Downhole drilling trajectory monitoring and correction method and system based on inertial navigation technology

Abstract

The present invention discloses a method and system for monitoring and correcting downhole drilling trajectories based on inertial navigation technology, which relates to the field of downhole drilling technology, including obtaining drilling trajectory planning information, segmenting the drilling planning trajectory according to the drilling trajectory planning information, and obtaining planning trajectory segmentation information. The present invention segments the drilling planning trajectory through the hole trajectory planning information, obtains planning trajectory segmentation information, and accurately divides the drilling planning trajectory through the planning trajectory segmentation information, providing a basis for subsequent drilling trajectory monitoring, avoiding the inability to accurately analyze the drilling trajectory monitoring data due to excessive differences in the drilling trajectory, obtaining trajectory monitoring points and trajectory correction points through the planning trajectory segmentation information, and monitoring and correcting the drill bit through the trajectory monitoring points and trajectory correction points, thereby ensuring the stability and reliability of the drilling trajectory and improving the monitoring efficiency of the drilling trajectory.

Description

Technical Field

[0001] The present invention relates to the technical field of downhole drilling, and in particular to a downhole drilling trajectory monitoring and correction method and system based on inertial navigation technology. Background Art

[0002] With the development of resource extraction technology, the application of downhole drilling technology is becoming increasingly widespread. However, due to the complex geological conditions (such as faults, fractured zones, and high-pressure aquifers), if the drill hole deviates, it may penetrate unstable strata, causing collapse, water leakage, gas leaks, and even flooding accidents. Therefore, downhole drilling operations (such as gas extraction holes, geological exploration holes, and grouting holes) generally have strict spatial positioning requirements (such as target coordinates and layer penetration accuracy) to ensure that the drill hole reaches the target location according to the planned trajectory and meets the precision requirements of engineering design.

[0003] At present, the monitoring and correction of downhole drilling trajectories still have problems such as the inability to analyze the planned drilling trajectory, the inability to accurately divide the planned drilling trajectory, and the inability to select suitable monitoring points in each planned trajectory. If the drilling trajectory is directly monitored in real time, not only will the amount of accumulated data be large, but the monitoring cost will also be greatly increased. If the monitoring points are set directly according to standards such as fixed trajectory length, the accuracy of the monitoring cannot be ensured, and the drill bit cannot be adjusted in time. Summary of the Invention

[0004] In order to solve the above technical problems, a downhole drilling trajectory monitoring and correction method and system based on inertial navigation technology are provided. This technical solution solves the problems raised in the above background technology, such as the inability to analyze the planned drilling trajectory, the inability to accurately divide the planned drilling trajectory, and the inability to select suitable monitoring points in each planned trajectory. If the drilling trajectory is directly monitored in real time, not only will the accumulated data volume be large, but the monitoring cost will also be greatly increased. If the monitoring points are set directly according to standards such as fixed trajectory length, the accuracy of the monitoring cannot be ensured, and the drill bit cannot be adjusted in time.

[0005] In order to achieve the above objects, the technical solution adopted by the present invention is:

[0006] The downhole drilling trajectory monitoring and correction method based on inertial navigation technology includes:

[0007] Acquiring drilling trajectory planning information, wherein the drilling trajectory planning information includes drilling trajectory starting position information and drilling trajectory planning length information;

[0008] Segmenting the planned drilling trajectory according to the drilling trajectory planning information to obtain planned trajectory segmentation information, wherein the planned trajectory segmentation information includes the planned drilling trajectory segment information;

[0009] According to the planned trajectory segmentation information, the trajectory monitoring points and trajectory correction points corresponding to each drilling planned trajectory segment are obtained;

[0010] Acquiring drilling trajectory monitoring data, wherein the drilling trajectory monitoring data includes inertial monitoring data;

[0011] The drill bit is adjusted according to the drilling trajectory monitoring data corresponding to the trajectory monitoring points and trajectory correction points.

[0012] Preferably, segmenting the planned drilling trajectory according to the drilling trajectory planning information to obtain planned trajectory segmentation information specifically includes:

[0013] According to the drilling trajectory planning information, based on the three-dimensional coordinate system, the drilling planning trajectory model information is obtained, wherein the drilling planning trajectory model information includes the drilling trajectory starting position coordinate information and the drilling planning trajectory coordinate information;

[0014] According to the drilling planning trajectory model information, taking the coordinates of the starting position of the drilling trajectory as a reference and the vertical downward direction as the normal direction, obtain the angle between the line connecting any position of the drilling planning trajectory and the starting position of the drilling trajectory and the normal line;

[0015] The angle between the line connecting any position of the planned drilling trajectory and the starting position of the drilling trajectory and the normal line is used as the offset angle between any position of the planned drilling trajectory and the starting position of the drilling trajectory;

[0016] Taking the planned drilling trajectory as a reference, traverse the planned drilling trajectory until the offset angle between the planned drilling trajectory position and the starting position of the drilling trajectory begins to decrease, and use the planned drilling trajectory position as the first trajectory feature point;

[0017] Taking the first trajectory feature point as a reference, traverse the drilling planning trajectory after the first trajectory feature point to obtain trajectory feature point information;

[0018] According to the trajectory feature point information, the drilling planning trajectory is segmented to obtain the planned trajectory segmentation information.

[0019] Preferably, the step of traversing the drilling planning trajectory after the first trajectory feature point based on the first trajectory feature point to obtain trajectory feature point information specifically includes:

[0020] S301: Obtaining the angle between the line connecting any position in the drilling planning trajectory after the first trajectory feature point and the first trajectory feature point and the normal line as the offset angle between the drilling planning trajectory position and the first trajectory feature point;

[0021] S302: Using the planned drilling trajectory as a reference, traverse the planned drilling trajectory after the first trajectory feature point until the offset angle between the planned drilling trajectory position and the first trajectory feature point begins to decrease, and use the planned drilling trajectory position as the second trajectory feature point;

[0022] S303: Repeat steps S301-S302 according to the second trajectory feature point until the planned drilling trajectory is traversed to obtain trajectory feature point information;

[0023] The trajectory feature point information further includes a drilling trajectory starting position, a first trajectory feature point, and a second trajectory feature point.

[0024] Preferably, segmenting the planned drilling trajectory according to the trajectory feature point information to obtain planned trajectory segmentation information specifically includes:

[0025] According to the trajectory feature point information, the drilling planning trajectory between adjacent trajectory feature points is used as the drilling planning trajectory basic segment to obtain the planned trajectory basic segment information;

[0026] According to the drilling trajectory planning information, the drilling trajectory starting position information, the drilling trajectory ending position information and the drilling trajectory planning length information are obtained;

[0027] The angle between the line connecting the starting position and the ending position of the drilling trajectory and the normal line is used as the comprehensive offset angle of the drilling planning trajectory;

[0028] According to the basic segmentation information of the planned trajectory, the number of segments of the planned trajectory is obtained;

[0029] The comprehensive offset angle and the planned length of the drilling trajectory are divided by the number of planned trajectory segments to obtain the basic offset angle and the basic length of the planned trajectory;

[0030] According to the planned trajectory basic segmentation information, the drilling planning trajectory length and trajectory feature points corresponding to each drilling planning trajectory basic segment are obtained;

[0031] Based on the trajectory feature points, the angle between the line connecting the adjacent trajectory feature points corresponding to each drilling planning trajectory basic segment and the normal line is used as the actual offset angle of the drilling planning trajectory basic segment;

[0032] Obtain the planned trajectory basic segment and the drilling planned trajectory segment to be merged according to the basic offset angle, the planned trajectory basic length, the drilling planned trajectory length corresponding to each drilling planned trajectory basic segment, and the actual offset angle;

[0033] If the length of the planned drilling trajectory corresponding to the basic segment of the planned drilling trajectory is less than the basic length of the planned trajectory and the actual offset angle is less than the basic offset angle, then the basic segment of the planned drilling trajectory is the basic segment of the planned trajectory to be merged;

[0034] If the drilling planning trajectory length corresponding to the drilling planning trajectory basic segment is greater than the planned trajectory basic length or the actual offset angle is greater than the basic offset angle, then the drilling planning trajectory basic segment is the drilling planning trajectory segment;

[0035] Based on the drilling planning trajectory basic segments adjacent to the planned trajectory basic segments to be merged, the planned trajectory basic segments to be merged are merged to obtain planned trajectory segmentation information.

[0036] Preferably, the step of merging the planned trajectory basic segments to be merged based on the adjacent drilling planned trajectory basic segments to be merged specifically includes:

[0037] According to the planned trajectory basic segments to be merged, two adjacent drilling planned trajectory basic segments are obtained for each planned trajectory basic segment to be merged;

[0038] According to the drilling trajectory planning information, based on the trajectory drilling direction, the drilling planning trajectory basic segment with the drilling direction pointing to the planned trajectory basic segment to be merged is used as the first merged trajectory segment, and the drilling planning trajectory basic segment with the drilling direction pointing to the planned trajectory basic segment to be merged is used as the second merged trajectory segment;

[0039] The angle between the line connecting the trajectory feature points corresponding to the first merged trajectory segment and the line connecting the trajectory feature points corresponding to the basic segment of the planned trajectory to be merged is used as the first merge offset angle;

[0040] The angle between the line connecting the trajectory feature points corresponding to the second merged trajectory segment and the line connecting the trajectory feature points corresponding to the basic segment of the planned trajectory to be merged is used as the second merging offset angle;

[0041] If the first merge offset angle is greater than the second merge offset angle, the merged planning trajectory base segment is merged with the second merged trajectory segment; if the first merge offset angle is less than the second merge offset angle, the merged planning trajectory base segment is merged with the first merged trajectory segment, and the merged planning trajectory is used as the drilling planning trajectory segment.

[0042] Preferably, adjusting the drill bit according to the drilling trajectory monitoring data corresponding to the trajectory monitoring points and the trajectory correction points specifically includes:

[0043] According to the planned trajectory segmentation information, the trajectory feature point information in each drilling planned trajectory segment is obtained;

[0044] The vertical direction of the line connecting the trajectory feature points corresponding to the starting position and the ending position of each drilling planning trajectory segment is used as the reference direction of the drilling planning trajectory segment;

[0045] Based on the reference direction, the angle between the line connecting the trajectory feature point corresponding to the starting position of the drilling planning trajectory segment and any position in the drilling planning trajectory segment is used as the first characteristic angle, and the angle between the line connecting the trajectory feature point corresponding to the ending position of the drilling planning trajectory segment is used as the second characteristic angle;

[0046] The planned trajectory length of the trajectory feature point corresponding to the starting position of the planned drilling trajectory segment is used as the independent variable, and the sum of the first characteristic angle and the second characteristic angle is used as the dependent variable to generate a position-angle change curve;

[0047] The drilling planning trajectory segment position corresponding to the extreme point in the position-angle change curve is used as the trajectory monitoring point, and the trajectory feature point is used as the trajectory correction point;

[0048] According to the drilling trajectory planning information and based on the downhole drilling trajectory monitoring requirements, the drill bit inertia standard data and monitoring data thresholds corresponding to the trajectory monitoring points and trajectory correction points are obtained. The drill bit inertia standard data includes drill bit attitude angle data and drill bit speed data.

[0049] According to the drilling trajectory monitoring data, the drilling trajectory monitoring data corresponding to the trajectory monitoring point and the trajectory correction point is obtained;

[0050] Compare the drilling trajectory monitoring data with the drill bit inertia standard data and monitoring data threshold to determine whether the drill bit should be adjusted;

[0051] Among them, when the drill bit is drilling, if the drilling trajectory reaches the trajectory monitoring point and the difference between the drilling trajectory monitoring data corresponding to the trajectory monitoring point and the drill bit inertia standard data exceeds the monitoring data threshold, the drill bit is adjusted according to the drill bit inertia standard data corresponding to the trajectory monitoring point; if the drilling trajectory reaches the trajectory correction point, the drill bit is adjusted according to the drill bit inertia standard data corresponding to the trajectory correction point.

[0052] Furthermore, a downhole drilling trajectory monitoring and correction system based on inertial navigation technology is proposed to implement the above-mentioned monitoring and correction method, including:

[0053] a main control module, the main control module being used to obtain the planned trajectory base segment to be merged and the drilling planned trajectory segment based on the basic offset angle, the planned trajectory base length, the drilling planned trajectory length corresponding to each drilling planned trajectory base segment, and the actual offset angle, compare the drilling trajectory monitoring data with the drill bit inertia standard data and the monitoring data threshold, determine whether to adjust the drill bit, merge the planned trajectory base segments to be merged based on the drilling planned trajectory base segments adjacent to the planned trajectory base segments to be merged, use the planned trajectory length of the trajectory feature point corresponding to the starting position of the drilling planned trajectory segment as an independent variable, use the sum of the first feature angle and the second feature angle as a dependent variable, generate a position-angle change curve, and adjust the drill bit according to the drill bit inertia standard data corresponding to the trajectory correction point;

[0054] An information acquisition module, the information acquisition module is used to obtain drilling trajectory planning information, drilling trajectory starting position information and drilling trajectory planning length information, obtain drilling trajectory model information, drilling trajectory starting position coordinate information and drilling trajectory coordinate information based on a three-dimensional coordinate system based on the drilling trajectory planning information, obtain drilling trajectory monitoring data and inertial monitoring data, and obtain drill bit inertia standard data and monitoring data thresholds corresponding to trajectory monitoring points and trajectory correction points based on the drilling trajectory planning information and downhole drilling trajectory monitoring requirements;

[0055] A planned trajectory evaluation module is configured to obtain a first trajectory feature point based on the drilling planned trajectory model information, traverse the drilling planned trajectory following the first trajectory feature point with the first trajectory feature point as a reference, obtain trajectory feature point information, and, based on the trajectory feature point information, use the drilling planned trajectory between adjacent trajectory feature points as a drilling planned trajectory basic segment to obtain planned trajectory basic segment information;

[0056] The display module interacts with the main control module and is used to output and display drilling trajectory planning information, planned trajectory segmentation information, trajectory monitoring points, trajectory correction points and drilling trajectory monitoring data.

[0057] Optionally, the main control module specifically includes:

[0058] a control unit configured to merge the planned trajectory basic segments to be merged based on adjacent drilling planned trajectory basic segments, generate a position-angle change curve using the planned trajectory length of the trajectory feature point corresponding to the starting position of the drilling planned trajectory segment as an independent variable and the sum of the first characteristic angle and the second characteristic angle as a dependent variable, and adjust the drill bit according to the drill bit inertia standard data corresponding to the trajectory correction point;

[0059] An information receiving unit, which interacts with the information acquisition module and the planning trajectory evaluation module to receive data and transmit it to the judgment unit;

[0060] A judgment unit is used to obtain the planned trajectory basic segment and the drilling planned trajectory segment to be merged based on the basic offset angle, the planned trajectory basic length, the drilling planned trajectory length corresponding to each drilling planned trajectory basic segment and the actual offset angle, compare the drilling trajectory monitoring data with the drill bit inertia standard data and the monitoring data threshold, and determine whether to adjust the drill bit.

[0061] Optionally, the information acquisition module specifically includes:

[0062] a first acquisition unit, configured to acquire drilling trajectory planning information, drilling trajectory starting position information, and drilling trajectory planning length information, and acquire drilling trajectory model information, drilling trajectory starting position coordinate information, and drilling trajectory coordinate information based on a three-dimensional coordinate system according to the drilling trajectory planning information;

[0063] The second acquisition unit is used to obtain drilling trajectory monitoring data and inertial monitoring data, and obtain the drill bit inertia standard data and monitoring data thresholds corresponding to the trajectory monitoring points and trajectory correction points according to the drilling trajectory planning information and based on the downhole drilling trajectory monitoring requirements.

[0064] Optionally, the planned trajectory evaluation module specifically includes:

[0065] a first evaluation unit, configured to obtain a first trajectory feature point based on the drilling planning trajectory model information, and traverse the drilling planning trajectory following the first trajectory feature point with the first trajectory feature point as a reference to obtain trajectory feature point information;

[0066] The second evaluation unit is configured to obtain basic segmentation information of the planned trajectory based on the trajectory feature point information and taking the drilling planned trajectory between adjacent trajectory feature points as the drilling planned trajectory basic segment.

[0067] Compared with the prior art, the present invention has the following beneficial effects:

[0068] The present invention proposes a downhole drilling trajectory monitoring and correction method and system based on inertial navigation technology. The drilling planning trajectory is segmented through hole trajectory planning information, and the planned trajectory segmentation information is obtained. The drilling planning trajectory is accurately divided through the planned trajectory segmentation information, providing a basis for subsequent drilling trajectory monitoring, avoiding the inability to accurately analyze the drilling trajectory monitoring data due to excessive differences in drilling trajectories, and obtaining trajectory monitoring points and trajectory correction points through the planned trajectory segmentation information. The drill bit is monitored and corrected through the trajectory monitoring points and trajectory correction points, ensuring the stability and reliability of the drilling trajectory and improving the monitoring efficiency of the drilling trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 This is a flow chart of the downhole drilling trajectory monitoring and correction method based on inertial navigation technology proposed in the present invention;

[0070] Figure 2 This is a flow chart for obtaining segmented information of planned trajectory in the present invention;

[0071] Figure 3 Obtaining a flow chart for the basic segments of the planned trajectory to be merged in the present invention;

[0072] Figure 4 A flow chart for obtaining trajectory monitoring points and trajectory correction points in the present invention;

[0073] Figure 5 This is a structural block diagram of the downhole drilling trajectory monitoring and correction system based on inertial navigation technology proposed in this invention. DETAILED DESCRIPTION

[0074] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are merely examples, and those skilled in the art may conceive of other obvious variations.

[0075] Reference Figure 1 - Figure 4 As shown, the downhole drilling trajectory monitoring and correction method based on inertial navigation technology in an embodiment of the present invention includes:

[0076] Acquiring drilling trajectory planning information, wherein the drilling trajectory planning information includes drilling trajectory starting position information and drilling trajectory planning length information;

[0077] Segmenting the planned drilling trajectory according to the drilling trajectory planning information to obtain planned trajectory segmentation information, wherein the planned trajectory segmentation information includes the planned drilling trajectory segment information;

[0078] Specifically, according to the drilling trajectory planning information, the drilling planning trajectory is segmented to obtain the planned trajectory segmentation information, which specifically includes:

[0079] According to the drilling trajectory planning information, based on the three-dimensional coordinate system, the drilling planning trajectory model information is obtained, wherein the drilling planning trajectory model information includes the drilling trajectory starting position coordinate information and the drilling planning trajectory coordinate information;

[0080] According to the drilling planning trajectory model information, taking the coordinates of the starting position of the drilling trajectory as a reference and the vertical downward direction as the normal direction, obtain the angle between the line connecting any position of the drilling planning trajectory and the starting position of the drilling trajectory and the normal line;

[0081] The angle between the line connecting any position of the planned drilling trajectory and the starting position of the drilling trajectory and the normal line is used as the offset angle between any position of the planned drilling trajectory and the starting position of the drilling trajectory;

[0082] Taking the planned drilling trajectory as a reference, traverse the planned drilling trajectory until the offset angle between the planned drilling trajectory position and the starting position of the drilling trajectory begins to decrease, and use the planned drilling trajectory position as the first trajectory feature point;

[0083] Taking the first trajectory feature point as a reference, traverse the drilling planning trajectory after the first trajectory feature point to obtain trajectory feature point information;

[0084] According to the trajectory feature point information, the drilling planning trajectory is segmented to obtain the planned trajectory segmentation information.

[0085] Specifically, taking the first trajectory feature point as a reference, traversing the drilling planning trajectory after the first trajectory feature point to obtain trajectory feature point information specifically includes:

[0086] S301: Obtaining the angle between the line connecting any position in the drilling planning trajectory after the first trajectory feature point and the first trajectory feature point and the normal line as the offset angle between the drilling planning trajectory position and the first trajectory feature point;

[0087] S302: Using the planned drilling trajectory as a reference, traverse the planned drilling trajectory after the first trajectory feature point until the offset angle between the planned drilling trajectory position and the first trajectory feature point begins to decrease, and use the planned drilling trajectory position as the second trajectory feature point;

[0088] S303: Repeat steps S301-S302 according to the second trajectory feature point until the planned drilling trajectory is traversed to obtain trajectory feature point information;

[0089] The trajectory feature point information further includes a drilling trajectory starting position, a first trajectory feature point, and a second trajectory feature point.

[0090] In this scheme, the spatial shape of the borehole trajectory is converted into quantifiable angular features by calculating the offset angle (the angle between the line connecting the trajectory point and the reference point and the vertical normal). Inertial navigation systems (such as INS) are susceptible to equipment vibration and sensor drift during downhole drilling, resulting in cumulative errors. After segmentation, the offset angle trend (increasing or decreasing) of each segment serves as a key constraint in the inertial navigation model, helping to identify "trend segments" (such as increasing and decreasing angle segments) within the trajectory and providing a clear characteristic reference for error correction. Downhole drilling trajectories often contain multiple curved segments (such as the "inclination build-up, inclination stabilization, and azimuth twisting" process in directional drilling). After segmentation, the geometric characteristics of each segment (such as the inclination angle change rate and azimuth angle increment) can be analyzed independently. By comparing the theoretical characteristics of the planned segments with measured data, the inertial navigation system can quickly locate the source of error (for example, a constant angle in the increasing inclination segment may be due to sensor failure or drilling tool failure), allowing timely correction of the drilling trajectory.

[0091] Specifically, the drilling planning trajectory is segmented according to the trajectory feature point information, and the planned trajectory segmentation information is obtained, which specifically includes:

[0092] According to the trajectory feature point information, the drilling planning trajectory between adjacent trajectory feature points is used as the drilling planning trajectory basic segment to obtain the planned trajectory basic segment information;

[0093] According to the drilling trajectory planning information, the drilling trajectory starting position information, the drilling trajectory ending position information and the drilling trajectory planning length information are obtained;

[0094] The angle between the line connecting the starting position and the ending position of the drilling trajectory and the normal line is used as the comprehensive offset angle of the drilling planning trajectory;

[0095] According to the basic segmentation information of the planned trajectory, the number of segments of the planned trajectory is obtained;

[0096] The comprehensive offset angle and the planned length of the drilling trajectory are divided by the number of planned trajectory segments to obtain the basic offset angle and the basic length of the planned trajectory;

[0097] According to the planned trajectory basic segmentation information, the drilling planning trajectory length and trajectory feature points corresponding to each drilling planning trajectory basic segment are obtained;

[0098] Based on the trajectory feature points, the angle between the line connecting the adjacent trajectory feature points corresponding to each drilling planning trajectory basic segment and the normal line is used as the actual offset angle of the drilling planning trajectory basic segment;

[0099] Obtain the planned trajectory basic segment and the drilling planned trajectory segment to be merged according to the basic offset angle, the planned trajectory basic length, the drilling planned trajectory length corresponding to each drilling planned trajectory basic segment, and the actual offset angle;

[0100] If the length of the planned drilling trajectory corresponding to the basic segment of the planned drilling trajectory is less than the basic length of the planned trajectory and the actual offset angle is less than the basic offset angle, then the basic segment of the planned drilling trajectory is the basic segment of the planned trajectory to be merged;

[0101] If the drilling planning trajectory length corresponding to the drilling planning trajectory basic segment is greater than the planned trajectory basic length or the actual offset angle is greater than the basic offset angle, then the drilling planning trajectory basic segment is the drilling planning trajectory segment;

[0102] Based on the drilling planning trajectory basic segments adjacent to the planned trajectory basic segments to be merged, the planned trajectory basic segments to be merged are merged to obtain planned trajectory segmentation information.

[0103] In this scheme, the drilling planning trajectory between adjacent trajectory feature points is used as the drilling planning trajectory basic segment through trajectory feature point information, and the basic segmentation information of the planning trajectory is obtained. The comprehensive offset angle and the drilling trajectory planning length are divided by the number of planning trajectory segments to obtain the basic offset angle and the basic length of the planning trajectory. For example, if the number of planning trajectory segments is n and the drilling trajectory planning length is L, then the basic length of the planning trajectory is , according to the basic offset angle, the basic length of the planned trajectory, the drilling planned trajectory length corresponding to each basic segment of the drilling planned trajectory and the actual offset angle, the basic segment of the planned trajectory and the drilling planned trajectory segment to be merged are obtained.

[0104] However, correspondingly, a fixed selection standard is adopted in the process of selecting trajectory feature points. Therefore, there is often a drilling planning trajectory basic segment with a short trajectory length and a small trajectory segment offset angle in the drilling planning trajectory segment. At this time, if the trajectory segment is monitored and corrected alone, it will cause a waste of resources. Therefore, the trajectory segment is merged with the adjacent drilling planning trajectory basic segment to improve the drilling trajectory monitoring efficiency.

[0105] Specifically, based on the drilling planning trajectory basic segments adjacent to the planned trajectory basic segments to be merged, the planned trajectory basic segments to be merged are merged, specifically including:

[0106] According to the planned trajectory basic segments to be merged, two adjacent drilling planned trajectory basic segments are obtained for each planned trajectory basic segment to be merged;

[0107] According to the drilling trajectory planning information, based on the trajectory drilling direction, the drilling planning trajectory basic segment with the drilling direction pointing to the planned trajectory basic segment to be merged is used as the first merged trajectory segment, and the drilling planning trajectory basic segment with the drilling direction pointing to the planned trajectory basic segment to be merged is used as the second merged trajectory segment;

[0108] The angle between the line connecting the trajectory feature points corresponding to the first merged trajectory segment and the line connecting the trajectory feature points corresponding to the basic segment of the planned trajectory to be merged is used as the first merge offset angle;

[0109] The angle between the line connecting the trajectory feature points corresponding to the second merged trajectory segment and the line connecting the trajectory feature points corresponding to the basic segment of the planned trajectory to be merged is used as the second merging offset angle;

[0110] If the first merge offset angle is greater than the second merge offset angle, the merged planning trajectory base segment is merged with the second merged trajectory segment; if the first merge offset angle is less than the second merge offset angle, the merged planning trajectory base segment is merged with the first merged trajectory segment, and the merged planning trajectory is used as the drilling planning trajectory segment.

[0111] In this scheme, two adjacent drilling planning trajectory basic segments of each planning trajectory basic segment to be merged are obtained through the planning trajectory basic segment to be merged, and the drilling planning trajectory basic segment with the drilling direction pointing to the planning trajectory basic segment to be merged is used as the first merged trajectory segment, and the drilling planning trajectory basic segment with the drilling direction pointing to the planning trajectory basic segment to be merged is used as the second merged trajectory segment. The angle between the line connecting the trajectory feature points corresponding to the first merged trajectory segment and the line connecting the trajectory feature points corresponding to the planning trajectory basic segment to be merged is used as the first merged offset angle, and the angle between the line connecting the trajectory feature points corresponding to the second merged trajectory segment and the line connecting the trajectory feature points corresponding to the planning trajectory basic segment to be merged is used as the second merged offset angle. Through the first merged offset angle and the second merged offset angle, the drilling planning trajectory basic segment to be merged with the planning trajectory basic segment to be merged is selected.

[0112] Understandably, downhole drilling trajectories may experience minor fluctuations due to localized geological disturbances (such as small fractures), but these fluctuations have limited impact on the overall trajectory. Direct segmentation based on original feature points can introduce numerous short segments with no practical engineering significance. By setting "base length" and "base offset angle" thresholds and merging eligible segments (short and low offset) into adjacent stable segments, this approach can filter out noise, retaining the critical trajectory changes that truly require monitoring (such as large-angle turns and long-distance extensions), and focusing on the core correction areas.

[0113] According to the planned trajectory segmentation information, the trajectory monitoring points and trajectory correction points corresponding to each drilling planned trajectory segment are obtained;

[0114] Acquiring drilling trajectory monitoring data, wherein the drilling trajectory monitoring data includes inertial monitoring data, and the inertial monitoring data includes the inclination angle and azimuth angle of the drill bit;

[0115] The drill bit is adjusted according to the drilling trajectory monitoring data corresponding to the trajectory monitoring points and trajectory correction points.

[0116] Specifically, the drill bit is adjusted according to the drilling trajectory monitoring data corresponding to the trajectory monitoring points and the trajectory correction points, including:

[0117] According to the planned trajectory segmentation information, the trajectory feature point information in each drilling planned trajectory segment is obtained;

[0118] The vertical direction of the line connecting the trajectory feature points corresponding to the starting position and the ending position of each drilling planning trajectory segment is used as the reference direction of the drilling planning trajectory segment;

[0119] Based on the reference direction, the angle between the line connecting the trajectory feature point corresponding to the starting position of the drilling planning trajectory segment and any position in the drilling planning trajectory segment is used as the first characteristic angle, and the angle between the line connecting the trajectory feature point corresponding to the ending position of the drilling planning trajectory segment is used as the second characteristic angle;

[0120] The planned trajectory length of the trajectory feature point corresponding to the starting position of the planned drilling trajectory segment is used as the independent variable, and the sum of the first characteristic angle and the second characteristic angle is used as the dependent variable to generate a position-angle change curve;

[0121] The drilling planning trajectory segment position corresponding to the extreme point in the position-angle change curve is used as the trajectory monitoring point, and the trajectory feature point is used as the trajectory correction point;

[0122] According to the drilling trajectory planning information and based on the downhole drilling trajectory monitoring requirements, the drill bit inertia standard data and monitoring data thresholds corresponding to the trajectory monitoring points and trajectory correction points are obtained. The drill bit inertia standard data includes drill bit attitude angle data and drill bit speed data.

[0123] According to the drilling trajectory monitoring data, the drilling trajectory monitoring data corresponding to the trajectory monitoring point and the trajectory correction point is obtained;

[0124] Compare the drilling trajectory monitoring data with the drill bit inertia standard data and monitoring data threshold to determine whether the drill bit should be adjusted;

[0125] Among them, when the drill bit is drilling, if the drilling trajectory reaches the trajectory monitoring point and the difference between the drilling trajectory monitoring data corresponding to the trajectory monitoring point and the drill bit inertia standard data exceeds the monitoring data threshold, the drill bit is adjusted according to the drill bit inertia standard data corresponding to the trajectory monitoring point; if the drilling trajectory reaches the trajectory correction point, the drill bit is adjusted according to the drill bit inertia standard data corresponding to the trajectory correction point.

[0126] In this scheme, the vertical direction of the line connecting the trajectory feature points corresponding to the starting position and the ending position of each drilling planning trajectory segment is used as the reference direction of the drilling planning trajectory segment. Based on the reference direction, the angle between the line connecting the trajectory feature point corresponding to the starting position of the drilling planning trajectory segment at any position in the drilling planning trajectory segment is used as the first characteristic angle, and the angle between the line connecting the trajectory feature point corresponding to the ending position of the drilling planning trajectory segment is used as the second characteristic angle. The planned trajectory length of the trajectory feature point corresponding to the starting position of the drilling planning trajectory segment is used as the independent variable, and the sum of the first characteristic angle and the second characteristic angle is used as the dependent variable to generate a position-angle change curve. The position of the drilling planning trajectory segment corresponding to the extreme point in the position-angle change curve is used as the trajectory monitoring point, and the trajectory feature point is used as the trajectory correction point to avoid the error accumulation of the global unified reference. According to the geometric characteristics of different trajectory segments (such as curvature and inclination), the trajectory monitoring point and trajectory correction point corresponding to each trajectory segment are selected.

[0127] It is understandable that during downhole drilling operations, due to factors such as differences in the actual operating environment, the drilling trajectory often differs from the planned drilling trajectory. Therefore, when the drilling trajectory reaches a trajectory monitoring point, the inertial data of the drill bit (e.g., inclination and azimuth) is measured and compared with the standard data set for the trajectory monitoring point during trajectory planning. When the difference between the drilling trajectory monitoring data corresponding to the trajectory monitoring point and the drill bit inertia standard data exceeds the monitoring data threshold, the drill bit's inclination and azimuth are adjusted. When the drilling trajectory reaches a trajectory correction point, the drill bit is adjusted based on the drill bit inertia standard data corresponding to the trajectory correction point. This ensures that the drilling trajectory conforms to the plan while avoiding real-time monitoring of the drilling trajectory and reducing monitoring resource costs. In this embodiment, the inclination threshold is ±0.3° to ±1.5° / m (depending on the drilling accuracy level, such as ≤0.5° / m for directional holes and ≤1.5° / m for conventional holes), and the azimuth threshold is ±1.0° to ±3.0° / m.

[0128] Reference Figure 5 As shown, further, combined with the above-mentioned downhole drilling trajectory monitoring and correction method based on inertial navigation technology, a downhole drilling trajectory monitoring and correction system based on inertial navigation technology is proposed, including:

[0129] a main control module, the main control module being used to obtain the planned trajectory base segment to be merged and the drilling planned trajectory segment based on the basic offset angle, the planned trajectory base length, the drilling planned trajectory length corresponding to each drilling planned trajectory base segment, and the actual offset angle, compare the drilling trajectory monitoring data with the drill bit inertia standard data and the monitoring data threshold, determine whether to adjust the drill bit, merge the planned trajectory base segments to be merged based on the drilling planned trajectory base segments adjacent to the planned trajectory base segments to be merged, use the planned trajectory length of the trajectory feature point corresponding to the starting position of the drilling planned trajectory segment as an independent variable, use the sum of the first feature angle and the second feature angle as a dependent variable, generate a position-angle change curve, and adjust the drill bit according to the drill bit inertia standard data corresponding to the trajectory correction point;

[0130] An information acquisition module, the information acquisition module is used to obtain drilling trajectory planning information, drilling trajectory starting position information and drilling trajectory planning length information, obtain drilling trajectory model information, drilling trajectory starting position coordinate information and drilling trajectory coordinate information based on a three-dimensional coordinate system based on the drilling trajectory planning information, obtain drilling trajectory monitoring data and inertial monitoring data, and obtain drill bit inertia standard data and monitoring data thresholds corresponding to trajectory monitoring points and trajectory correction points based on the drilling trajectory planning information and downhole drilling trajectory monitoring requirements;

[0131] A planned trajectory evaluation module is configured to obtain a first trajectory feature point based on the drilling planned trajectory model information, traverse the drilling planned trajectory following the first trajectory feature point with the first trajectory feature point as a reference, obtain trajectory feature point information, and, based on the trajectory feature point information, use the drilling planned trajectory between adjacent trajectory feature points as a drilling planned trajectory basic segment to obtain planned trajectory basic segment information;

[0132] The display module interacts with the main control module and is used to output and display drilling trajectory planning information, planned trajectory segmentation information, trajectory monitoring points, trajectory correction points and drilling trajectory monitoring data.

[0133] Main control module, specifically including:

[0134] a control unit configured to merge the planned trajectory basic segments to be merged based on adjacent drilling planned trajectory basic segments, generate a position-angle change curve using the planned trajectory length of the trajectory feature point corresponding to the starting position of the drilling planned trajectory segment as an independent variable and the sum of the first characteristic angle and the second characteristic angle as a dependent variable, and adjust the drill bit according to the drill bit inertia standard data corresponding to the trajectory correction point;

[0135] An information receiving unit, which interacts with the information acquisition module and the planning trajectory evaluation module to receive data and transmit it to the judgment unit;

[0136] A judgment unit is used to obtain the planned trajectory basic segment and the drilling planned trajectory segment to be merged based on the basic offset angle, the planned trajectory basic length, the drilling planned trajectory length corresponding to each drilling planned trajectory basic segment and the actual offset angle, compare the drilling trajectory monitoring data with the drill bit inertia standard data and the monitoring data threshold, and determine whether to adjust the drill bit.

[0137] Information acquisition module, specifically including:

[0138] a first acquisition unit, configured to acquire drilling trajectory planning information, drilling trajectory starting position information, and drilling trajectory planning length information, and acquire drilling trajectory model information, drilling trajectory starting position coordinate information, and drilling trajectory coordinate information based on a three-dimensional coordinate system according to the drilling trajectory planning information;

[0139] The second acquisition unit is used to obtain drilling trajectory monitoring data and inertial monitoring data, and obtain the drill bit inertia standard data and monitoring data thresholds corresponding to the trajectory monitoring points and trajectory correction points according to the drilling trajectory planning information and based on the downhole drilling trajectory monitoring requirements.

[0140] Planning trajectory evaluation module, specifically including:

[0141] a first evaluation unit, configured to obtain a first trajectory feature point based on the drilling planning trajectory model information, and traverse the drilling planning trajectory following the first trajectory feature point with the first trajectory feature point as a reference to obtain trajectory feature point information;

[0142] The second evaluation unit is configured to obtain basic segmentation information of the planned trajectory based on the trajectory feature point information and taking the drilling planned trajectory between adjacent trajectory feature points as the drilling planned trajectory basic segment.

[0143] To sum up, the advantages of the present invention are: through the hole trajectory planning information, the drilling planning trajectory is segmented, the planning trajectory segmentation information is obtained, and the accurate division of the drilling planning trajectory is achieved through the planning trajectory segmentation information, which provides a basis for subsequent drilling trajectory monitoring, avoids the inability to accurately analyze the drilling trajectory monitoring data due to excessive differences in drilling trajectories, obtains trajectory monitoring points and trajectory correction points through the planning trajectory segmentation information, and monitors and corrects the drill bit through the trajectory monitoring points and trajectory correction points, ensuring the stability and reliability of the drilling trajectory and improving the monitoring efficiency of the drilling trajectory.

[0144] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A downhole drilling trajectory monitoring and correction method based on inertial navigation technology, characterized in that: include: Acquiring drilling trajectory planning information, wherein the drilling trajectory planning information includes drilling trajectory starting position information and drilling trajectory planning length information; Segmenting the planned drilling trajectory according to the drilling trajectory planning information to obtain planned trajectory segmentation information, wherein the planned trajectory segmentation information includes the planned drilling trajectory segment information; According to the planned trajectory segmentation information, the trajectory monitoring points and trajectory correction points corresponding to each drilling planned trajectory segment are obtained; Acquiring drilling trajectory monitoring data, wherein the drilling trajectory monitoring data includes inertial monitoring data; Adjust the drill bit according to the drilling trajectory monitoring data corresponding to the trajectory monitoring points and trajectory correction points; The step of segmenting the planned drilling trajectory according to the drilling trajectory planning information to obtain planned trajectory segmentation information specifically includes: According to the drilling trajectory planning information, based on the three-dimensional coordinate system, the drilling planning trajectory model information is obtained, wherein the drilling planning trajectory model information includes the drilling trajectory starting position coordinate information and the drilling planning trajectory coordinate information; According to the drilling planning trajectory model information, taking the coordinates of the starting position of the drilling trajectory as a reference and the vertical downward direction as the normal direction, obtain the angle between the line connecting any position of the drilling planning trajectory and the starting position of the drilling trajectory and the normal line; The angle between the line connecting any position of the planned drilling trajectory and the starting position of the drilling trajectory and the normal line is used as the offset angle between any position of the planned drilling trajectory and the starting position of the drilling trajectory; Taking the planned drilling trajectory as a reference, traverse the planned drilling trajectory until the offset angle between the planned drilling trajectory position and the starting position of the drilling trajectory begins to decrease, and use the planned drilling trajectory position as the first trajectory feature point; Taking the first trajectory feature point as a reference, traverse the drilling planning trajectory after the first trajectory feature point to obtain trajectory feature point information; According to the trajectory feature point information, the drilling planning trajectory is segmented to obtain the planned trajectory segmentation information; The step of segmenting the planned drilling trajectory according to the trajectory feature point information and obtaining the planned trajectory segmentation information specifically includes: According to the trajectory feature point information, the drilling planning trajectory between adjacent trajectory feature points is used as the drilling planning trajectory basic segment to obtain the planned trajectory basic segment information; According to the drilling trajectory planning information, the drilling trajectory starting position information, the drilling trajectory ending position information and the drilling trajectory planning length information are obtained; The angle between the line connecting the starting position and the ending position of the drilling trajectory and the normal line is used as the comprehensive offset angle of the drilling planning trajectory; According to the basic segmentation information of the planned trajectory, the number of segments of the planned trajectory is obtained; The comprehensive offset angle and the planned length of the drilling trajectory are divided by the number of planned trajectory segments to obtain the basic offset angle and the basic length of the planned trajectory; According to the planned trajectory basic segmentation information, the drilling planning trajectory length and trajectory feature points corresponding to each drilling planning trajectory basic segment are obtained; Based on the trajectory feature points, the angle between the line connecting the adjacent trajectory feature points corresponding to each drilling planning trajectory basic segment and the normal line is used as the actual offset angle of the drilling planning trajectory basic segment; Obtain the planned trajectory basic segment and the drilling planned trajectory segment to be merged according to the basic offset angle, the planned trajectory basic length, the drilling planned trajectory length corresponding to each drilling planned trajectory basic segment, and the actual offset angle; If the length of the planned drilling trajectory corresponding to the basic segment of the planned drilling trajectory is less than the basic length of the planned trajectory and the actual offset angle is less than the basic offset angle, then the basic segment of the planned drilling trajectory is the basic segment of the planned trajectory to be merged; If the drilling planning trajectory length corresponding to the drilling planning trajectory basic segment is greater than the planned trajectory basic length or the actual offset angle is greater than the basic offset angle, then the drilling planning trajectory basic segment is the drilling planning trajectory segment; Based on the adjacent drilling planning trajectory basic segments of the planned trajectory basic segment to be merged, the planned trajectory basic segments to be merged are merged to obtain planned trajectory segmentation information; The step of merging the planned trajectory basic segments to be merged based on the adjacent drilling planned trajectory basic segments to be merged specifically includes: According to the planned trajectory basic segments to be merged, two adjacent drilling planned trajectory basic segments are obtained for each planned trajectory basic segment to be merged; According to the drilling trajectory planning information, based on the trajectory drilling direction, the drilling planning trajectory basic segment with the drilling direction pointing to the planned trajectory basic segment to be merged is used as the first merged trajectory segment, and the drilling planning trajectory basic segment with the drilling direction pointing to the planned trajectory basic segment to be merged is used as the second merged trajectory segment; The angle between the line connecting the trajectory feature points corresponding to the first merged trajectory segment and the line connecting the trajectory feature points corresponding to the basic segment of the planned trajectory to be merged is used as the first merge offset angle; The angle between the line connecting the trajectory feature points corresponding to the second merged trajectory segment and the line connecting the trajectory feature points corresponding to the basic segment of the planned trajectory to be merged is used as the second merging offset angle; If the first merge offset angle is greater than the second merge offset angle, the merged planning trajectory base segment is merged with the second merged trajectory segment; if the first merge offset angle is less than the second merge offset angle, the merged planning trajectory base segment is merged with the first merged trajectory segment, and the merged planning trajectory is used as the drilling planning trajectory segment.

2. The downhole drilling trajectory monitoring and correction method based on inertial navigation technology according to claim 1 is characterized in that: The first trajectory feature point is used as a reference, and the drilling planning trajectory after the first trajectory feature point is traversed to obtain trajectory feature point information, specifically including: S301: Obtaining the angle between the line connecting any position in the drilling planning trajectory after the first trajectory feature point and the first trajectory feature point and the normal line as the offset angle between the drilling planning trajectory position and the first trajectory feature point; S302: Using the planned drilling trajectory as a reference, traverse the planned drilling trajectory after the first trajectory feature point until the offset angle between the planned drilling trajectory position and the first trajectory feature point begins to decrease, and use the planned drilling trajectory position as the second trajectory feature point; S303: Repeat steps S301-S302 according to the second trajectory feature point until the planned drilling trajectory is traversed to obtain trajectory feature point information; The trajectory feature point information further includes a drilling trajectory starting position, a first trajectory feature point, and a second trajectory feature point.

3. The downhole drilling trajectory monitoring and correction method based on inertial navigation technology according to claim 1 is characterized in that: The adjusting of the drill bit according to the drilling trajectory monitoring data corresponding to the trajectory monitoring point and the trajectory correction point specifically includes: According to the planned trajectory segmentation information, the trajectory feature point information in each drilling planned trajectory segment is obtained; The vertical direction of the line connecting the trajectory feature points corresponding to the starting position and the ending position of each drilling planning trajectory segment is used as the reference direction of the drilling planning trajectory segment; Based on the reference direction, the angle between the line connecting the trajectory feature point corresponding to the starting position of the drilling planning trajectory segment and any position in the drilling planning trajectory segment is used as the first characteristic angle, and the angle between the line connecting the trajectory feature point corresponding to the ending position of the drilling planning trajectory segment is used as the second characteristic angle; The planned trajectory length of the trajectory feature point corresponding to the starting position of the planned drilling trajectory segment is used as the independent variable, and the sum of the first characteristic angle and the second characteristic angle is used as the dependent variable to generate a position-angle change curve; The drilling planning trajectory segment position corresponding to the extreme point in the position-angle change curve is used as the trajectory monitoring point, and the trajectory feature point is used as the trajectory correction point; According to the drilling trajectory planning information and based on the downhole drilling trajectory monitoring requirements, the drill bit inertia standard data and monitoring data thresholds corresponding to the trajectory monitoring points and trajectory correction points are obtained. The drill bit inertia standard data includes drill bit attitude angle data and drill bit speed data. According to the drilling trajectory monitoring data, the drilling trajectory monitoring data corresponding to the trajectory monitoring point and the trajectory correction point is obtained; Compare the drilling trajectory monitoring data with the drill bit inertia standard data and monitoring data threshold to determine whether the drill bit should be adjusted; Among them, when the drill bit is drilling, if the drilling trajectory reaches the trajectory monitoring point and the difference between the drilling trajectory monitoring data corresponding to the trajectory monitoring point and the drill bit inertia standard data exceeds the monitoring data threshold, the drill bit is adjusted according to the drill bit inertia standard data corresponding to the trajectory monitoring point; if the drilling trajectory reaches the trajectory correction point, the drill bit is adjusted according to the drill bit inertia standard data corresponding to the trajectory correction point.

4. A downhole drilling trajectory monitoring and correction system based on inertial navigation technology, used to implement the monitoring and correction method according to any one of claims 1 to 3, characterized in that: include: a main control module, the main control module being used to obtain the planned trajectory base segment to be merged and the drilling planned trajectory segment based on the basic offset angle, the planned trajectory base length, the drilling planned trajectory length corresponding to each drilling planned trajectory base segment, and the actual offset angle, compare the drilling trajectory monitoring data with the drill bit inertia standard data and the monitoring data threshold, determine whether to adjust the drill bit, merge the planned trajectory base segments to be merged based on the drilling planned trajectory base segments adjacent to the planned trajectory base segments to be merged, use the planned trajectory length of the trajectory feature point corresponding to the starting position of the drilling planned trajectory segment as an independent variable, use the sum of the first feature angle and the second feature angle as a dependent variable, generate a position-angle change curve, and adjust the drill bit according to the drill bit inertia standard data corresponding to the trajectory correction point; An information acquisition module, the information acquisition module is used to obtain drilling trajectory planning information, drilling trajectory starting position information and drilling trajectory planning length information, obtain drilling trajectory model information, drilling trajectory starting position coordinate information and drilling trajectory coordinate information based on a three-dimensional coordinate system based on the drilling trajectory planning information, obtain drilling trajectory monitoring data and inertial monitoring data, and obtain drill bit inertia standard data and monitoring data thresholds corresponding to trajectory monitoring points and trajectory correction points based on the drilling trajectory planning information and downhole drilling trajectory monitoring requirements; A planned trajectory evaluation module is configured to obtain a first trajectory feature point based on the drilling planned trajectory model information, traverse the drilling planned trajectory following the first trajectory feature point with the first trajectory feature point as a reference, obtain trajectory feature point information, and, based on the trajectory feature point information, use the drilling planned trajectory between adjacent trajectory feature points as a drilling planned trajectory basic segment to obtain planned trajectory basic segment information; The display module interacts with the main control module and is used to output and display drilling trajectory planning information, planned trajectory segmentation information, trajectory monitoring points, trajectory correction points and drilling trajectory monitoring data.

5. The downhole drilling trajectory monitoring and correction system based on inertial navigation technology according to claim 4 is characterized in that: The main control module specifically includes: a control unit configured to merge the planned trajectory basic segments to be merged based on adjacent drilling planned trajectory basic segments, generate a position-angle change curve using the planned trajectory length of the trajectory feature point corresponding to the starting position of the drilling planned trajectory segment as an independent variable and the sum of the first characteristic angle and the second characteristic angle as a dependent variable, and adjust the drill bit according to the drill bit inertia standard data corresponding to the trajectory correction point; An information receiving unit, which interacts with the information acquisition module and the planning trajectory evaluation module to receive data and transmit it to the judgment unit; A judgment unit is used to obtain the planned trajectory basic segment and the drilling planned trajectory segment to be merged based on the basic offset angle, the planned trajectory basic length, the drilling planned trajectory length corresponding to each drilling planned trajectory basic segment and the actual offset angle, compare the drilling trajectory monitoring data with the drill bit inertia standard data and the monitoring data threshold, and determine whether to adjust the drill bit.

6. The downhole drilling trajectory monitoring and correction system based on inertial navigation technology according to claim 4 is characterized in that: The information acquisition module specifically includes: a first acquisition unit, configured to acquire drilling trajectory planning information, drilling trajectory starting position information, and drilling trajectory planning length information, and acquire drilling trajectory model information, drilling trajectory starting position coordinate information, and drilling trajectory coordinate information based on a three-dimensional coordinate system according to the drilling trajectory planning information; The second acquisition unit is used to obtain drilling trajectory monitoring data and inertial monitoring data, and obtain the drill bit inertia standard data and monitoring data thresholds corresponding to the trajectory monitoring points and trajectory correction points according to the drilling trajectory planning information and based on the downhole drilling trajectory monitoring requirements.

7. The downhole drilling trajectory monitoring and correction system based on inertial navigation technology according to claim 4 is characterized in that: The planning trajectory evaluation module specifically includes: a first evaluation unit, configured to obtain a first trajectory feature point based on the drilling planning trajectory model information, and traverse the drilling planning trajectory following the first trajectory feature point with the first trajectory feature point as a reference to obtain trajectory feature point information; The second evaluation unit is configured to obtain basic segmentation information of the planned trajectory based on the trajectory feature point information and taking the drilling planned trajectory between adjacent trajectory feature points as the drilling planned trajectory basic segment.

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