Drilling well track monitoring and control method based on multi-sensor fusion

Abstract

The invention relates to the technical field of well drilling monitoring, in particular to a well drilling well track monitoring and control method based on multi-sensor fusion, which comprises the following steps of: arranging an inertial sensor and a geomagnetic sensor on a drill bit, and acquiring multi-source data reflecting a well track in the operation process of the drill bit in real time; reconstructing a real-time moving track of the drill bit, wherein the moving track of the drill bit is a real-time borehole track; correcting the attitude drift of the gyroscope in the attitude solution; on the basis of zero-speed updating, the speed is corrected to be zero, and meanwhile position drift is corrected; generating track deviation data; and according to the track deviation data, generating a drill bit attitude adjustment instruction by adopting a fuzzy logic control algorithm. According to the invention, the precision of attitude and position calculation is improved, so that the high-precision monitoring of the drill bit well track is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling monitoring, and in particular to a drilling wellbore trajectory monitoring and control method based on multi-sensor fusion. Background Art

[0002] Drilling is a key technical link in the process of oil and gas exploration and development. The monitoring and control of wellbore trajectory is crucial to drilling efficiency and resource development effect. In modern drilling technology, precise control of wellbore trajectory can effectively reduce drilling deviation, reduce drilling costs, and improve the development efficiency of target reservoirs. However, in complex formation environments, existing trajectory monitoring and control technologies face the following main problems: Accumulation of inertial sensor drift errors: The accelerometers and gyroscopes in the inertial measurement unit (IMU) are usually used to solve the attitude and position of the drill bit. However, the sensor drift errors continue to accumulate during the long-term integration process, causing the position and attitude calculation results to gradually deviate from the true values. Especially in long-distance or deep well drilling, the error accumulation problem is particularly significant.

[0003] Sensors are easily affected by magnetic minerals or electromagnetic interference, resulting in inaccurate direction resolution; accelerometers and gyroscopes are easily affected by vibrations, which can cause additional noise and reduce resolution accuracy. Summary of the invention

[0004] The present invention provides a drilling wellbore trajectory monitoring and control method based on multi-sensor fusion.

[0005] The drilling wellbore trajectory monitoring and control method based on multi-sensor fusion includes the following steps: S1, arranging an inertial sensor and a geomagnetic sensor on the drill bit to collect multi-source data reflecting the borehole trajectory in real time during the operation of the drill bit. The inertial sensor includes an accelerometer and a gyroscope. The accelerometer measures the linear acceleration of the drill tool in three-dimensional space to calculate the speed and position of the drill bit. The gyroscope measures the angular velocity of the drill tool to calculate the rotation angle of the drill tool and obtain the attitude. The geomagnetic sensor collects the magnetic field strength and direction in the borehole; S2, based on the linear acceleration of the accelerometer and the angular velocity of the gyroscope, the three-dimensional position of the drill bit is obtained through attitude solution and position solution. The real-time running trajectory of the drill bit is reconstructed through the three-dimensional position of the drill bit. The running trajectory of the drill bit is the real-time wellbore trajectory; S3, based on the magnetic field direction in the borehole obtained by the geomagnetic sensor, correct the attitude drift of the gyroscope in the attitude solution; S4, based on zero-speed update, corrects the speed to zero when the drill stops moving briefly, and corrects the position drift at the same time; S5, trajectory deviation detection: compare the real-time wellbore trajectory with the designed target trajectory, obtain the trajectory deviation, and generate trajectory deviation data; S6, trajectory control command generation: Based on the trajectory deviation data, the fuzzy logic control algorithm is used to generate the drill bit attitude adjustment command, and the drill bit attitude adjustment command is sent to the drill bit servo control module to adjust the drilling tool torque, azimuth and drilling pressure parameters in real time to make the wellbore trajectory close to the designed target trajectory.

[0006] Optionally, the accelerometer is arranged near the center of mass of the drill bit to ensure that the measured linear acceleration data is not interfered by the rotational inertial force; the gyroscope is arranged in an area adjacent to the accelerometer to form a sensor array arrangement; the installation direction of the geomagnetic sensor is coordinated with the accelerometer and gyroscope array.

[0007] Optionally, the accelerometer collects the linear acceleration in the local coordinate system of the drill bit in real time , , The gyroscope collects the angular velocity of the drill bit in the local coordinate system in real time , , .

[0008] Optionally, the attitude solution uses the angular velocity data of the gyroscope to calculate the attitude of the drill bit and converts the local data of the accelerometer into a global coordinate system, specifically including: Angular velocity integral: angular velocity , , Integrate over time to get the rotation angle increments on the three axes , , : ,in, It represents the attitude angle at any time t, which integrates the integral results of all angular velocities. dt represents the time interval between two sampling moments. represents the angular velocity vector measured by the gyroscope at time t; Attitude representation method: Update the drill bit attitude by rotating the angle increment, construct the direction cosine matrix R of the attitude change, and transform the local coordinate system to the global coordinate system: ; Acceleration coordinate conversion: According to the calculated posture, the linear acceleration of the accelerometer in the local coordinate system is converted to Convert to global coordinate system: .

[0009] Optionally, the position solution calculates the speed and position of the drill bit through the result of the attitude solution and the linear acceleration, specifically including: Gravity compensation: from global acceleration Deduct the earth's gravitational acceleration g from the net acceleration : ; Velocity calculation: Net acceleration Perform time integration to obtain the three-dimensional velocity at time t : ; Position calculation: Integrate the three-dimensional velocity v again to obtain the three-dimensional position p: .

[0010] Optionally, the reconstructing the real-time running trajectory of the drill bit specifically includes: Trajectory storage: The three-dimensional position obtained in real time Stored as track points; Trajectory reconstruction: 3D position points from continuous sampling Reconstruct the drill bit's motion path to form a real-time wellbore trajectory .

[0011] Optionally, the correction of the attitude drift of the gyroscope in attitude solution based on the magnetic field direction in the borehole acquired by the geomagnetic sensor specifically includes: Geomagnetic direction data collection: The geomagnetic sensor on the drill bit collects geomagnetic field direction data in real time: , represents the three-dimensional direction vector of the geomagnetic field in the global coordinate system; Gyroscope attitude drift detection: Use the attitude angle calculated by the gyroscope to construct the direction cosine matrix of the transformation relationship between the current local coordinate system and the global coordinate system , using the direction cosine matrix The geomagnetic field direction data Convert from global coordinate system to local coordinate system: , the conversion result The local magnetic field vector directly measured by the geomagnetic sensor Compare and calculate attitude drift error : ; The extended Carr filter is used to correct the gyroscope attitude solution in real time and update the direction cosine matrix , get the updated direction cosine matrix , to ensure that the attitude angle solution is consistent with the geomagnetic direction vector, use the direction cosine matrix Replaces the direction cosine matrix R in the updated pose solution.

[0012] Optionally, the zero-speed update, when the drill bit stops moving temporarily, corrects the speed to zero and corrects the position drift, specifically including: Accelerometer and gyroscope data are used to detect the short-term stop state of the drill head. The judgment conditions include: Local acceleration measured by the accelerometer is zero (removing the gravity component) and the angular velocity measured by the gyroscope , , is zero value; when both are satisfied, the drill is considered to be in zero speed state; Speed ​​correction: When zero speed is detected, the three-dimensional speed All components of are corrected to zero: ; Position drift error calculation: Calculate the false displacement caused by the accumulation of speed drift based on the position integral error under zero speed state , the error sources include the error caused by the offset of the accelerometer and the position drift caused by the accumulated velocity error. The false displacement comes from the integral of the velocity drift error over time, which is approximated using the following formula: ,in, and is the start and end time of zero speed state, is the velocity drift error, obtained by integrating the residual acceleration under zero-speed conditions; Position drift correction: adjust the position solution to correct the three-dimensional position Subtracting spurious displacement , get the corrected three-dimensional position : ; The corrected three-dimensional position Replace the 3D position in the updated position solution .

[0013] Optionally, the trajectory deviation detection includes converting the real-time wellbore trajectory point Design target trajectory point Compare and calculate the deviation vector between the real-time wellbore trajectory and the designed target trajectory : , according to the deviation vector , generate trajectory deviation data, including: Deviation Amplitude: ; Deviation dynamic change rate: .

[0014] Optionally, the fuzzy logic control algorithm specifically includes: Input fuzzy variable: deviation amplitude , Deviation dynamic change rate , the output fuzzy variable is the attitude adjustment instruction , including the torque, azimuth and drilling pressure parameters required for drill bit adjustment; Control rules: Based on the fuzzy logic control rule library, the control rules are defined in combination with the trajectory deviation amplitude and change rate; Attitude adjustment command generation: fuzzy logic control algorithm outputs attitude adjustment command ,in, is the drill bit adjustment torque, The drill bit adjusts the azimuth angle. It is the drilling pressure adjustment value.

[0015] Beneficial effects of the present invention: The present invention solves the problem of cumulative error caused by drift of inertial sensors by fusing multi-source data of inertial sensors and geomagnetic sensors and combining zero-speed update with extended Kalman filter technology. At the same time, geomagnetic direction data is used to correct the angle drift in attitude solution. Especially in complex formation environments, the uncertainty of sensor data and the interference of abnormal geomagnetic field are dynamically corrected. The present invention improves the accuracy of attitude and position solution, thereby realizing high-precision monitoring of drill bit wellbore trajectory.

[0016] The present invention generates trajectory deviation data by comparing the wellbore trajectory with the designed target trajectory in real time, and generates drill bit attitude adjustment instructions using an algorithm based on fuzzy logic control, dynamically adjusts the azimuth, torque and drilling pressure of the drill bit, and can quickly generate the optimal adjustment strategy under the condition of dynamic changes in the trajectory deviation amplitude and change rate, realize real-time compensation for the trajectory deviation, and make the wellbore trajectory quickly approach the target trajectory.

[0017] The present invention dynamically corrects the speed and position through a zero-speed update method, and combines the real-time feedback of trajectory deviation data to form a closed-loop control optimization mechanism, which suppresses the false trajectory deviation caused by cumulative errors. In addition, the corrected direction cosine matrix and real-time trajectory data provide reliable input for subsequent solutions, so that the system can maintain high stability and accuracy in long-term operation, which is particularly suitable for long-distance or deep well drilling operation environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or 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 in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of a method flow of an embodiment of the present invention; Figure 2A logic block diagram of an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0021] like Figure 1-Figure 2 As shown, the drilling wellbore trajectory monitoring and control method based on multi-sensor fusion includes the following steps: S1, inertial sensors and geomagnetic sensors are arranged on the drill bit to collect multi-source data reflecting the borehole trajectory in real time during the operation of the drill bit. The inertial sensors include accelerometers and gyroscopes. The accelerometer measures the linear acceleration of the drill tool in three-dimensional space, which is used to calculate the speed and position (linear displacement) of the drill bit. The gyroscope measures the angular velocity of the drill tool, which is used to calculate the rotation angle of the drill tool and obtain the attitude. The geomagnetic sensor collects the magnetic field strength and direction in the borehole; S2, based on the linear acceleration of the accelerometer and the angular velocity of the gyroscope, the three-dimensional position of the drill bit is obtained through attitude solution and position solution. The real-time running trajectory of the drill bit is reconstructed through the three-dimensional position of the drill bit. The running trajectory of the drill bit is the real-time wellbore trajectory; S3, based on the magnetic field direction in the borehole obtained by the geomagnetic sensor, correct the attitude drift of the gyroscope in the attitude solution; S4, since the integral operation will lead to error accumulation, the error needs to be controlled. Based on the zero-speed update, when the drill bit stops moving for a short time (such as changing the drill rod), the speed is corrected to zero and the position drift is corrected at the same time; S5, trajectory deviation detection: compare the real-time wellbore trajectory with the designed target trajectory, obtain the trajectory deviation, and generate trajectory deviation data; S6, trajectory control command generation: Based on the trajectory deviation data, the fuzzy logic control algorithm is used to generate the drill bit attitude adjustment command, and the drill bit attitude adjustment command is sent to the drill bit servo control module to adjust the drilling tool torque, azimuth and drilling pressure parameters in real time to make the wellbore trajectory close to the designed target trajectory.

[0022] The accelerometer is arranged near the center of mass of the drill bit to ensure that the measured linear acceleration data is not disturbed by the rotational inertial force; the gyroscope is arranged in the adjacent area of ​​the accelerometer to form a compact sensor array arrangement to reduce the solution error caused by installation offset; the installation direction of the geomagnetic sensor is coordinated with the accelerometer and gyroscope array to ensure that the coordinate axes are consistent during data fusion, simplifying the attitude correction calculation of the geomagnetic data.

[0023] The accelerometer collects the linear acceleration in the local coordinate system of the drill bit in real time , , ; The gyroscope collects the angular velocity of the drill bit in the local coordinate system in real time , , .

[0024] The attitude solution uses the angular velocity data of the gyroscope to calculate the attitude of the drill head and converts the local data of the accelerometer into the global coordinate system. Specifically, it includes: Angular velocity integral: angular velocity , , Integrate over time to get the rotation angle increments on the three axes , , : ,in, It represents the attitude angle at any time t, which integrates the integral results of all angular velocities. dt represents the time interval between two sampling moments. represents the angular velocity vector measured by the gyroscope at time t, which represents the instantaneous rotation speed of the drill bit around the x, y, and z axes of the local coordinate system. ,in, is the angular velocity about the x-axis, is the angular velocity about the y-axis, is the angular velocity around the z-axis; Attitude representation method: Update the drill bit attitude by rotating the angle increment, construct the direction cosine matrix R of the attitude change, and transform the local coordinate system to the global coordinate system: ; Acceleration coordinate conversion: According to the calculated posture, the linear acceleration of the accelerometer in the local coordinate system is converted to Convert to global coordinate system: , for , , .

[0025] Position calculation calculates the speed and position of the drill bit through the result of attitude calculation and linear acceleration, including: Gravity compensation: from global acceleration Deduct the earth's gravitational acceleration g from the net acceleration : ; Velocity calculation: Net acceleration Perform time integration to obtain the three-dimensional velocity at time t : ; Position calculation: Integrate the three-dimensional velocity v again to obtain the three-dimensional position p: .

[0026] Reconstructing the real-time trajectory of the drill bit specifically includes: Trajectory storage: The three-dimensional position obtained in real time Stored as track points; Trajectory reconstruction: 3D position points from continuous sampling Reconstruct the drill bit's motion path to form a real-time wellbore trajectory .

[0027] Based on the magnetic field direction in the borehole obtained by the geomagnetic sensor, the attitude drift of the gyroscope in the attitude solution is corrected, including: Geomagnetic direction data collection: The geomagnetic sensor on the drill bit collects geomagnetic field direction data in real time: , represents the three-dimensional direction vector of the geomagnetic field in the global coordinate system; Gyroscope attitude drift detection: Use the attitude angle calculated by the gyroscope to construct the direction cosine matrix of the transformation relationship between the current local coordinate system and the global coordinate system , using the direction cosine matrix The geomagnetic field direction data Convert from global coordinate system to local coordinate system: , the conversion result The local magnetic field vector directly measured by the geomagnetic sensor Compare and calculate attitude drift error : ; The extended Carr filter is used to correct the gyroscope attitude solution in real time and update the direction cosine matrix , get the updated direction cosine matrix , to ensure that the attitude angle solution is consistent with the geomagnetic direction vector, use the direction cosine matrix Replaces the direction cosine matrix R in the updated pose solution.

[0028] The extended Kalman filter is used to perform real-time correction on the gyroscope attitude solution as follows: 1. State definition: Define the system state variable x: ,in is the attitude represented by quaternion, is the angular velocity; 2. State prediction: According to the attitude model of the gyroscope angular velocity integral, predict the state variables: ,in To input angular velocity data, is the time step, represents the predicted state vector, which represents the state predicted based on the gyroscope angular velocity integral. Indicates the status at the previous moment. Represents the state transition model; 3. Measurement update: Update the geomagnetic vector of the geomagnetic sensor and the predicted local geomagnetic vector For comparison: ,in, represents the measurement value vector, represents the predicted measurement value vector, Calculating measurement error : ; 4. Gain calculation: The Kalman gain is calculated by the prediction error covariance P and the measurement noise covariance U: ; 5. State update: Modify the predicted state variables: ,in, represents the Kalman gain matrix, which represents the weight distribution of state updates, represents the updated state vector, which represents the state after correction combined with the measured value; 6. Update state covariance: ,in, represents the prediction error covariance matrix, represents the updated error covariance matrix, H represents the Jacobian matrix, 7. Direction cosine matrix update: from the updated quaternion Recalculate the direction cosine matrix .

[0029] Based on zero-speed update, when the drill stops moving for a short time, the speed is corrected to zero and the position drift is corrected, including: Accelerometer and gyroscope data are used to detect the short-term stop state of the drill head. The judgment conditions include: Local acceleration measured by the accelerometer is zero (removing the gravity component) and the angular velocity measured by the gyroscope , , is zero value; when both are satisfied, the drill is considered to be in zero speed state; Speed ​​correction: When zero speed is detected, the three-dimensional speed All components of are corrected to zero: ; Position drift error calculation: Calculate the false displacement caused by the accumulation of speed drift based on the position integral error under zero speed state , the error sources include the error caused by the offset of the accelerometer and the position drift caused by the accumulated velocity error. The false displacement comes from the integral of the velocity drift error over time, which is approximated using the following formula: ,in, and is the start and end time of zero speed state, is the velocity drift error, obtained by integrating the residual acceleration under zero-speed conditions: ,in, represents the acceleration vector in the local coordinate system, measured by the accelerometer, represents the gravitational acceleration vector in the local coordinate system, which represents the component of the earth's gravity in the local coordinate system; Position drift correction: adjust the position solution to correct the three-dimensional position Subtracting spurious displacement , get the corrected three-dimensional position : ; The corrected three-dimensional position Replace the 3D position in the updated position solution .

[0030] Trajectory deviation detection involves converting the real-time wellbore trajectory points Design target trajectory point Compare and calculate the deviation vector between the real-time wellbore trajectory and the designed target trajectory : , according to the deviation vector , generate trajectory deviation data, including: Deviation Amplitude: ; Deviation dynamic change rate: .

[0031] The fuzzy logic control algorithm specifically includes: Input fuzzy variable: deviation amplitude , Deviation dynamic change rate , the output fuzzy variable is the attitude adjustment instruction , including the torque, azimuth and drilling pressure parameters required for drill bit adjustment; Control rules: Based on the fuzzy logic control rule library, combined with the trajectory deviation amplitude and change rate, define the control rules: like is big, and For faster speed, increase the drill torque adjustment rate; like is small, and If the drill bit is moving slowly, reduce the torque adjustment range of the drill bit; Attitude adjustment command generation: fuzzy logic control algorithm outputs attitude adjustment command ,in, is the drill bit adjustment torque, The drill bit adjusts the azimuth angle. It is the drilling pressure adjustment value, which sends the attitude adjustment command to the drill bit servo control module, and adjusts the attitude and azimuth of the drill bit in real time through the servo actuator, so that the real-time wellbore trajectory gradually approaches the designed target trajectory.

[0032] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A drilling wellbore trajectory monitoring and control method based on multi-sensor fusion, characterized in that: The following steps are involved: S1, arranging an inertial sensor and a geomagnetic sensor on the drill bit to collect multi-source data reflecting the borehole trajectory in real time during the operation of the drill bit. The inertial sensor includes an accelerometer and a gyroscope. The accelerometer measures the linear acceleration of the drill tool in three-dimensional space to calculate the speed and position of the drill bit. The gyroscope measures the angular velocity of the drill tool to calculate the rotation angle of the drill tool and obtain the attitude. The geomagnetic sensor collects the magnetic field strength and direction in the borehole; S2, based on the linear acceleration of the accelerometer and the angular velocity of the gyroscope, the three-dimensional position of the drill bit is obtained through attitude solution and position solution. The real-time running trajectory of the drill bit is reconstructed through the three-dimensional position of the drill bit. The running trajectory of the drill bit is the real-time wellbore trajectory; S3, based on the magnetic field direction in the borehole obtained by the geomagnetic sensor, correct the attitude drift of the gyroscope in the attitude solution; S4, based on zero-speed update, corrects the speed to zero when the drill stops moving briefly, and corrects the position drift at the same time; S5, trajectory deviation detection: compare the real-time wellbore trajectory with the designed target trajectory, obtain the trajectory deviation, and generate trajectory deviation data; S6, trajectory control command generation: Based on the trajectory deviation data, the fuzzy logic control algorithm is used to generate the drill bit attitude adjustment command, and the drill bit attitude adjustment command is sent to the drill bit servo control module to adjust the drilling tool torque, azimuth and drilling pressure parameters in real time to make the wellbore trajectory close to the designed target trajectory.

2. The drilling wellbore trajectory monitoring and control method based on multi-sensor fusion according to claim 1 is characterized in that: The accelerometer is arranged at the center of mass of the drill bit to ensure that the measured linear acceleration data is not disturbed by the rotational inertial force; the gyroscope is arranged in an area adjacent to the accelerometer to form a sensor array arrangement; the installation direction of the geomagnetic sensor is coordinated with the accelerometer and gyroscope array.

3. The drilling wellbore trajectory monitoring and control method based on multi-sensor fusion according to claim 1 is characterized in that: The accelerometer collects the linear acceleration in the local coordinate system of the drill bit in real time , , The gyroscope collects the angular velocity of the drill bit in the local coordinate system in real time , , .

4. The drilling wellbore trajectory monitoring and control method based on multi-sensor fusion according to claim 3 is characterized in that: The attitude solution uses the angular velocity data of the gyroscope to calculate the attitude of the drill bit and converts the local data of the accelerometer into the global coordinate system, specifically including: Angular velocity integral: angular velocity , , Integrate over time to get the rotation angle increments on the three axes , , : ,in, represents the attitude angle at any time t, dt represents the time interval between two sampling moments, represents the angular velocity vector measured by the gyroscope at time t; Attitude representation method: Update the drill bit attitude by rotating the angle increment, construct the direction cosine matrix R of the attitude change, and transform the local coordinate system to the global coordinate system: ； Acceleration coordinate conversion: According to the calculated posture, the linear acceleration of the accelerometer in the local coordinate system is converted to Convert to global coordinate system: .

5. The drilling wellbore trajectory monitoring and control method based on multi-sensor fusion according to claim 4 is characterized in that: The position solution calculates the speed and position of the drill bit through the result of the attitude solution and the linear acceleration, and specifically includes: Gravity compensation: from global acceleration Deduct the earth's gravitational acceleration g from the net acceleration : ； Velocity calculation: Net acceleration Perform time integration to obtain the three-dimensional velocity at time t : ； Position calculation: Integrate the three-dimensional velocity v again to obtain the three-dimensional position p: .

6. The drilling wellbore trajectory monitoring and control method based on multi-sensor fusion according to claim 5 is characterized in that: The reconstructing the real-time running trajectory of the drill bit specifically includes: Trajectory storage: The three-dimensional position obtained in real time Stored as track points; Trajectory reconstruction: 3D position points from continuous sampling Reconstruct the drill bit's motion path to form a real-time wellbore trajectory .

7. The drilling wellbore trajectory monitoring and control method based on multi-sensor fusion according to claim 4 is characterized in that: The method of correcting the attitude drift of the gyroscope in attitude solution based on the magnetic field direction in the borehole obtained by the geomagnetic sensor specifically includes: Geomagnetic direction data collection: The geomagnetic sensor on the drill bit collects geomagnetic field direction data in real time: , represents the three-dimensional direction vector of the geomagnetic field in the global coordinate system; Gyroscope attitude drift detection: Use the attitude angle calculated by the gyroscope to construct the direction cosine matrix of the transformation relationship between the current local coordinate system and the global coordinate system , using the direction cosine matrix The geomagnetic field direction data Convert from global coordinate system to local coordinate system: , the conversion result The local magnetic field vector directly measured by the geomagnetic sensor Compare and calculate attitude drift error : ; The extended Carr filter is used to correct the gyroscope attitude solution in real time and update the direction cosine matrix , get the updated direction cosine matrix , to ensure that the attitude angle solution is consistent with the geomagnetic direction vector, use the direction cosine matrix Replaces the direction cosine matrix R in the updated pose solution.

8. The drilling wellbore trajectory monitoring and control method based on multi-sensor fusion according to claim 5, characterized in that: The zero-speed update, when the drill bit stops moving temporarily, corrects the speed to zero and corrects the position drift, specifically including: Accelerometer and gyroscope data are used to detect the short-term stop state of the drill head. The judgment conditions include: Local acceleration measured by the accelerometer is zero value and the angular velocity measured by the gyroscope , , is zero value; when both are satisfied, the drill is considered to be in zero speed state; Speed ​​correction: When zero speed is detected, the three-dimensional speed All components of are corrected to zero: ; Position drift error calculation: Calculate the false displacement caused by the accumulation of speed drift based on the position integral error under zero speed state , the error sources include the error caused by the offset of the accelerometer and the position drift caused by the accumulated velocity error. The false displacement comes from the integral of the velocity drift error over time, which is approximated using the following formula: ,in, and is the start and end time of zero speed state, is the velocity drift error, obtained by integrating the residual acceleration under zero-speed conditions; Position drift correction: adjust the position solution to correct the three-dimensional position Subtracting spurious displacement , get the corrected three-dimensional position , the corrected three-dimensional position Replace the 3D position in the updated position solution .

9. The drilling wellbore trajectory monitoring and control method based on multi-sensor fusion according to claim 6, characterized in that: The trajectory deviation detection includes the following steps: Design target trajectory point Compare and calculate the deviation vector between the real-time wellbore trajectory and the designed target trajectory , according to the deviation vector , generate trajectory deviation data, including: Deviation Amplitude: ; Deviation dynamic change rate: .

10. The drilling wellbore trajectory monitoring and control method based on multi-sensor fusion according to claim 9, characterized in that: The fuzzy logic control algorithm specifically includes: Input fuzzy variable: deviation amplitude , Deviation dynamic change rate , the output fuzzy variable is the attitude adjustment instruction , including the torque, azimuth and drilling pressure parameters required for drill bit adjustment; Control rules: Based on the fuzzy logic control rule library, combined with the trajectory deviation amplitude and change rate, define the control rules: Attitude adjustment command generation: fuzzy logic control algorithm outputs attitude adjustment command ,in, is the drill bit adjustment torque, The drill bit adjusts the azimuth angle. It is the drilling pressure adjustment value.

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