Method and device for removing pump stroke interference of drilling fluid pulse signal

Abstract

According to the method and device for removing the pump stroke interference of the drilling fluid pulse signals, the pump stroke period is accurately obtained based on the pressure wave signals collected by the vertical pipe pressure sensor, segmentation, superposition and averaging processing is conducted on the resampled pressure wave signals through the pump stroke period, real-time estimation of pump stroke noise is achieved, and the accuracy of pump stroke interference removal is improved. And the pump stroke noise can be adaptively eliminated, so that the field requirement can be better met.

Description

Technical Field

[0001] The invention relates to the technical field of drilling engineering in oil and gas exploration and development, and in particular to a method and a device for removing pump impulse interference of a drilling fluid pulse signal. Background Art

[0002] Drilling fluid pulse transmission is a data transmission method commonly used in the current oil drilling process. It can provide various downhole parameters to well site personnel in real time, such as well inclination, azimuth and tool surface, etc. The principle is that the downhole instrument changes the drilling fluid pressure in the drill string through the pulse generator, forming a pressure wave and transmitting the measurement data to the ground in the form of pulses.

[0003] When the drilling fluid pulse signal propagates in the drill pipe, it will inevitably be interfered by various noises. The pump impulse interference generated by the drilling pump is one of the important factors affecting the communication quality (especially when the frequencies of the coded signal and the pump impulse noise are similar). Eliminating the pump impulse interference is crucial for subsequent signal decoding.

[0004] Since the movement of the mud pump has good periodicity in most cases, the pump impulse noise usually appears as a harmonic signal in the pressure waveform collected by the standpipe pressure sensor. Therefore, the pump impulse noise can be suppressed by using the periodic variation characteristics of the pump impulse harmonic signal. The existing pump impulse noise suppression methods mainly include: bandpass filtering, notch filtering, wavelet transform, modal decomposition and adaptive filtering. However, these methods usually do not take into account the slight fluctuations of the pump impulse frequency, which may lead to poor denoising effect of the algorithm in some cases. Summary of the invention

[0005] The present invention provides a method and device for removing pump impulse interference of a drilling fluid pulse signal, which can adaptively eliminate the pump impulse noise through real-time estimation of the pump impulse noise, thereby better meeting on-site needs.

[0006] In a first aspect, the present invention provides a method for removing pump impulse interference of a drilling fluid pulse signal, comprising:

[0007] Acquire the theoretical coding signal frequency and the original pressure wave signal, and perform a denoising process on the original pressure wave signal to obtain a denoised pressure wave signal;

[0008] Obtaining an estimated pump stroke fundamental frequency, and resampling the pressure wave signal after the primary denoising according to the estimated pump stroke fundamental frequency to obtain a resampled pressure wave signal;

[0009] Based on the estimated pump stroke fundamental frequency, a corresponding frequency estimation vector is constructed, and based on the frequency estimation vector, the resampled pressure wave signal is subjected to whole-cycle truncation and optimized cepstrum processing to obtain a pump stroke period;

[0010] According to the pump cycle, the resampled pressure wave signal is segmented to obtain a resampled pressure wave segmented signal;

[0011] Segmenting, superimposing and averaging the pressure wave signal to be estimated in the resampled pressure wave segmented signal according to the pump stroke period to obtain an estimated pump stroke noise;

[0012] Based on the estimated pump impulse noise and the pressure wave signal to be combined in the resampled pressure wave segmented signal, combined with the pump impulse period and the theoretical coding signal frequency, a pressure wave signal to be decoded is obtained;

[0013] The pressure wave signal to be decoded is decoded to determine downhole measurement data.

[0014] Optionally, based on the estimated pump impulse noise and the pressure wave signal to be combined in the resampled pressure wave segmented signal, combined with the pump impulse period and the theoretical coding signal frequency, the pressure wave signal to be decoded is obtained, including:

[0015] Subtracting the estimated pump impulse noise from the pressure wave signal to be combined in sections to obtain the pressure wave signal to be combined after secondary denoising;

[0016] Based on the pressure wave signal to be combined after the secondary denoising, combined with the pump stroke period and the theoretical coding signal frequency, the pressure wave signal to be decoded is obtained.

[0017] Optionally, based on the pressure wave signal to be combined after the secondary denoising, the pressure wave signal to be decoded is obtained in combination with the pump stroke period and the theoretical coding signal frequency, including:

[0018] Combining the pressure wave signal to be combined after secondary denoising with the pressure wave signal to be combined after historical secondary denoising obtained by previous processing to obtain a combined secondary denoised pressure wave signal;

[0019] According to the pump stroke period and the theoretical coding signal frequency, the pressure wave signal after the combined secondary denoising is subjected to a third denoising process to obtain a pressure wave signal to be decoded.

[0020] Optionally, obtaining the estimated pump stroke fundamental frequency, and resampling the pressure wave signal after the primary denoising according to the estimated pump stroke fundamental frequency to obtain the resampled pressure wave signal, including:

[0021] Based on the obtained pump stroke rate and in combination with the estimated pump stroke fundamental frequency calculation expression, the estimated pump stroke fundamental frequency is determined;

[0022] According to the estimated pump stroke fundamental frequency, resampling the pressure wave signal after the primary denoising is performed to obtain a resampled pressure wave signal;

[0023] The estimated pump stroke fundamental frequency expression is:

[0024]

[0025] Among them, f 0e is the estimated pump stroke fundamental frequency; S is the pump stroke rate, that is, the number of pump strokes per minute.

[0026] In a second aspect, the present invention provides a device for removing pump impulse interference of a drilling fluid pulse signal, comprising:

[0027] An acquisition module, used to acquire the theoretical coding signal frequency and the original pressure wave signal, and perform a denoising process on the original pressure wave signal to obtain a denoised pressure wave signal;

[0028] A resampling module, used to obtain an estimated pump stroke fundamental frequency, and resample the pressure wave signal after the primary denoising according to the estimated pump stroke fundamental frequency to obtain a resampled pressure wave signal;

[0029] A construction module, for constructing a corresponding frequency estimation vector based on the estimated pump stroke fundamental frequency, and performing whole-cycle truncation and optimized cepstrum processing on the resampled pressure wave signal based on the frequency estimation vector to obtain a pump stroke period;

[0030] A segmentation module, used for segmenting the resampled pressure wave signal according to the pump stroke cycle to obtain a resampled pressure wave segmentation signal;

[0031] A pump impulse noise estimation module, used for segmenting, superimposing and averaging the pressure wave signal to be estimated in the resampled pressure wave segmented signal according to the pump impulse period to obtain an estimated pump impulse noise;

[0032] A pressure wave signal to be decoded determination module, used to obtain the pressure wave signal to be decoded based on the estimated pump impulse noise and the pressure wave signal to be combined in the resampled pressure wave segmented signal, combined with the pump impulse period and the theoretical coding signal frequency;

[0033] The decoding module is used to decode the pressure wave signal to be decoded to determine the downhole measurement data.

[0034] Optionally, the module for determining the pressure wave signal to be decoded includes:

[0035] A secondary denoising submodule, used for subtracting the estimated pump impulse noise from the pressure wave signal to be combined in sections to obtain the pressure wave signal to be combined after secondary denoising;

[0036] The pressure wave signal combination submodule is used to obtain the pressure wave signal to be decoded based on the pressure wave signal to be combined after the secondary denoising, combined with the pump stroke period and the theoretical coding signal frequency.

[0037] Optionally, the pressure wave signal combination submodule includes:

[0038] A combining unit, used for combining the pressure wave signal to be combined after secondary denoising with the pressure wave signal to be combined after historical secondary denoising obtained by previous processing, to obtain a combined secondary denoised pressure wave signal;

[0039] The tertiary denoising unit is used to perform tertiary denoising processing on the pressure wave signal after the combined secondary denoising according to the pump stroke period and the theoretical coding signal frequency to obtain the pressure wave signal to be decoded.

[0040] Optionally, the resampling module includes:

[0041] An estimated pump stroke fundamental frequency determination submodule, used to determine the estimated pump stroke fundamental frequency based on the acquired pump stroke rate and in combination with an estimated pump stroke fundamental frequency calculation expression;

[0042] A pressure wave signal resampling submodule, configured to resample the pressure wave signal after the primary denoising according to the estimated pump stroke fundamental frequency to obtain a resampled pressure wave signal;

[0043] The estimated pump stroke fundamental frequency expression is:

[0044]

[0045] Among them, f 0e is the estimated pump stroke fundamental frequency; S is the pump stroke rate, that is, the number of pump strokes per minute.

[0046] In a third aspect, the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method provided in the first aspect are performed.

[0047] In a fourth aspect, the present application provides a storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps in the method provided in the first aspect are performed.

[0048] It can be seen from the above technical solutions that the present invention has the following advantages:

[0049] The present invention provides a method and device for removing pump impulse interference of a drilling fluid pulse signal, the method comprising: obtaining a theoretical coding signal frequency and an original pressure wave signal, and performing a denoising process on the original pressure wave signal to obtain a denoised pressure wave signal; obtaining an estimated pump impulse fundamental frequency, and resampling the denoised pressure wave signal according to the estimated pump impulse fundamental frequency to obtain a resampled pressure wave signal; constructing a corresponding frequency estimation vector based on the estimated pump impulse fundamental frequency, and performing whole-cycle truncation and optimized cepstrum processing on the resampled pressure wave signal based on the frequency estimation vector. Processing to obtain the pump stroke cycle; segmenting the resampled pressure wave signal according to the pump stroke cycle to obtain the resampled pressure wave segmented signal; segmenting, superimposing and averaging the pressure wave signal to be estimated in the resampled pressure wave segmented signal according to the pump stroke cycle to obtain the estimated pump stroke noise; based on the estimated pump stroke noise and the pressure wave signal to be combined in the resampled pressure wave segmented signal, combined with the pump stroke cycle and the theoretical coding signal frequency, the pressure wave signal to be decoded is obtained; the pressure wave signal to be decoded is decoded to determine the downhole measurement data. The pump stroke cycle is accurately obtained based on the pressure wave signal collected by the riser pressure sensor, and the resampled pressure wave signal is segmented, superimposed and averaged according to the pump stroke cycle to achieve real-time estimation of the pump stroke noise, and the pump stroke noise can be adaptively eliminated, thereby better meeting the needs of the site. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0051] Figure 1 It is a flow chart of the first embodiment of a method for removing pump impulse interference of a drilling fluid pulse signal of the present invention;

[0052] Figure 2 It is a schematic structural diagram of the pump impulse interference removal device of the present invention;

[0053] Figure 3 It is a flow chart of the second embodiment of a method for removing pump impulse interference of a drilling fluid pulse signal of the present invention;

[0054] Figure 4 is the time domain waveform of the original pressure wave signal;

[0055] Figure 5 is the spectrum of the original pressure wave signal;

[0056] Figure 6 is the time domain waveform of the pressure wave signal after primary denoising;

[0057] Figure 7 is the amplitude spectrum of the pressure wave signal after primary denoising;

[0058] Figure 8 To optimize the cepstrum diagram;

[0059] Fig. 9 is the time domain waveform of the estimated pump impulse noise;

[0060] Fig.10 is the time domain waveform of the pressure wave signal after combining the secondary denoising;

[0061] Fig.11 is the amplitude spectrum of the pressure wave signal after the combined secondary denoising;

[0062] Fig.12 is the time domain waveform of the pressure wave signal after three denoising;

[0063] Fig.13 Schematic diagram of the amplitude spectrum of the pressure wave signal after three-time denoising;

[0064] Fig.14 The present invention is a structural block diagram of an embodiment of a device for removing pump impulse interference of a drilling fluid pulse signal. DETAILED DESCRIPTION

[0065] The embodiment of the present invention provides a method and device for removing pump impulse interference of a drilling fluid pulse signal, which can adaptively eliminate pump impulse noise through real-time estimation of pump impulse noise, thereby better meeting on-site needs.

[0066] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] For example, see Figure 1 , Figure 1 The flowchart of the first embodiment of a method for removing pump impulse interference of a drilling fluid pulse signal of the present invention includes:

[0068] Step S101, obtaining the theoretical coding signal frequency and the original pressure wave signal, and performing a denoising process on the original pressure wave signal to obtain a denoised pressure wave signal;

[0069] The method in the embodiment of the present invention is applied to Figure 2 The schematic diagram of the pump impulse interference removal device shown in the figure includes: a standpipe pressure sensor 10, a ground interface box 20 and a ground computer 30. The standpipe pressure sensor 10 is installed on the standpipe pressure pipeline to sense the drilling fluid pressure wave signal; the ground interface box 20 is used to collect the drilling fluid pressure wave signal and transmit it to the ground computer 30; the ground computer 30 is used to process the collected signal and restore it to obtain downhole measurement data.

[0070] In the specific implementation, the primary denoising processing method mainly includes median filtering, mean filtering and piecewise least squares polynomial fitting.

[0071] Step S102, obtaining an estimated pump stroke fundamental frequency, and resampling the pressure wave signal after the primary denoising according to the estimated pump stroke fundamental frequency to obtain a resampled pressure wave signal;

[0072] In the embodiment of the present invention, the resampling method mainly includes: interpolation upsampling, interval downsampling and FIR low-pass anti-aliasing filter resampling, etc.

[0073] Step S103, constructing a corresponding frequency estimation vector based on the estimated pump stroke fundamental frequency, and performing whole-cycle truncation and optimized cepstrum processing on the resampled pressure wave signal based on the frequency estimation vector to obtain a pump stroke period;

[0074] Step S104, segmenting the resampled pressure wave signal according to the pump stroke cycle to obtain a resampled pressure wave segmented signal;

[0075] In an embodiment of the present invention, the resampled pressure wave signal is segmented based on the pump stroke cycle to obtain a resampled front transition pressure wave signal, a resampled pressure wave signal to be estimated, a resampled pressure wave signal to be combined, and a resampled back transition pressure wave signal.

[0076] Step S105, segmenting, superimposing and averaging the pressure wave signal to be estimated in the resampled pressure wave segmented signal according to the pump stroke period to obtain an estimated pump stroke noise;

[0077] Step S106, obtaining a pressure wave signal to be decoded based on the estimated pump impulse noise and the pressure wave signal to be combined in the resampled pressure wave segmented signal, combined with the pump impulse period and the theoretical coding signal frequency;

[0078] In an optional embodiment, based on the estimated pump impulse noise and the pressure wave signal to be combined in the resampled pressure wave segmented signal, combined with the pump impulse period and the theoretical coding signal frequency, the pressure wave signal to be decoded is obtained, including:

[0079] Subtracting the estimated pump impulse noise from the pressure wave signal to be combined in sections to obtain the pressure wave signal to be combined after secondary denoising;

[0080] Based on the pressure wave signal to be combined after the secondary denoising, combined with the pump stroke period and the theoretical coding signal frequency, the pressure wave signal to be decoded is obtained.

[0081] Step S107, decoding the pressure wave signal to be decoded to determine downhole measurement data.

[0082] A method for removing pump impulse interference from a drilling fluid pulse signal provided in an embodiment of the present invention obtains a theoretical coding signal frequency and an original pressure wave signal, and performs a denoising process on the original pressure wave signal to obtain a denoised pressure wave signal; obtains an estimated pump impulse fundamental frequency, and resamples the denoised pressure wave signal according to the estimated pump impulse fundamental frequency to obtain a resampled pressure wave signal; constructs a corresponding frequency estimation vector based on the estimated pump impulse fundamental frequency, and performs whole-cycle truncation and optimized inverse spectrum processing on the resampled pressure wave signal based on the frequency estimation vector , get the pump stroke cycle; segment the resampled pressure wave signal according to the pump stroke cycle to get the resampled pressure wave segmented signal; segment, superimpose and average the pressure wave signal to be estimated in the resampled pressure wave segmented signal according to the pump stroke cycle to get the estimated pump stroke noise; based on the estimated pump stroke noise and the pressure wave signal to be combined in the resampled pressure wave segmented signal, combined with the pump stroke cycle and the theoretical coding signal frequency, get the pressure wave signal to be decoded; decode the pressure wave signal to be decoded to determine the downhole measurement data. The pump stroke cycle is accurately obtained based on the pressure wave signal collected by the riser pressure sensor, and the resampled pressure wave signal is segmented, superimposed and averaged according to the pump stroke cycle to achieve real-time estimation of the pump stroke noise, and can adaptively eliminate the pump stroke noise, so as to better meet the needs of the site.

[0083] For example 2, please refer to Figure 3 , Figure 3 The flowchart of Embodiment 2 of a method for removing pump impulse interference of a drilling fluid pulse signal of the present invention comprises:

[0084] Step S201, obtaining the theoretical coding signal frequency and the original pressure wave signal, and performing a denoising process on the original pressure wave signal to obtain a denoised pressure wave signal;

[0085] It should be noted that in the drilling fluid pulse signal, the interference noise mainly includes pump noise, low-frequency baseline noise and random noise. The original drilling fluid pulse signal detected by the standpipe pressure sensor can be approximately expressed as:

[0086] s(t)=f(t)+p(t)+m(t)+n(t);

[0087] The pump noise signal can be approximately expressed as:

[0088]

[0089] Among them, s(t) is the original drilling fluid pulse signal, f(t) is the coded signal that can be used for subsequent analysis and processing, p(t) is the pump noise signal, m(t) is the low-frequency baseline noise signal, n(t) is the Gaussian random noise signal, f0 is the pump fundamental frequency, n is the harmonic order, and a n is the amplitude of the nth harmonic, is the initial phase of the nth harmonic.

[0090] See also Figure 4 to Figure 7 ,in, Figure 4 is the time domain waveform of the original pressure wave signal, Figure 5 is the spectrum of the original pressure wave signal, Figure 6 is the time domain waveform of the pressure wave signal after denoising. Figure 7 This is the amplitude spectrum of the pressure wave signal after one denoising. It can be seen that one denoising process on the original pressure wave signal can remove the interference of low-frequency baseline noise and part of random noise.

[0091] In addition, although the pump impulse interference removal method based on the empirical pump impulse waveform can better meet the needs of the site, this method relies on the rapid and accurate acquisition of the pump impulse fundamental frequency. The traditional pump impulse fundamental frequency acquisition methods mainly include: (1) obtaining the pump impulse signal collected by the pump impulse sensor; (2) obtaining it by calculating the pump impulse rate collected by the pump impulse counter. Although the pump impulse frequency obtained by method (1) is very accurate, the site conditions often make it impossible to install a pump impulse sensor, which limits the use of this method. The pump impulse frequency obtained by method (2) is not accurate, which will greatly affect the denoising effect.

[0092] Step S202, obtaining an estimated pump stroke fundamental frequency, and resampling the pressure wave signal after the primary denoising according to the estimated pump stroke fundamental frequency to obtain a resampled pressure wave signal;

[0093] In an optional embodiment, the estimated pump stroke fundamental frequency is obtained, and the pressure wave signal after the primary denoising is resampled according to the estimated pump stroke fundamental frequency to obtain the resampled pressure wave signal, including:

[0094] Based on the obtained pump stroke rate and in combination with the estimated pump stroke fundamental frequency calculation expression, the estimated pump stroke fundamental frequency is determined;

[0095] According to the estimated pump stroke fundamental frequency, resampling the pressure wave signal after the primary denoising is performed to obtain a resampled pressure wave signal;

[0096] The estimated pump stroke fundamental frequency expression is:

[0097]

[0098] Among them, f 0e is the estimated pump stroke fundamental frequency; S is the pump stroke rate, that is, the number of pump strokes per minute. In the embodiment of the present invention, the purpose of resampling is to ensure the requirement of sampling accuracy for subsequent optimization of the cepstrum processing.

[0099] Step S203, constructing a corresponding frequency estimation vector based on the estimated pump stroke fundamental frequency, and performing whole-cycle truncation and optimized cepstrum processing on the resampled pressure wave signal based on the frequency estimation vector to obtain a pump stroke period;

[0100] Since the frequency and number of sampling points of the signal have a certain influence on the processing effect of the inverse spectrum, the stability of the processing effect can be ensured by superimposing and averaging the inverse spectrum under different processing parameter conditions.

[0101] The specific process is as follows:

[0102] (1) Construct the corresponding frequency estimation vector f based on the estimated pump fundamental frequency v =[f v1 、f v2 ,……,f vn ]. Among them, f v1 Less than f 0e , f vn Greater than f 0e .

[0103] (2) Based on f v1 、f v2 ,……,f vn The resampled pressure wave signal is truncated for an entire period, as shown in the following formula:

[0104] N m =floor(N / round(Fs / f vm ))×round(Fs / f vm );

[0105] s rm ′=s r ′(1:Nm );

[0106] Among them, f vm is the mth estimated frequency, Fs is the sampling frequency of the resampled pressure wave signal, N is the number of time points of the resampled pressure wave signal, N m Based on f vm The number of truncated time points of the whole cycle obtained, s rm 'Based on f vm The obtained truncated pressure wave signal, s' is the resampled pressure wave signal, floor means rounding down, and round means rounding up.

[0107] (3) Perform inverse spectrum processing based on the truncated pressure wave signal, as shown in the following formula:

[0108] y rm =real(ifft(log(abs(fft(s rm ')))));

[0109] Among them, y rm Based on f vm The obtained inverse spectrum, fft means Fourier transform, abs means taking the absolute value, log means taking the natural logarithm, ifft means inverse Fourier transform, and real means taking the real part.

[0110] (4) The inverse spectrum obtained based on the truncated pressure wave signal is superimposed, averaged and interpolated in sequence to obtain the following: Figure 8 The schematic diagram of the optimized inverse spectrum is shown in the following formula:

[0111]

[0112] Among them, y r To optimize the inverse spectrum, spline represents cubic spline interpolation, and k represents the interpolation multiple.

[0113] (5) Select 1 / f vn and 1 / f v1 The optimized inverse spectrum within the range is used for peak searching, and the time corresponding to the maximum value is the accurate pump cycle.

[0114] Step S204, segmenting the resampled pressure wave signal according to the pump stroke cycle to obtain a resampled pressure wave segmented signal;

[0115] In an embodiment of the present invention, the time lengths of the resampled pressure wave signal to be estimated and the resampled pressure wave signal to be combined are integer multiples of the pump stroke period, and the time length of the resampled rear transition pressure wave signal should be less than the pump stroke period. The starting time of the resampled pressure wave signal to be combined in this processing is determined by the end time of the pressure wave signal to be combined after denoising in the previous processing. Generally, s1', s2', s3' and s4' correspond to the resampled front transition pressure wave signal, the resampled pressure wave signal to be estimated, the resampled pressure wave signal to be combined and the resampled rear transition pressure wave signal, respectively. In a specific implementation, the time range of s1' is 0 to 3.749s; the time range of s2' is 3.749 to 5.624s; the time range of s3' is 5.624 to 5.832s; the time range of s4' is 5.832 to 6s.

[0116] Step S205, segmenting, superimposing and averaging the pressure wave signal to be estimated in the resampled pressure wave segmented signal according to the pump stroke period to obtain estimated pump stroke noise;

[0117] In the embodiment of the present invention, the estimated pump noise is as follows: Fig. 9 The time domain waveform of the estimated pump noise is shown in Figure 2.

[0118] Step S206, subtracting the estimated pump impulse noise from the pressure wave signal to be combined in sections to obtain the pressure wave signal to be combined after secondary denoising;

[0119] Step S207, combining the pressure wave signal to be combined after secondary denoising with the historical pressure wave signal to be combined after secondary denoising obtained by previous processing, to obtain a combined pressure wave signal after secondary denoising;

[0120] Please refer to Fig.10 and Fig.11 , Fig.10 is the time domain waveform of the pressure wave signal after combining the secondary denoising, Fig.11 This is the amplitude spectrum of the pressure wave signal after the combined secondary denoising. It can be seen that the pressure wave signal after the combined secondary denoising mainly contains the coding signal and some random noise, and the pump harmonic noise is greatly weakened.

[0121] Step S208, performing a third denoising process on the combined second denoising pressure wave signal according to the pump stroke period and the theoretical coding signal frequency to obtain a pressure wave signal to be decoded;

[0122] In the embodiment of the present invention, two pump stroke harmonic frequencies closest to the theoretical coding signal frequency are obtained according to the pump stroke period, and the pressure wave signal after the secondary denoising of the combination of the pump stroke harmonic frequencies and the theoretical coding signal is subjected to a third denoising process. The third denoising process mainly includes: bandpass filtering, wavelet transform and modal decomposition.

[0123] The calculation expression of pump stroke harmonic frequency is:

[0124] f n =nf0

[0125] Where n is the harmonic order and f0 is the inverse of the pump cycle.

[0126] Based on the number of cylinders of the pump and the pump action mode, the order of the main control harmonic can be determined to meet:

[0127] n=m×N c ×a

[0128] Wherein, m is a positive integer; N c is the number of pump cylinders; a is the working mode, single-acting a is 1, double-acting a is 2. The main control harmonic has higher energy; other harmonic energies are relatively weak.

[0129] It should be noted that, according to the pump stroke period, the pump stroke harmonic frequencies at the two main control harmonic orders closest to the theoretical encoding signal frequency are obtained, satisfying:

[0130] f f <f p <f b ;

[0131] Among them, f p is the theoretical coding signal frequency, f f is the main control pump harmonic frequency which is smaller than and closest to the theoretical encoding signal frequency, f b It is the main control pump harmonic frequency that is greater than and closest to the theoretical encoding signal frequency.

[0132] In addition, during the third-order denoising process, the energy between the pump harmonic frequencies at the two main control harmonic orders should be retained as much as possible, especially the energy near the theoretical coding signal frequency.

[0133] In the specific implementation, the passband of the bandpass filter is set to 22-26 Hz, and the pressure wave signal after the combined secondary denoising is subjected to bandpass filtering, such as Fig.12 and Fig.13 As shown, Fig.12 is the time domain waveform of the pressure wave signal after three denoising. Fig.13It is a schematic diagram of the amplitude spectrum of the pressure wave signal after three-time denoising. It can be seen from the figure that the three-time denoising process can further suppress the noise signal and highlight the coded signal.

[0134] Step S209: decoding the pressure wave signal to be decoded to determine downhole measurement data.

[0135] In addition, after the decoding is completed, the collected original pressure wave signal is updated.

[0136] A method for removing pump impulse interference from a drilling fluid pulse signal provided in an embodiment of the present invention obtains a theoretical coding signal frequency and an original pressure wave signal, and performs a denoising process on the original pressure wave signal to obtain a denoised pressure wave signal; obtains an estimated pump impulse fundamental frequency, and resamples the denoised pressure wave signal according to the estimated pump impulse fundamental frequency to obtain a resampled pressure wave signal; constructs a corresponding frequency estimation vector based on the estimated pump impulse fundamental frequency, and performs whole-cycle truncation and optimized inverse spectrum processing on the resampled pressure wave signal based on the frequency estimation vector , get the pump stroke cycle; segment the resampled pressure wave signal according to the pump stroke cycle to get the resampled pressure wave segmented signal; segment, superimpose and average the pressure wave signal to be estimated in the resampled pressure wave segmented signal according to the pump stroke cycle to get the estimated pump stroke noise; based on the estimated pump stroke noise and the pressure wave signal to be combined in the resampled pressure wave segmented signal, combined with the pump stroke cycle and the theoretical coding signal frequency, get the pressure wave signal to be decoded; decode the pressure wave signal to be decoded to determine the downhole measurement data. The pump stroke cycle is accurately obtained based on the pressure wave signal collected by the riser pressure sensor, and the resampled pressure wave signal is segmented, superimposed and averaged according to the pump stroke cycle to achieve real-time estimation of the pump stroke noise, and can adaptively eliminate the pump stroke noise, so as to better meet the needs of the site.

[0137] For example 3, please refer to Fig.14 , Fig.14 The present invention is a structural block diagram of an embodiment of a device for removing pump impulse interference of a drilling fluid pulse signal, comprising:

[0138] The acquisition module 301 is used to acquire the theoretical coding signal frequency and the original pressure wave signal, and perform a denoising process on the original pressure wave signal to obtain a denoised pressure wave signal;

[0139] A resampling module 302 is used to obtain an estimated pump stroke fundamental frequency, and resample the pressure wave signal after the primary denoising according to the estimated pump stroke fundamental frequency to obtain a resampled pressure wave signal;

[0140] A construction module 303 is used to construct a corresponding frequency estimation vector based on the estimated pump stroke fundamental frequency, and perform whole-cycle truncation and optimized cepstrum processing on the resampled pressure wave signal based on the frequency estimation vector to obtain a pump stroke period;

[0141] A segmentation module 304, configured to segment the resampled pressure wave signal according to the pump stroke cycle to obtain a resampled pressure wave segmentation signal;

[0142] A pump impulse noise estimation module 305 is used to segment, superimpose and average the pressure wave signal to be estimated in the resampled pressure wave segmented signal according to the pump impulse period to obtain an estimated pump impulse noise;

[0143] A pressure wave signal to be decoded determination module 306, configured to obtain a pressure wave signal to be decoded based on the estimated pump impulse noise and the pressure wave signal to be combined in the resampled pressure wave segmented signal, combined with the pump impulse period and the theoretical coding signal frequency;

[0144] The decoding module 307 is used to decode the pressure wave signal to be decoded to determine downhole measurement data.

[0145] Optionally, the module for determining the pressure wave signal to be decoded includes:

[0146] A secondary denoising submodule, used for subtracting the estimated pump impulse noise from the pressure wave signal to be combined in sections to obtain the pressure wave signal to be combined after secondary denoising;

[0147] The pressure wave signal combination submodule is used to obtain the pressure wave signal to be decoded based on the pressure wave signal to be combined after the secondary denoising, combined with the pump stroke period and the theoretical coding signal frequency.

[0148] Optionally, the pressure wave signal combination submodule includes:

[0149] A combining unit, used for combining the pressure wave signal to be combined after secondary denoising with the pressure wave signal to be combined after historical secondary denoising obtained by previous processing, to obtain a combined secondary denoised pressure wave signal;

[0150] The tertiary denoising unit is used to perform tertiary denoising processing on the pressure wave signal after the combined secondary denoising according to the pump stroke period and the theoretical coding signal frequency to obtain the pressure wave signal to be decoded.

[0151] Optionally, the resampling module includes:

[0152] An estimated pump stroke fundamental frequency determination submodule, used to determine the estimated pump stroke fundamental frequency based on the acquired pump stroke rate and in combination with an estimated pump stroke fundamental frequency calculation expression;

[0153] A pressure wave signal resampling submodule, configured to resample the pressure wave signal after the primary denoising according to the estimated pump stroke fundamental frequency to obtain a resampled pressure wave signal;

[0154] The estimated pump stroke fundamental frequency expression is:

[0155]

[0156] Among them, f 0e is the estimated pump stroke fundamental frequency; S is the pump stroke rate, that is, the number of pump strokes per minute.

[0157] An embodiment of the present invention also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of a method for removing pump impulse interference of a drilling fluid pulse signal as described in any of the above embodiments.

[0158] An embodiment of the present invention further provides a computer storage medium having a computer program stored thereon, wherein when the computer program is executed by the processor, the steps of a method for removing pump impulse interference of a drilling fluid pulse signal as described in any of the above embodiments are implemented.

[0159] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0160] In the several embodiments provided in the present application, it should be understood that the methods, devices, electronic devices and storage media disclosed in the present invention can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0161] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0162] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0163] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a readable storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned readable storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0164] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for removing pump impulse interference of drilling fluid pulse signal, characterized in that: include: Acquire the theoretical coding signal frequency and the original pressure wave signal, and perform a denoising process on the original pressure wave signal to obtain a denoised pressure wave signal; Obtaining an estimated pump stroke fundamental frequency, and resampling the pressure wave signal after the primary denoising according to the estimated pump stroke fundamental frequency to obtain a resampled pressure wave signal; Based on the estimated pump stroke fundamental frequency, a corresponding frequency estimation vector is constructed, and based on the frequency estimation vector, the resampled pressure wave signal is subjected to whole-cycle truncation and optimized cepstrum processing to obtain a pump stroke period; According to the pump cycle, the resampled pressure wave signal is segmented to obtain a resampled pressure wave segmented signal; Segmenting, superimposing and averaging the pressure wave signal to be estimated in the resampled pressure wave segmented signal according to the pump stroke period to obtain an estimated pump stroke noise; Based on the estimated pump impulse noise and the pressure wave signal to be combined in the resampled pressure wave segmented signal, combined with the pump impulse period and the theoretical coding signal frequency, a pressure wave signal to be decoded is obtained; The pressure wave signal to be decoded is decoded to determine downhole measurement data.

2. The method for removing pump impulse interference of drilling fluid pulse signal according to claim 1, characterized in that: Based on the estimated pump impulse noise and the pressure wave signal to be combined in the resampled pressure wave segmented signal, combined with the pump impulse period and the theoretical coding signal frequency, a pressure wave signal to be decoded is obtained, including: Subtracting the estimated pump impulse noise from the pressure wave signal to be combined in sections to obtain the pressure wave signal to be combined after secondary denoising; Based on the pressure wave signal to be combined after the secondary denoising, combined with the pump stroke period and the theoretical coding signal frequency, the pressure wave signal to be decoded is obtained.

3. The method for removing pump impulse interference of drilling fluid pulse signal according to claim 2, characterized in that: Based on the pressure wave signal to be combined after the secondary denoising, the pressure wave signal to be decoded is obtained in combination with the pump stroke period and the theoretical coding signal frequency, including: Combining the pressure wave signal to be combined after secondary denoising with the pressure wave signal to be combined after historical secondary denoising obtained by previous processing to obtain a combined secondary denoised pressure wave signal; According to the pump stroke period and the theoretical coding signal frequency, the pressure wave signal after the combined secondary denoising is subjected to a third denoising process to obtain a pressure wave signal to be decoded.

4. The method for removing pump impulse interference of drilling fluid pulse signal according to claim 1, characterized in that: Acquiring the estimated pump stroke fundamental frequency, and resampling the pressure wave signal after the primary denoising according to the estimated pump stroke fundamental frequency to obtain the resampled pressure wave signal, including: Based on the obtained pump stroke rate and in combination with the estimated pump stroke fundamental frequency calculation expression, the estimated pump stroke fundamental frequency is determined; According to the estimated pump stroke fundamental frequency, resampling the pressure wave signal after the primary denoising is performed to obtain a resampled pressure wave signal; The estimated pump stroke fundamental frequency expression is: Among them, f 0e is the estimated pump stroke fundamental frequency; S is the pump stroke rate, that is, the number of pump strokes per minute.

5. A device for removing pump impulse interference of drilling fluid pulse signal, characterized in that: include: An acquisition module, used to acquire the theoretical coding signal frequency and the original pressure wave signal, and perform a denoising process on the original pressure wave signal to obtain a denoised pressure wave signal; A resampling module, used to obtain an estimated pump stroke fundamental frequency, and resample the pressure wave signal after the primary denoising according to the estimated pump stroke fundamental frequency to obtain a resampled pressure wave signal; A construction module, for constructing a corresponding frequency estimation vector based on the estimated pump stroke fundamental frequency, and performing whole-cycle truncation and optimized cepstrum processing on the resampled pressure wave signal based on the frequency estimation vector to obtain a pump stroke period; A segmentation module, used for segmenting the resampled pressure wave signal according to the pump stroke cycle to obtain a resampled pressure wave segmentation signal; A pump impulse noise estimation module, used for segmenting, superimposing and averaging the pressure wave signal to be estimated in the resampled pressure wave segmented signal according to the pump impulse period to obtain an estimated pump impulse noise; A pressure wave signal to be decoded determination module, used to obtain the pressure wave signal to be decoded based on the estimated pump impulse noise and the pressure wave signal to be combined in the resampled pressure wave segmented signal, combined with the pump impulse period and the theoretical coding signal frequency; The decoding module is used to decode the pressure wave signal to be decoded to determine the downhole measurement data.

6. The device for removing pump impulse interference of drilling fluid pulse signal according to claim 5, characterized in that: The to-be-decoded pressure wave signal determination module comprises: A secondary denoising submodule, used for subtracting the estimated pump impulse noise from the pressure wave signal to be combined in sections to obtain the pressure wave signal to be combined after secondary denoising; The pressure wave signal combination submodule is used to obtain the pressure wave signal to be decoded based on the pressure wave signal to be combined after the secondary denoising, combined with the pump stroke period and the theoretical coding signal frequency.

7. The device for removing pump impulse interference of drilling fluid pulse signal according to claim 6, characterized in that: The pressure wave signal combination submodule comprises: A combining unit, used for combining the pressure wave signal to be combined after secondary denoising with the pressure wave signal to be combined after historical secondary denoising obtained by previous processing, to obtain a combined secondary denoised pressure wave signal; The tertiary denoising unit is used to perform tertiary denoising processing on the pressure wave signal after the combined secondary denoising according to the pump stroke period and the theoretical coding signal frequency to obtain the pressure wave signal to be decoded.

8. The device for removing pump impulse interference of drilling fluid pulse signal according to claim 5, characterized in that: The resampling module comprises: An estimated pump stroke fundamental frequency determination submodule, used to determine the estimated pump stroke fundamental frequency based on the acquired pump stroke rate and in combination with an estimated pump stroke fundamental frequency calculation expression; A pressure wave signal resampling submodule, configured to resample the pressure wave signal after the primary denoising according to the estimated pump stroke fundamental frequency to obtain a resampled pressure wave signal; The estimated pump stroke fundamental frequency expression is: Among them, f 0e is the estimated pump stroke fundamental frequency; S is the pump stroke rate, that is, the number of pump strokes per minute.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 4 is executed.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is executed.

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