Real-time calibration method and device for inclination parameter data of a measurement-while-drilling device

Abstract

The application discloses a real-time calibration method and device for inclination parameter data of a measurement device while drilling. The method comprises the following steps: S01, obtaining a plurality of groups of inclination parameter data measured by the measurement device during natural droop of a drill bit and rotation around a central axis; S02, converting the inclination parameter data into coordinate values in a relative well center coordinate system and forming a plurality of groups of inclination vectors; S03, setting an initial calibration vector and an angle adjustment constraint range; S04, solving the included angles between the calibration vector and the inclination vectors; S05, judging whether the differences between the solved groups of included angles are within a preset range, and if not, adjusting the inclination angle and the azimuth angle of the calibration vector within the angle adjustment constraint range, returning to step S04, otherwise obtaining the calibrated inclination parameter data. The application has the advantages of simple implementation method, high calibration precision and calibration efficiency, safety and reliability, etc.

Description

Technical Field

[0001] This invention relates to the field of logging-while-drilling equipment calibration technology, and in particular to a method and apparatus for real-time calibration of well inclination parameter data of a logging-while-drilling device. Background Technology

[0002] A key technology in drilling engineering is the monitoring and control of the well center trajectory. The fundamental task of well center trajectory monitoring is to analyze the actual drilling trajectory based on inclination measurement data. Therefore, the accuracy of the inclination data is crucial to ensuring the stable and reliable execution of drilling operations. Measurement while drilling (MWD) devices are used to measure drilling parameters such as inclination and azimuth in real time during the drilling process. Because the MWD device cannot fully contact the mounting plane of the drill bit, and because the amplitude of the inclination and azimuth angles is very small when the drill string is in a near-vertical state, the MWD measurement results are highly susceptible to the influence of drilling conditions and installation conditions, leading to deviations between the measured and actual inclination data. Therefore, data calibration is necessary.

[0003] For the calibration of measurement-while-drilling (MWD) systems, existing technologies typically employ well site calibration, which involves on-site calibration using specialized equipment such as calibration turntables, levels, and optical theodolites. However, this method is costly and complex due to its reliance on specialized equipment. It requires repeated calibration to correct installation errors, resulting in a time-consuming and difficult process. Furthermore, calibration can only be completed before the MWD system performs actual measurements, not during the measurement process itself. Consequently, the measured wellbore deviation data may still deviate from the actual values ​​due to factors such as the operating conditions during drilling, affecting the safety and reliability of drilling operations and failing to meet the requirements of actual MWD projects. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: in view of the technical problems existing in the prior art, the present invention provides a method and device for real-time calibration of well inclination parameter data of the measurement while drilling device that is simple to implement, has high calibration accuracy and efficiency, and is safe and reliable. It can realize real-time and instant calibration of well inclination parameter data of the measurement while drilling device, and effectively improve the accuracy and efficiency of the calibration.

[0005] To solve the above-mentioned technical problems, the technical solution proposed by this invention is as follows:

[0006] A method for real-time calibration of wellbore inclination parameter data using a measurement-while-drilling (MWD) system, comprising the following steps:

[0007] Step S01. Obtain multiple sets of wellbore inclination parameter data measured by the drilling measurement and control device during the natural descent and rotation around the central axis of the drill bit. The wellbore inclination parameter data includes the wellbore inclination angle and the azimuth angle.

[0008] Step S02. Convert each set of well inclination parameter data into coordinate values ​​relative to the well center coordinate system and form multiple sets of well inclination vectors. The well inclination angle and azimuth angle of each set of well inclination parameter data correspond to a set of the well inclination vectors.

[0009] Step S03. Set an initial calibration vector and angle adjustment constraint range;

[0010] Step S04. Solve for the angle between the calibration vector and each of the well inclination vectors;

[0011] Step S05. Determine whether the difference between the angles of each group is within the preset range. If not, adjust the well inclination angle and azimuth angle of the calibration vector within the angle adjustment constraint range, and return to step S04. Otherwise, obtain the calibrated well inclination parameter data.

[0012] Furthermore, step S02, converting each set of well inclination parameter data into coordinate values ​​relative to the well center coordinate system, includes:

[0013] Define the coordinate system: define a geodetic coordinate system centered at the wellhead and an o-xyz coordinate system centered on the drill string centerline. The y-axis is aligned with the due north direction of the geodetic coordinate system, the z-axis points in the direction of the well center trajectory, and the y-axis is perpendicular to the x-axis and z-axis.

[0014] The well inclination parameter data of each group are converted into coordinate values ​​relative to the well center coordinate system according to the following formula (x i y i , z i ):

[0015]

[0016]

[0017] z i =cosα i (i = 1, 2, ..., n)

[0018] Where, α i Indicates the inclination angle of the well. 'n' represents the azimuth angle, and 'n' represents the number of sets of well inclination parameter data.

[0019] Furthermore, the initial calibration vector set in step S03 is the unit vector corresponding to the drill bit center axis, and the calibration vector includes the well inclination angle α0 and the azimuth angle.

[0020] Furthermore, the angle adjustment range is constrained to α0 < 90°.

[0021] Furthermore, in step S04, the calibration vector is solved according to the following formula. With each group of well inclination vectors The included angle θ i :

[0022]

[0023] Where x0, y0, and z0 are calibration vectors, respectively. Transform the x, y, and z coordinate values ​​in the o-xyz coordinate system. i y i , z i Let i be the well inclination vector of the i-th group. Convert the coordinates of the x, y, and z axes into the o-xyz coordinate system, where n represents the number of sets of well inclination parameter data.

[0024] Furthermore, in step S05, the difference r between each included angle is calculated according to the following formula. j :

[0025]

[0026] Where, θ k、 θ i These are the angles between any two solved calibration vectors and each of the well inclination vectors;

[0027] According to the formula Determine the difference r between the included angles j Whether it is within the preset range, ε is the preset difference threshold.

[0028] Furthermore, if the difference r between each included angle is determined... j If the value is outside the preset range, the well inclination angle and azimuth angle of the calibration vector are adjusted according to the preset first adjustment step size Δα and the preset second adjustment step size Δφ, respectively.

[0029] Furthermore, in the process of adjusting the well inclination angle and azimuth angle of the calibration vector according to the adjustment step size of Δα and Δφ respectively, after s×t times, the difference r between each included angle is finally obtained. j The calibration vector and error μ corresponding to the preset range, where

[0030] A real-time calibration device for wellbore deviation parameter data of a measurement-while-drilling system includes:

[0031] The measurement data acquisition module is used to acquire multiple sets of well inclination parameter data measured by the drilling measurement and control device during the natural descent and rotation of the drill bit around the central axis. The well inclination parameter data includes well inclination angle and azimuth angle.

[0032] The coordinate transformation module is used to convert each set of well inclination parameter data into coordinate values ​​relative to the well center coordinate system and form multiple sets of well inclination vectors. The well inclination angle and azimuth angle of each set of well inclination parameter data correspond to a set of the well inclination vectors.

[0033] The initialization module is used to set an initial calibration vector and angle adjustment constraint range;

[0034] Angle calculation module, used to calculate the angle between the calibration vector and each of the well inclination vectors;

[0035] The dynamic adjustment module is used to determine whether the difference between the calculated angles is within a preset range. If not, the well inclination angle and azimuth angle of the calibration vector are adjusted within the angle adjustment constraint range, and the angle calculation module is returned to be executed. Otherwise, the calibrated well inclination parameter data is obtained.

[0036] A computer device includes a processor and a memory, the memory being used to store a computer program, and the processor being used to execute the computer program to perform the method described above.

[0037] Compared with the prior art, the advantages of the present invention are as follows:

[0038] 1. This invention establishes a mathematical model for optimizing and adjusting multi-angle well inclination parameters. First, an initial calibration vector is set, and the angle between the calibration vector and multiple sets of well inclination vectors is calculated. Then, the calibration vector is continuously adjusted until the difference between the calibration vector and the angle between each set of well inclination vectors is within a preset range, that is, the drill coordinate system and the well inclination coordinate system are basically coincident. A calibration vector with an angle equal to that of each well inclination vector is obtained. Then, the calibrated well inclination vector and parameter values ​​are determined based on the calibration vector. The calibration vector is used to calibrate the error of the well inclination parameters. The calibration of well inclination parameter measurement errors caused by drilling conditions and installation conditions can be achieved without repeated on-site calibration of installation errors. This can effectively reduce the complexity of calibration and realize real-time and instantaneous correction of well inclination data of the drilling measurement device, effectively shortening the calibration time and improving construction efficiency and real-time performance.

[0039] 2. This invention can not only shorten the construction time, but also achieve error calibration of small-scale well inclination parameters. Furthermore, it can adjust the drilling process in a timely manner according to the calibrated well inclination parameters, which can greatly avoid problems such as blind drilling, drilling deviation, and stuck drill, and effectively improve the reliability of construction operations. Attached Figure Description

[0040] Figure 1 This is a schematic diagram illustrating the angular relationship between the drilling system and the measuring device.

[0041] Figure 2 This is a schematic diagram illustrating the implementation process of the real-time calibration method for well inclination parameter data of the measurement while drilling device in this embodiment.

[0042] Figure 3 This is a schematic diagram illustrating the coordinate transformation principle of the well inclination vector in the coordinate system o-xyz in this embodiment.

[0043] Figure 4 This is a schematic diagram illustrating the geometric relationship between the well inclination vector and the set threshold in this embodiment.

[0044] Figure 5 This is a detailed flowchart illustrating the process of calibrating wellbore deviation data using a measurement-while-drilling device in a specific application embodiment of the present invention. Detailed Implementation

[0045] The present invention will be further described below with reference to the accompanying drawings and specific preferred embodiments, but this does not limit the scope of protection of the present invention.

[0046] like Figure 1 As shown, because the measurement-while-drilling (MWD) device cannot fully contact the mounting plane of the drill bit, the amplitudes of the inclination and azimuth angles are very small when the drill string is in a near-vertical state. Therefore, due to the influence of installation accuracy and complex working conditions, the inclination vectors of multiple sets of data measured by the MWD device are often different. That is, the drill string coordinate system and the inclination coordinate system do not completely coincide, but instead form an error angle δ around the center of the drill bit rotation axis. Assuming the drill bit position remains unchanged, during the rotation around the central axis, a set of inclination and azimuth angles acquired by the measurement device corresponds to a set of vectors. This set of vectors corresponds to the unit vector along the drill bit's central axis. (That is, the vector of the drill bit's center axis, with the well inclination angle α0) The relative position will remain unchanged, i.e., the included angle θ i If it remains constant, then based on this property, we can determine the vector that makes the same angle with each well inclination vector. This calibration vector is then used further. This allows you to obtain accurate wellbore deviation data.

[0047] This invention fully utilizes the above-mentioned characteristics to establish a mathematical model for optimizing and adjusting multi-angle well inclination parameters. This model sets an initial calibration vector, solves for the angle between the calibration vector and multiple sets of well inclination vectors, and then continuously adjusts the calibration vector until the difference between the calibration vector and each set of well inclination vectors is within a preset range, that is, the drill string coordinate system and the well inclination coordinate system are basically coincident, and obtains a calibration vector with an angle equal to each well inclination vector. Then, based on the calibration vector, the calibrated well inclination vector and parameter values ​​are determined. The calibration vector is used to calibrate the error of the well inclination parameters, calibrating the measurement error of well inclination parameters caused by drilling conditions and installation conditions. This not only simplifies the operation and eliminates the need for repeated on-site calibration of installation errors, but also enables real-time and instantaneous correction of well inclination data from the drilling measurement device, effectively shortening the construction time and improving construction efficiency and operational reliability.

[0048] like Figure 2 As shown, the steps of the real-time calibration method for wellbore deviation parameter data of the measurement-while-drilling device in this embodiment include:

[0049] Step S01. Obtain multiple sets of wellbore inclination parameter data measured by the drilling measurement and control device during the natural descent and rotation around the central axis of the drill bit. The wellbore inclination parameter data includes the wellbore inclination angle and azimuth angle.

[0050] In this embodiment, specifically under the condition of the drill bit being naturally suspended, the average angle measuring device sequentially measures n sets of well inclination parameter data (well inclination angle α and azimuth angle) at each interval during the rotation around the central axis. The specific value of n can be determined according to actual needs.

[0051] Step S02. Convert each set of well inclination parameter data into coordinate values ​​relative to the well center coordinate system and form multiple sets of well inclination vectors. The well inclination angle and azimuth angle of each set of well inclination parameter data correspond to a set of well inclination vectors.

[0052] Before calibrating the wellbore deviation data of the measurement-while-drilling (MWD) device, this embodiment first defines a coordinate system, specifically including: a geodetic coordinate system centered at the wellhead and an o-xyz coordinate system defined by the drill string's centerline. The y-axis aligns with the due north direction of the geodetic coordinate system and is represented by the unit vector ex; the z-axis points in the direction of the well center trajectory and is represented by the unit vector e. z Characterized by: the y-axis being perpendicular to the x-axis and z-axis.

[0053] like Figure 3 As shown, in this embodiment, the well inclination parameter data of each group are converted into coordinate values ​​relative to the well center coordinate system according to the following formula (x i y i , z i ):

[0054]

[0055]

[0056] z i =cosα i (i = 1, 2, ..., n) (3)

[0057] Where, α i Indicates the inclination angle of the well. 'n' represents the azimuth angle, and 'n' represents the number of sets of well inclination parameter data.

[0058] By following the above formulas (1) to (3), the measured well inclination parameter data of each group can be converted into coordinate values ​​relative to the well center coordinate system.

[0059] Step S03. Set an initial calibration vector and angle adjustment constraint range.

[0060] To achieve calibration, it is necessary to find a vector that keeps the inclination vectors and relative positions of each group of wells constant, that is, the unit vector corresponding to the drill bit center axis (i.e., the drill bit center axis vector). In this embodiment, an initial calibration vector is first set based on the unit vector corresponding to the drill bit's center axis. The initial calibration vector This includes the initial inclination angle α0 and the initial azimuth angle. The calibration vector will be continuously improved subsequently. Adjustments are made to determine the final calibration vector. To ensure the effectiveness of the angle adjustment, the angle adjustment amount is constrained to a range of α0 < 90°. This serves as a constraint for adjusting the calibration vector.

[0061] Step S04. Solve for the angle between the calibration vector and each well inclination vector.

[0062] In this embodiment, the angle between the current calibration vector and the n sets of well inclination vectors is calculated to determine whether the difference between the angle between the calibration vector and the n sets of well inclination vectors is within a preset range, thereby determining the final calibration vector.

[0063] In this embodiment, the calibration vector is specifically solved according to the following formula. With each group of well inclination vectors The included angle θ i :

[0064]

[0065] Where x0, y0, and z0 are calibration vectors, respectively. Transform the x, y, and z coordinate values ​​in the o-xyz coordinate system. i y i , z i Let i be the well inclination vector of the i-th group. Convert the coordinates of the x, y, and z axes into the o-xyz coordinate system, where n represents the number of sets of well inclination parameter data.

[0066] Step S05. Determine whether the difference between the angles of each group is within the preset range. If not, adjust the well inclination angle and azimuth angle of the calibration vector within the angle adjustment constraint range, and return to step S04. Otherwise, obtain the calibrated well inclination parameter data.

[0067] In this embodiment, the difference r between each included angle is calculated according to the following formula. j :

[0068]

[0069] Where, θ k、 θ i denoted as the angles between any two solved calibration vectors and each well inclination vector.

[0070] And determine the difference r between each included angle according to the following formula. j Is it within the preset range?

[0071]

[0072]

[0073] Where ε is the preset difference threshold.

[0074] Equation (7) above is the constraint condition in the calibration vector adjustment process. During the adjustment process, the difference r between each included angle is continuously judged according to equations (5) and (6). j Whether equation (6) is satisfied, that is, whether the included angles between the calibration vector and each group of well inclination vectors are equal. If so, it indicates that the drill coordinate system and the well inclination coordinate system have reached the coincidence state, that is, the required calibration vector is obtained, and then the calibrated well inclination vector and parameter values ​​can be obtained based on the calibration vector.

[0075] In a specific application embodiment, the measured well inclination vector parameters are first converted into coordinate values ​​(x, y, z) relative to the well center coordinate system o-xyz according to equations (1) to (3). i y i , z i Then, set a calibration vector. (Inclination angle α0, azimuth angle φ0), similarly according to formulas (1) to (3), transform into the o-xyz coordinate system (x0, y0, z0), and solve the calibration vector according to formulas (4) and (5). With n sets of well inclination vectors The included angle θ i and each included angle θ i The difference r j When r j If equation (6) is satisfied, the calibrated well inclination vector and parameter values ​​are determined. The constraint condition of the calibration vector is shown in equation (7). Well inclination data calibration of the measurement-while-drilling device can be achieved instantly by following equations (1) to (7). In practice, a corresponding program module can be designed based on the above formulas. The well inclination data calibration function can be automatically realized by calling the program module.

[0076] Due to factors such as the accuracy of the measuring device, the measured n sets of well deviation parameters are difficult to satisfy formula (6). In this embodiment, a threshold ε is further set, and the difference between the calibration vector and the well deviation vector is controlled within the range of ε by continuously adjusting the calibration vector, that is, the drill string coordinate system and the well deviation coordinate system are basically coincident. In this embodiment, if the difference r between each angle is determined during the adjustment process, j If the value is not within the preset range, the wellbore inclination angle and azimuth angle of the calibration vector are adjusted according to the adjustment step sizes of Δα and Δφ, respectively. After repeating this process s×t times, the final difference r between each included angle is obtained. j The calibration vector and error μ corresponding to the preset range.

[0077] like Figure 4 As shown, the adjustment steps for the well inclination angle and azimuth angle are the preset first adjustment step Δα and the preset second adjustment step Δφ, respectively. That is, the adjustment is carried out according to different adjustment steps, and the total number of iterations is s×t. When formula (8) is true, the calibration vector and its error μ can be finally determined. The error μ and s and t can be calculated according to formulas (9) to (11).

[0078]

[0079]

[0080]

[0081]

[0082] like Figure 5 As shown, in a specific application embodiment of the present invention, when performing real-time calibration of well inclination data of the measurement while drilling device, the well inclination angle, azimuth angle and related thresholds are first initialized, and then the i-th well inclination parameter (well inclination angle α) in the measurement data obtained by the measurement device is calculated according to equations (1) to (3). i azimuth φ i The coordinate values ​​of the wellbore are obtained by iterating n times to obtain n sets of well inclination vectors; a calibration vector is set, and the angle adjustment constraint range is set to well inclination angle α0 < 90°, azimuth angle Then, calculate the angle between the calibration vector and the i-th well inclination parameter according to equation (4), and repeat the process n times to obtain n angles θ. i Then calculate the difference r between each included angle according to formula (5). j After executing the loop n×(n-1) / 2 times, we get n×(n-1) / 2 differences r. j Determine each difference r according to formula (8). jIf the calibration vector is not within the preset threshold range, adjust the well inclination angle and azimuth angle of the calibration vector, and adjust the step size as Δα and Δφ respectively. After repeating the process s×t times, the calibration vector that meets the conditions is obtained. The corresponding installation error is calculated according to formula (9) to complete the calibration process.

[0083] This embodiment, through the above method, can achieve error calibration of small-scale well inclination parameters without the need for repeated calibration of installation errors, effectively shortening the construction time. Furthermore, by adjusting the drilling process in a timely manner according to the calibrated well inclination parameters, problems such as blind drilling, drilling deviation, and stuck drill bit can be largely avoided, effectively improving construction efficiency and operational reliability.

[0084] This embodiment of the real-time calibration device for wellbore deviation parameter data of the measurement-while-drilling device includes:

[0085] The measurement data acquisition module is used to acquire multiple sets of well inclination parameter data measured by the measuring device during the natural descent and rotation of the drill bit around the central axis. The well inclination parameter data includes well inclination angle and azimuth angle.

[0086] The coordinate transformation module is used to convert each set of well inclination parameter data into coordinate values ​​relative to the well center coordinate system and form multiple sets of well inclination vectors. The well inclination angle and azimuth angle of each set of well inclination parameter data correspond to a set of well inclination vectors.

[0087] The initialization module is used to set an initial calibration vector and angle adjustment constraint range;

[0088] The angle calculation module is used to calculate the angle between the calibration vector and each well inclination vector;

[0089] The dynamic adjustment module is used to determine whether the difference between the angles of each group is within the preset range. If not, it adjusts the well inclination angle and azimuth angle of the calibration vector within the angle adjustment constraint range and returns to the angle calculation module. Otherwise, it obtains the calibrated well inclination parameter data.

[0090] This embodiment further provides a computer device, including a processor and a memory, the memory for storing a computer program and the processor for executing the computer program to perform the method as described above.

[0091] It is understood that the method described in this embodiment can be executed by a single device, such as a computer or server, or it can be applied to a distributed scenario where multiple devices cooperate to complete the task. In a distributed scenario, one of the multiple devices may execute only one or more steps of the method described in this embodiment, and the multiple devices interact to complete the method. The processor can be implemented using a general-purpose CPU, microprocessor, application-specific integrated circuit, or one or more integrated circuits, and is used to execute relevant programs to implement the method described in this embodiment. The memory can be implemented using read-only memory (ROM), random access memory (RAM), static storage devices, and dynamic storage devices. The memory can store the operating system and other applications. When the method described in this embodiment is implemented through software or firmware, the relevant program code is stored in the memory and called and executed by the processor.

[0092] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention should fall within the protection scope of the present invention.

Claims

1. A method for real-time calibration of wellbore inclination parameter data in a measurement-while-drilling (MWD) device, characterized in that the steps include... include: Step S01. Obtain multiple sets of wellbore inclination parameter data measured by the drilling measurement and control device during the natural descent and rotation around the central axis of the drill bit. The wellbore inclination parameter data includes the wellbore inclination angle and the azimuth angle. Step S02. Convert each set of well inclination parameter data into coordinate values ​​relative to the well center coordinate system and form multiple sets of well inclination vectors. The well inclination angle and azimuth angle of each set of well inclination parameter data correspond to a set of the well inclination vectors. Step S03. Set an initial calibration vector and angle adjustment constraint range; Step S04. Solve for the angle between the calibration vector and each of the well inclination vectors; Step S05. Determine whether the difference between the angles of each group is within the preset range. If not, adjust the well inclination angle and azimuth angle of the calibration vector within the angle adjustment constraint range, and return to step S04. Otherwise, obtain the calibrated well inclination parameter data.

2. The real-time calibration method for wellbore inclination parameter data of the measurement-while-drilling device according to claim 1, characterized in that, Step S02, which converts each set of well deviation parameter data into coordinate values ​​relative to the well center coordinate system, includes: Define the coordinate system: a geodetic coordinate system centered at the wellhead and an o-xyz coordinate system defined by the drill string centerline. The y-axis is aligned with the due north direction of the geodetic coordinate system, the z-axis points in the direction of the well center trajectory, and the y-axis is perpendicular to the x-axis and z-axis. The well inclination parameter data of each group are converted into coordinate values ​​relative to the well center coordinate system according to the following formula (x i y i , z i ): mm i = cosα i (i=1,2,…,n) Where, α i Indicates the inclination angle of the well. 'n' represents the azimuth angle, and 'n' represents the number of sets of well inclination parameter data.

3. The real-time calibration method for wellbore inclination parameter data of the measurement-while-drilling device according to claim 1, characterized in that, The initial calibration vector set in step S03 is obtained based on the corresponding unit vector of the drill bit center axis. The calibration vector includes the well inclination angle α0 and the azimuth angle.

4. The real-time calibration method for wellbore inclination parameter data of the measurement-while-drilling device according to claim 3, characterized in that, The angle adjustment range is constrained to α0 < 90°.

5. The real-time calibration method for wellbore inclination parameter data of the measurement-while-drilling device according to claim 1, characterized in that, In step S04, the calibration vector is solved according to the following formula. With each group of well inclination vectors The included angle θ i : Where x0, y0, and z0 are calibration vectors, respectively. Transform the x, y, and z coordinate values ​​in the o-xyz coordinate system. i y i , z i These are the inclination vectors of the i-th group of wells. Convert the coordinates of the x, y, and z axes into the o-xyz coordinate system, where n represents the number of sets of well inclination parameter data.

6. The real-time calibration method for wellbore deviation parameter data of the measurement-while-drilling device according to any one of claims 1 to 5, characterized in that, In step S05, the difference r between each included angle is calculated according to the following formula. j : Where, θ k θ i These are the angles between any two solved calibration vectors and each of the well inclination vectors; According to the formula Determine the difference r between the included angles j Whether it is within the preset range, ε is the preset difference threshold.

7. The real-time calibration method for wellbore inclination parameter data of the measurement-while-drilling device according to claim 6, characterized in that, In step S05, if the difference r between each included angle is determined... j If the value is outside the preset range, the well inclination angle and azimuth angle of the calibration vector are adjusted according to the preset first adjustment step size Δα and the preset second adjustment step size Δφ, respectively.

8. The real-time calibration method for wellbore inclination parameter data of the measurement-while-drilling device according to claim 7, characterized in that, In the process of adjusting the well inclination angle and azimuth angle of the calibration vector according to the adjustment step size of Δα and Δφ respectively, after s×t times, the difference r between each included angle is finally obtained. j The calibration vector and error μ corresponding to the preset range, where 9. A real-time calibration device for wellbore deviation parameter data in a measurement-while-drilling (MWD) system, characterized in that, include: The measurement data acquisition module is used to acquire multiple sets of well inclination parameter data measured by the drilling measurement and control device during the natural descent and rotation of the drill bit around the central axis. The well inclination parameter data includes well inclination angle and azimuth angle. The coordinate transformation module is used to convert each set of well inclination parameter data into coordinate values ​​relative to the well center coordinate system and form multiple sets of well inclination vectors. The well inclination angle and azimuth angle of each set of well inclination parameter data correspond to a set of the well inclination vectors. The initialization module is used to set an initial calibration vector and angle adjustment constraint range; Angle calculation module, used to calculate the angle between the calibration vector and each of the well inclination vectors; The dynamic adjustment module is used to determine whether the difference between the calculated angles is within a preset range. If not, the well inclination angle and azimuth angle of the calibration vector are adjusted within the angle adjustment constraint range, and the angle calculation module is returned to be executed. Otherwise, the calibrated well inclination parameter data is obtained.

10. A computer device comprising a processor and a memory, the memory being used to store a computer program, characterized in that, The processor is used to execute the computer program to perform the method as described in any one of claims 1 to 8.

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