1: Take the average of the month-on-month weighted tool surface angle and the year-on-year weighted tool surface angle as the final tool surface angle T of the current measuring point. The calculation formula is as follows:

[0040]

[0041] Step 2: Calculate the range of change ΔT of the drill tool face angle at the next measuring point, where the calculation formula is:

[0042]

[0043] Step 3: Calculate the range RangeT for the next measurement point, where the calculation formula is:

[0044] RangeT = T f +ΔT±ε;

[0045] Step 4: Based on the value range of the next measurement point, limit and filter the calculated tool face angle value of the next measurement point. If the calculated tool face angle value of the next measurement point exceeds the RangeT range, discard the calculated tool face angle value of the next measurement point directly.

[0046] The step of repeating steps S10 to S40 during drilling to achieve real-time high-precision measurement specifically includes:

[0047] Repeat steps S10 to S40 as the drill bit is drilling;

[0048] When the drilling tool is in a stopped state, such as when changing drill bits downhole, the V_history curve and the Acc_history curve are set to zero.

[0049] The initial values ​​of V_history and Acc_history are both 0.

[0050] A second aspect of the present invention provides a computer-readable storage medium storing computer program instructions; when the computer program instructions are executed, they implement the drill string measurement weighted filtering method based on historical information as described above.

[0051] A third aspect of the present invention provides a drill string measurement weighted filtering system based on historical information, comprising a drill string and an attitude measurement system, wherein the attitude measurement system contains code in a computer-readable storage medium as described above.

[0052] Compared with existing technologies, the beneficial effects of the drill string measurement weighted filtering method, medium, and system based on historical information provided by this invention are as follows: By acquiring pre-set historical toolface angular velocity curves V_history, historical toolface angular acceleration curves Acc_history, velocity weight matrix vwight, acceleration weight matrix accwight, and toolface angle base point Tf, subsequent filtering is facilitated; by updating the historical toolface angular velocity curves based on sampling measurements from the attitude measurement system, the year-on-year weighted toolface angle is easily obtained; by updating the historical toolface angular acceleration curves based on sampling measurements from the attitude measurement system, the cycle-on-cycle weighted toolface angle is easily obtained; by averaging the cycle-on-cycle weighted toolface angle and the year-on-year weighted toolface angle as the final toolface angle of the current measuring point, and simultaneously filtering the drill string toolface angle of the next measuring point, the measurement system is prevented from receiving significant interference during measurement, thus avoiding measurement data exceeding the reasonable range. Attached Figure Description

[0053] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a flowchart of a drill string measurement weighted filtering method based on historical information; Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0056] like Figure 1 The image shows a first embodiment of a drill string measurement weighted filtering method based on historical information provided by the first aspect of the present invention. This embodiment includes the following steps:

[0057] S10. Obtain the pre-set historical tool face angular velocity curve V_history, historical tool face angular acceleration curve Acc_history, velocity weight matrix vwight, acceleration weight matrix accwight, and tool face angular base point Tf. Each point on the historical tool face angular velocity curve forms a first array in chronological order, and each point on the historical tool face angular acceleration curve forms a second array in chronological order.

[0058] S20. Update the historical tool face angle acceleration curve based on the sampling measurement of the attitude measurement system and obtain the year-on-year weighted tool face angle;

[0059] S30. Update the historical tool face angular velocity curve based on the sampling measurement of the attitude measurement system and obtain the cycle-weighted tool face angle;

[0060] S40. Take the average value of the weighted tool face angle of the same period and the weighted tool face angle of the same year as the final tool face angle of the current measuring point, and filter the tool face angle of the drill bit at the next measuring point.

[0061] S50. Repeat steps S10 to S40 above while the drill bit is drilling to achieve real-time high-precision measurement.

[0062] By acquiring the pre-set historical toolface angular velocity curve V_history, historical toolface angular acceleration curve Acc_history, velocity weight matrix vwight, acceleration weight matrix accwight, and toolface angle base point Tf, subsequent filtering is facilitated. The historical toolface angular velocity curve is updated based on sampling measurements from the attitude measurement system to obtain the year-on-year weighted toolface angle. Similarly, the year-on-year weighted toolface angle is updated based on sampling measurements from the attitude measurement system. The year-on-year weighted toolface angle and the year-on-year weighted toolface angle are averaged to obtain the final toolface angle for the current measurement point. Simultaneously, the toolface angle for the next measurement point is filtered to prevent significant interference to the measurement system during measurement, which could cause the measurement data to exceed a reasonable range.

[0063] Among them, the tool face angle base point Tf is the initial tool face angle of the drill bit, with a value of 0-360°.

[0064] In the above technical solution, the curve lengths of the historical toolface angular velocity curve and the historical toolface angular acceleration curve are the same, both being N. The formula for calculating N is:

[0065]

[0066] Where V is the predetermined rotational speed, ranging from 0 to 400 rpm, and f is the sampling frequency, ranging from 0 to 200 Hz.

[0067] Furthermore, in the above technical solution, the values ​​of the velocity weight matrix are:

[0068] vwight[i]=i*2,i=1,2,…N;

[0069] The values ​​of the acceleration weight matrix are:

[0070]

[0071] In the above technical solution, the step of updating the historical toolface angle acceleration curve based on the sampling measurement of the attitude measurement system and obtaining the year-on-year weighted toolface angle is as follows:

[0072] First, the acceleration acc of the drill string at the current sampling point is deduced from the tool face angle change measured and preliminarily calculated by the attitude measurement system:

[0073]

[0074] Where T is the final tool face angle of the previous measurement, and Vb is the base velocity, that is, the tool face angle rotation speed at the previous sampling point. Its initial value is the same as the predetermined rotation speed, that is, Vb = V.

[0075] Next, fill acc into Acc_history[N / 2] and calculate the overall weighted acceleration Acc. w-m :

[0076]

[0077] Among them, Acc_history[N / 2] is located at the midpoint of the second array;

[0078] Again, Acc w-m Assign it to Acc_history[N / 2], then shift each element of the second array forward by one position, and insert the first element of the second array at the end of the second array;

[0079] Finally, by integrating the weighted acceleration, the current tool face angle Tyoy is obtained:

[0080]

[0081] In the above technical solution, the step of updating the historical toolface angle acceleration curve based on the sampling measurement of the attitude measurement system and obtaining the cycle-weighted toolface angle is as follows:

[0082] First, the rotational speed v of the drill bit at the current sampling point is deduced from the tool face angle change measured and preliminarily calculated by the attitude measurement system. rpm The calculation formula is as follows:

[0083]

[0084] Secondly, delete the first element of the second array, move each of the other elements of the second array forward by one position, and place the drilling speed of the current measuring point at the end of the second array;

[0085] Next, perform a dot product between V_history and the vwight array to calculate the weighted mean v of V_history. w-m,rpm The calculation speed is as follows:

[0086]

[0087] Finally, change the last element of the first array to v. w-m，rpm And calculate the current tool face angle Tmom, where the calculation formula is:

[0088]

[0089] Among them, the tool face angle Tmom is the ring-weighted tool face angle.

[0090] In the above technical solution, the step of averaging the weighted tool face angle of the month-on-month comparison and the weighted tool face angle of the same year as the final tool face angle of the current measuring point, and filtering the tool face angle of the drill string at the next measuring point, specifically includes:

[0091] Step 1: Take the average of the month-on-month weighted tool surface angle and the year-on-year weighted tool surface angle as the final tool surface angle T of the current measuring point. The calculation formula is as follows:

[0092]

[0093] Step 2: Calculate the range of change ΔT of the drill tool face angle at the next measuring point, where the calculation formula is:

[0094]

[0095] Step 3: Calculate the range RangeT for the next measurement point, where the calculation formula is:

[0096] RangeT = T f +ΔT±ε;

[0097] Step 4: Based on the value range of the next measurement point, limit and filter the calculated tool face angle value of the next measurement point. If the calculated tool face angle value of the next measurement point exceeds the RangeT range, discard the calculated tool face angle value of the next measurement point directly.

[0098] ε is the value of the actual change in the tool face angle caused by rock friction, and the value of ε is within ΔT, / 4.

[0099] In the above technical solution, the step of repeating steps S10 to S40 during drilling to achieve real-time high-precision measurement specifically includes:

[0100] Repeat steps S10 to S40 as the drill bit is drilling;

[0101] When the drilling tool is in a stopped state, such as when changing drill bits downhole, the V_history curve and the Acc_history curve are set to zero.

[0102] In the above technical solution, the initial values ​​of V_history and Acc_history are both 0.

[0103] Specifically, the principle of this invention is as follows: By acquiring pre-set historical toolface angular velocity curves V_history, Acc_history, velocity weight matrix vwight, acceleration weight matrix accwight, and toolface angle base point Tf, subsequent filtering is facilitated; by updating the historical toolface angular velocity curves based on sampling measurements from the attitude measurement system, the year-on-year weighted toolface angle is easily obtained; by updating the historical toolface angle acceleration curves based on sampling measurements from the attitude measurement system, the month-on-month weighted toolface angle is easily obtained; by averaging the month-on-month weighted toolface angle and the year-on-year weighted toolface angle, the final toolface angle of the current measuring point is obtained, while simultaneously filtering the drill toolface angle for the next measuring point to avoid significant interference affecting the measurement data and causing it to exceed a reasonable range; the above steps are repeated during drill bit drilling to achieve real-time high-precision measurement.

Claims

1. A weighted filtering method for drill string measurement based on historical information, characterized in that, Includes the following steps: S10. Obtain the pre-set historical toolface angular velocity curve. Historical tool surface angle acceleration curve Velocity weight matrix vwight and acceleration weight matrix accwight, as well as tool face corner base point In this context, each point on the historical tool face angular velocity curve forms a first array in chronological order, and each point on the historical tool face angular acceleration curve forms a second array in chronological order. S20. Update the historical tool face angular velocity curve based on the sampling measurement of the attitude measurement system and obtain the year-on-year weighted tool face angle; S30. Update the historical tool face angle acceleration curve based on the sampling measurement of the attitude measurement system and obtain the cycle-weighted tool face angle; S40. Take the average value of the weighted tool face angle of the same period and the weighted tool face angle of the same year as the final tool face angle of the current measuring point, and filter the tool face angle of the drill bit at the next measuring point. S50. Repeat steps S10 to S40 above while the drill bit is drilling to achieve real-time high-precision measurement. The step of updating the historical toolface angular velocity curve based on the sampling measurements of the attitude measurement system and obtaining the year-on-year weighted toolface angle is as follows: First, the acceleration of the drill bit at the current sampling point is deduced from the tool face angle change measured and preliminarily calculated by the attitude measurement system. ; Secondly, Fill in At this point, calculate the overall weighted acceleration. ,in, Located at the midpoint of the second array; Again, Assigned Then, each element of the second array is shifted forward one position in turn, and the first element of the second array is inserted at the end of the second array; Finally, by integrating the weighted acceleration, the current tool face angle is obtained. ; The step of updating the historical toolface angle acceleration curve based on the sampling measurements of the attitude measurement system and obtaining the cycle-weighted toolface angle is as follows: First, the rotational speed of the drill bit at the current sampling point is deduced from the tool face angle change measured and preliminarily calculated by the attitude measurement system. The calculation formula is as follows: ； in, This is the final tool face angle measured in the last measurement; Secondly, delete the first element of the second array, move each of the other elements of the second array forward by one position, and place the drilling speed of the current measuring point at the end of the second array; Next, perform a dot product between the first array and the vwight array to obtain the result. weighted mean The calculation speed is as follows: ； Finally, change the last element of the first array to And calculate the current tool face angle. The calculation formula is as follows: 。 2. The drill string measurement weighted filtering method based on historical information according to claim 1, characterized in that, The historical toolface angular velocity curve and the historical toolface angular acceleration curve have the same curve length. ,in The calculation formula is: ； Where V is the predetermined rotational speed and f is the sampling frequency.

3. The drill string measurement weighted filtering method based on historical information according to claim 2, characterized in that, The values ​​of the velocity weight matrix are: ； The values ​​of the acceleration weight matrix are: 。 4. The drill string measurement weighted filtering method based on historical information according to claim 1, characterized in that, The step of averaging the weighted tool face angle of the cycle and the weighted tool face angle of the same year as the final tool face angle of the current measuring point, and simultaneously filtering the tool face angle of the drill string at the next measuring point, specifically includes: Step 1: Take the average of the month-on-month weighted tool surface angle and the year-on-year weighted tool surface angle as the final tool surface angle T of the current measuring point. The calculation formula is as follows: ； Step 2: Calculate the range of change in the drill tool face angle at the next measuring point. The calculation formula is as follows: ； Step 3: Calculate the range of values ​​for the next measurement point. The calculation formula is as follows: ； Step 4: Based on the value range of the next measurement point, limit and filter the calculated tool face angle value of the next measurement point. If the calculated tool face angle value of the next measurement point exceeds the range... If the range is not specified, the tool face angle value calculated for the next measurement point will be discarded.

5. The drill string measurement weighted filtering method based on historical information according to claim 1, characterized in that, The step of repeating steps S10 to S40 during drilling to achieve real-time high-precision measurement specifically includes: Repeat steps S10~S40 as the drill bit is drilling; When the drilling tool is in a stopped state during a drill bit replacement operation downhole, curve and Set the curve to zero.

6. The drill string measurement weighted filtering method based on historical information according to claim 1, characterized in that, The and The initial values ​​are all 0.

7. A computer-readable storage medium storing computer program instructions; when executed, the computer program instructions implement a drill string measurement weighted filtering method based on historical information as described in any one of claims 1 to 6.

8. A drill string measurement weighted filtering system based on historical information, comprising a drill string and an attitude measurement system, wherein the attitude measurement system contains code in a computer-readable storage medium as described in claim 7.

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