A method, system and electronic device for improving the accuracy of measurements of data while drilling

Abstract

The present application relates to the field of measurement while drilling technology, and more particularly to a method, system and electronic device for improving the measurement accuracy of data while drilling, the method comprising: obtaining the attitude angle of the drill string at the current time by using a MEMS three-axis accelerometer and a MEMS three-axis gyroscope, wherein the MEMS three-axis accelerometer and the MEMS three-axis gyroscope are both installed on the drill string; calculating the error compensation value corresponding to the attitude angle of the drill string at the current time; and compensating the attitude angle of the drill string at the current time by using the error compensation value corresponding to the attitude angle of the drill string at the current time, to obtain the final attitude angle of the drill string at the current time. The installation error of the MEMS three-axis accelerometer and the MEMS three-axis gyroscope installed on the drill string, the angle random walk error and the zero drift error can be reduced, and the measurement accuracy of the data while drilling, i.e. the attitude angle of the drill string, can be improved.

Description

Technical Field

[0001] This invention relates to the field of measurement while drilling (MSW) technology, and more particularly to a method, system, and electronic device for improving the accuracy of MSW data measurement. Background Technology

[0002] Measurement while drilling (MWD) refers to the continuous monitoring of borehole or drill bit information by the drilling rig while drilling, achieved through tracking and guidance instruments. Therefore, tracking and guidance instruments are essential measurement equipment for horizontal directional drilling rigs. Logging while drilling (LWD) is developed based on MWD by adding several parameter sensors for formation evaluation, such as compensated lateral resistivity, natural gamma, azimuth neutron density, acoustic waves, and compensated neutron density. Gyro-oriented measurement uses a gyrotheodolite to determine the gyro azimuth angle of a control network edge and converts it to obtain the true azimuth angle of that edge; it is commonly used for directional connection measurements. The azimuth angle of a gyroscope is the horizontal angle measured clockwise from the north of the gyroscope meridian (the meridian plane at the station that passes through the imaginary stable position of the gyroscope axis, i.e., the intersection of the gyroscope meridian plane and the ground plane) to a certain directional side. Common methods for determining the true north direction of a station include: the meridian method, which first determines an approximate north direction by observing the rotation of the gyroscope axis, and then continuously recording the time it takes for the swinging index line (gyroscope axis) to repeatedly cross the zero line of the reticle and the horizontal circle readings when reaching the east and west reversal points. The correction value for the approximate north direction is then calculated, and the true north direction of the station is determined. The reversal point method involves using a gyrotheodolite to track and observe the swinging index line (gyroscope axis) repeatedly reaching the east and west reversal points, and then calculating the horizontal circle readings when reaching the east and west reversal points to determine the true north direction of the station.

[0003] In existing technologies, the measurement-while-drilling system itself generally has certain errors, which leads to errors in measurement-while-drilling operations such as directional surveying, resulting in errors in the final measurement accuracy. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a method, system and electronic device for improving the accuracy of drilling data measurement.

[0005] The technical solution of the present invention for improving the accuracy of drilling data measurement is as follows:

[0006] The attitude angle of the drill string at the current moment is obtained using a MEMS triaxial accelerometer and a MEMS triaxial gyroscope, wherein both the MEMS triaxial accelerometer and the MEMS triaxial gyroscope are mounted on the drill string.

[0007] Calculate the error compensation value corresponding to the current attitude angle of the drill string;

[0008] The error compensation value corresponding to the current attitude angle of the drill string is used to compensate for the current attitude angle of the drill string, so as to obtain the final attitude angle of the drill string at the current moment.

[0009] The beneficial effects of the method for improving the accuracy of drilling data measurement according to the present invention are as follows:

[0010] Calculating and utilizing the error compensation value corresponding to the current attitude angle of the drill string can compensate for the current attitude angle of the drill string, thereby reducing the installation error, angle random walk error, and zero drift error of the MEMS triaxial accelerometer and MEMS triaxial gyroscope mounted on the drill string, and improving the measurement accuracy of the attitude angle of the drill string in the drilling data.

[0011] Based on the above scheme, the method for improving the accuracy of drilling data measurement according to the present invention can be further improved as follows.

[0012] Furthermore, the error compensation value corresponding to the current attitude angle of the drill string is calculated, including:

[0013] Using a compensation model, the error compensation value corresponding to the current attitude angle of the drill string is calculated. The compensation model is as follows: Wherein, the current attitude angle of the drill string is (α, β, γ), and the error compensation values ​​corresponding to the current attitude angle of the drill string include: dα, dβ, and dγ, where dα represents the error compensation value corresponding to α, dβ represents the error compensation value corresponding to β, and dγ represents the error compensation value corresponding to γ, φ x ,φ y ,φ z λ represents the installation error of the three axes of the gyroscope, L represents the geographical latitude of the drill string at the current moment, and λ represents the hyperparameter.

[0014] Furthermore, the final attitude angle of the drill string at the current moment is (α+dα,β+dβ,γ+dγ).

[0015] Furthermore, using a MEMS triaxial accelerometer and a MEMS triaxial gyroscope, the current attitude angle of the drill string is obtained, including:

[0016] The linear acceleration at the current moment is measured using the MEMS triaxial accelerometer, and the angular acceleration at the current moment is measured using the MEMS triaxial gyroscope.

[0017] The current attitude angle of the drill string is calculated based on the linear acceleration and angular acceleration at the current moment.

[0018] The technical solution of the system for improving the accuracy of drilling data measurement according to the present invention is as follows:

[0019] It includes an acquisition module, a calculation module, and a compensation module;

[0020] The acquisition module is used to: obtain the current attitude angle of the drill string using a MEMS triaxial accelerometer and a MEMS triaxial gyroscope, wherein both the MEMS triaxial accelerometer and the MEMS triaxial gyroscope are mounted on the drill string;

[0021] The calculation module is used to: calculate the error compensation value corresponding to the attitude angle of the drill string at the current moment;

[0022] The compensation module is used to: compensate the current attitude angle of the drill string using the error compensation value corresponding to the current attitude angle of the drill string, so as to obtain the final attitude angle of the drill string at the current moment.

[0023] The beneficial effects of the system for improving the accuracy of drilling data measurement according to the present invention are as follows:

[0024] Calculating and utilizing the error compensation value corresponding to the current attitude angle of the drill string can compensate for the current attitude angle of the drill string, thereby reducing the installation error, angle random walk error, and zero drift error of the MEMS triaxial accelerometer and MEMS triaxial gyroscope mounted on the drill string, and improving the measurement accuracy of the attitude angle of the drill string in the drilling data.

[0025] Based on the above scheme, the system for improving the accuracy of drilling data measurement according to the present invention can be further improved as follows.

[0026] Furthermore, the compensation module is specifically used for:

[0027] Using a compensation model, the error compensation value corresponding to the current attitude angle of the drill string is calculated. The compensation model is as follows: Wherein, the current attitude angle of the drill string is (α, β, γ), and the error compensation values ​​corresponding to the current attitude angle of the drill string include: dα, dβ, and dγ, where dα represents the error compensation value corresponding to α, dβ represents the error compensation value corresponding to β, and dγ represents the error compensation value corresponding to γ, φ x ,φ y ,φ z λ represents the installation error of the three axes of the gyroscope, L represents the geographical latitude of the drill string at the current moment, and λ represents the hyperparameter.

[0028] Furthermore, the final attitude angle of the drill string at the current moment is (α+dα,β+dβ,γ+dγ).

[0029] Furthermore, the acquisition module is specifically used for:

[0030] The linear acceleration at the current moment is measured using the MEMS triaxial accelerometer, and the angular acceleration at the current moment is measured using the MEMS triaxial gyroscope.

[0031] The current attitude angle of the drill string is calculated based on the linear acceleration and angular acceleration at the current moment.

[0032] The present invention provides a storage medium storing instructions that, when read by a computer, cause the computer to execute any of the above-described methods for improving the accuracy of drilling data measurement.

[0033] An electronic device according to the present invention includes a processor and the above-described storage medium, wherein the processor executes instructions in the storage medium. Attached Figure Description

[0034] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0035] Figure 1 This is a flowchart illustrating a method for improving the accuracy of drilling data measurement according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of a system for improving the accuracy of drilling data measurement according to an embodiment of the present invention. Detailed Implementation

[0037] like Figure 1 As shown, an embodiment of the present invention provides a method for improving the accuracy of drilling data measurement, comprising the following steps:

[0038] S1. Using a MEMS triaxial accelerometer and a MEMS triaxial gyroscope, the current attitude angle of the drill string is obtained. Both the MEMS triaxial accelerometer and the MEMS triaxial gyroscope are mounted on the drill string.

[0039] S2. Calculate the error compensation value corresponding to the current attitude angle of the drill string;

[0040] S3. Using the error compensation value corresponding to the current attitude angle of the drill string, compensate for the current attitude angle of the drill string to obtain the final attitude angle of the drill string at the current moment.

[0041] This invention calculates and utilizes the error compensation value corresponding to the current attitude angle of the drill string to compensate for the current attitude angle of the drill string. This can reduce the installation error, angle random walk error, and zero drift error of the MEMS triaxial accelerometer and MEMS triaxial gyroscope mounted on the drill string, and improve the measurement accuracy of the attitude angle of the drill string in the drilling data.

[0042] Optionally, in the above technical solution, in step S2, calculating the error compensation value corresponding to the current attitude angle of the drill string includes:

[0043] S20. Using the compensation model, calculate the error compensation value corresponding to the current attitude angle of the drill string. The compensation model is as follows: Wherein, the current attitude angle of the drill string is (α, β, γ), and the error compensation values ​​corresponding to the current attitude angle of the drill string include: dα, dβ, and dγ, where dα represents the error compensation value corresponding to α, dβ represents the error compensation value corresponding to β, and dγ represents the error compensation value corresponding to γ, φ x ,φ y ,φ z The value represents the installation error of the three axes of the gyroscope, L represents the geographical latitude of the drill string at the current moment, and λ represents the hyperparameter. The hyperparameter λ can be understood as a coefficient, and its specific value can be set manually according to the actual situation, such as on-site drilling data.

[0044] Optionally, in the above technical solution, the final attitude angle of the drill string at the current moment is (α+dα,β+dβ,γ+dγ).

[0045] Optionally, in the above technical solution, in S1, the attitude angle of the drill string at the current moment is obtained using a MEMS triaxial accelerometer and a MEMS triaxial gyroscope, including:

[0046] S10. Measure the linear acceleration at the current moment using a MEMS triaxial accelerometer, and measure the angular acceleration at the current moment using a MEMS triaxial gyroscope.

[0047] S11. Calculate the current attitude angle of the drill string based on the linear acceleration and angular acceleration at the current moment.

[0048] This invention calculates and utilizes the error compensation value corresponding to the current attitude angle of the drill string to compensate for the current attitude angle of the drill string. This can reduce the installation error, angle random walk error, and zero drift error of the MEMS triaxial accelerometer and MEMS triaxial gyroscope mounted on the drill string, and improve the measurement accuracy of the attitude angle of the drill string in the drilling data.

[0049] The explanation of MEMS is as follows:

[0050] MEMS stands for Microelectromechanical Systems. The internal structure of a MEMS is generally at the micrometer or even nanometer scale. It is an independent intelligent system that integrates micro-sensors, micro-actuators, micro-mechanical structures, micro-power sources, signal processing and control circuits, high-performance electronic integrated devices, interfaces, and communication into a single miniature device or system.

[0051] The explanation for MEMS triaxial accelerometers is as follows:

[0052] MEMS triaxial accelerometers work based on the fundamental principle of acceleration. They are small in size and light in weight, and can measure spatial acceleration. They can comprehensively and accurately reflect the motion properties of objects. Most MEMS triaxial accelerometers adopt piezoresistive, piezoelectric and capacitive working principles. The acceleration generated is proportional to the change in resistance, voltage and capacitance, and is collected through corresponding amplification and filtering circuits.

[0053] In the above embodiments, although the steps are numbered S1, S2, etc., they are only specific embodiments given in this application. Those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, which is also within the protection scope of this invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0054] like Figure 2 As shown, a system 200 for improving the accuracy of drilling data measurement according to an embodiment of the present invention includes an acquisition module 210, a calculation module 220 and a compensation module 230;

[0055] The acquisition module 210 is used to: obtain the current attitude angle of the drill string using a MEMS triaxial accelerometer and a MEMS triaxial gyroscope, wherein both the MEMS triaxial accelerometer and the MEMS triaxial gyroscope are mounted on the drill string;

[0056] The calculation module 220 is used to: calculate the error compensation value corresponding to the current attitude angle of the drill string;

[0057] The compensation module 230 is used to: compensate the current attitude angle of the drill string using the error compensation value corresponding to the current attitude angle of the drill string, so as to obtain the final attitude angle of the drill string at the current moment.

[0058] This invention calculates and utilizes the error compensation value corresponding to the current attitude angle of the drill string to compensate for the current attitude angle of the drill string. This can reduce the installation error, angle random walk error, and zero drift error of the MEMS triaxial accelerometer and MEMS triaxial gyroscope mounted on the drill string, and improve the measurement accuracy of the attitude angle of the drill string in the drilling data.

[0059] Optionally, in the above technical solution, the compensation module 230 is specifically used for:

[0060] Using the compensation model, the error compensation value corresponding to the current attitude angle of the drill string is calculated. The compensation model is as follows: Wherein, the current attitude angle of the drill string is (α, β, γ), and the error compensation values ​​corresponding to the current attitude angle of the drill string include: dα, dβ, and dγ, where dα represents the error compensation value corresponding to α, dβ represents the error compensation value corresponding to β, and dγ represents the error compensation value corresponding to γ, φ x ,φ y ,φ z λ represents the installation error of the three axes of the gyroscope, L represents the geographical latitude of the drill string at the current moment, and λ represents the hyperparameter.

[0061] Optionally, in the above technical solution, the final attitude angle of the drill string at the current moment is (α+dα,β+dβ,γ+dγ).

[0062] Optionally, in the above technical solution, the acquisition module 210 is specifically used for:

[0063] The linear acceleration at the current moment is measured using a MEMS triaxial accelerometer, and the angular acceleration at the current moment is measured using a MEMS triaxial gyroscope.

[0064] The current attitude angle of the drill string is calculated based on the current linear acceleration and the current angular acceleration.

[0065] The parameters and steps of each unit module in the system for improving the accuracy of drilling directional measurement according to the present invention described above can be referred to the parameters and steps in the embodiments of the method for improving the accuracy of drilling directional measurement described above, and will not be repeated here.

[0066] An embodiment of the present invention provides a storage medium storing instructions, which, when read by a computer, cause the computer to execute any of the above-mentioned methods for improving the accuracy of drilling data measurement.

[0067] An electronic device according to an embodiment of the present invention includes a processor and the aforementioned storage medium, wherein the processor executes instructions stored in the storage medium. The electronic device may be a computer, mobile phone, PLC controller, etc., and its program may be computer software or a mobile app.

[0068] Those skilled in the art will know that this invention can be implemented as a system, method, or computer program product.

[0069] Therefore, this disclosure can be implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, the invention can also be implemented as a computer program product in one or more computer-readable media, the computer-readable medium containing computer-readable program code.

[0070] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0071] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for improving the accuracy of drilling data measurement, characterized in that, include: The attitude angle of the drill string at the current moment is obtained using a MEMS triaxial accelerometer and a MEMS triaxial gyroscope, wherein both the MEMS triaxial accelerometer and the MEMS triaxial gyroscope are mounted on the drill string. Calculate the error compensation value corresponding to the current attitude angle of the drill string; Using the error compensation value corresponding to the current attitude angle of the drill string, the current attitude angle of the drill string is compensated to obtain the final attitude angle of the drill string at the current moment. Calculate the error compensation value corresponding to the current attitude angle of the drill string, including: Using a compensation model, the error compensation value corresponding to the current attitude angle of the drill string is calculated. The compensation model is as follows: Wherein, the current attitude angle of the drill string is The error compensation value corresponding to the current attitude angle of the drill string includes: , and , express The corresponding error compensation value, express The corresponding error compensation value, express The corresponding error compensation value, This indicates the installation error of the three axes of the gyroscope. This indicates the geographical latitude of the drill string's current location. Indicates hyperparameters; The final attitude angle of the drill string at the current moment is .

2. The method for improving the accuracy of drilling data measurement according to claim 1, characterized in that, Using a MEMS triaxial accelerometer and a MEMS triaxial gyroscope, the current attitude angle of the drill string is obtained, including: The linear acceleration at the current moment is measured using the MEMS triaxial accelerometer, and the angular acceleration at the current moment is measured using the MEMS triaxial gyroscope. The current attitude angle of the drill string is calculated based on the linear acceleration and angular acceleration at the current moment.

3. A system for improving the accuracy of drilling data measurement, characterized in that, It includes an acquisition module, a calculation module, and a compensation module; The acquisition module is used to: obtain the current attitude angle of the drill string using a MEMS triaxial accelerometer and a MEMS triaxial gyroscope, wherein both the MEMS triaxial accelerometer and the MEMS triaxial gyroscope are mounted on the drill string; The calculation module is used to: calculate the error compensation value corresponding to the attitude angle of the drill string at the current moment; The compensation module is used to: compensate the current attitude angle of the drill string using the error compensation value corresponding to the current attitude angle of the drill string, so as to obtain the final attitude angle of the drill string at the current moment. The compensation module is specifically used for: Using a compensation model, the error compensation value corresponding to the current attitude angle of the drill string is calculated. The compensation model is as follows: Wherein, the current attitude angle of the drill string is The error compensation value corresponding to the current attitude angle of the drill string includes: , and , express The corresponding error compensation value, express The corresponding error compensation value, express The corresponding error compensation value, This indicates the installation error of the three axes of the gyroscope. This indicates the geographical latitude of the drill string's current location. Indicates hyperparameters; The final attitude angle of the drill string at the current moment is .

4. The system for improving the accuracy of drilling data measurement according to claim 3, characterized in that, The acquisition module is specifically used for: The linear acceleration at the current moment is measured using the MEMS triaxial accelerometer, and the angular acceleration at the current moment is measured using the MEMS triaxial gyroscope. The current attitude angle of the drill string is calculated based on the linear acceleration and angular acceleration at the current moment.

5. A storage medium, characterized in that, The storage medium stores instructions that, when read by a computer, cause the computer to execute a method for improving the accuracy of drilling data measurement as described in any one of claims 1 to 2.

6. An electronic device, characterized in that, It includes a processor and the storage medium of claim 5, wherein the processor executes instructions in the storage medium.

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