Azimuth gamma measurement method, system and equipment for rotary steering system and medium

Abstract

The invention discloses an azimuth gamma measurement method, system and equipment for a rotary steering system and a medium, and relates to the technical field of oil and gas drilling. The method comprises the following steps: S1, acquiring an acceleration sensor signal and a magnetic sensor signal in a rotating state in real time; s2, performing low-pass filtering processing on the acceleration sensor signal and the magnetic sensor signal collected in the S1; s3, acquiring azimuth gamma rotation period information based on the magnetic sensor signal obtained in S2, and then converting the rotation period into rotation angular frequency; s4, constructing a simple harmonic motion equation according to the rotation angular frequency, and matching a phase corresponding to the acceleration sensor signal in each period by using the simple harmonic motion equation; and S5, calculating the azimuth gamma at the position corresponding to the acceleration sensor signal by using the simple harmonic motion equation matched with the acceleration sensor signal in the step S4. According to the method, approximately ideal recovery of the dynamic acceleration measurement signal can be realized, so that the azimuth gamma measurement precision on the basis is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of oil and gas drilling, and in particular to a method, system, device and medium for azimuthal gamma measurement of a rotary steering system. BACKGROUND

[0002] In drilling engineering, real-time measurement of geological parameters, especially azimuthal gamma parameters, is an important basis for the target layer drilling of a geological steering system. Azimuthal gamma instruments are often in a high-speed rotating and vibrating working state. A magnetic sensor is usually used for measurement due to its characteristics of being unaffected by rotation and vibration. With the development and application of modern rotary steering systems and other high-end instruments, new application environments such as high-power motors, multi-motor systems and complex power systems bring more electromagnetic interference. In the case of magnetic field interference, the measurement error of the traditional magnetic sensor measurement method becomes difficult to control. In this case, an acceleration sensor is used to measure the azimuthal gamma. The dynamic state of the drilling tool has the greatest impact on acceleration measurement, especially in complex working conditions such as rotation, vibration and stick-slip. The acceleration measurement signal not only has a deviation caused by rotational inertia, but also has burrs and distortions caused by vibration and stick-slip. The traditional filtering method can only make the signal smooth, but cannot remove the distortions and other influences, resulting in an inability to guarantee the accuracy of the calculated azimuthal gamma parameter value.

[0003] A Chinese patent document with publication number CN114635690A and publication date of June 17, 2022 discloses a near-bit measurement-while-drilling method, system, device and computer-readable storage medium. The method includes: recording the output data of an acceleration sensor and a fluxgate sensor, compensating and correcting the output data of the acceleration sensor using an accelerometer dynamic correction algorithm to obtain a hole inclination solution value and a tool face solution value; collecting gamma information at different azimuths using a gamma sensor, determining the azimuth of the gamma sensor according to the tool face solution value, distributing the obtained gamma information collection values according to sectors, and using a gamma data processing algorithm to perform weighted processing on the gamma information collection values at different azimuths of each sector to obtain azimuthal gamma data.

[0004] However, the above technical solution uses low-pass filtering, centripetal acceleration components and gravitational acceleration components to obtain the hole inclination solution value and the tool face solution value, and needs to repeatedly correct parameters through dynamic measurement experiments and gamma tool face measurement experiments, which is relatively complex in actual application and has poor applicability. SUMMARY

[0005] To solve the technical problems existing in the prior art, the application provides a method, system, device and medium for azimuth gamma measurement of a rotary steering system, frequency locking and phase tracking of an acceleration sensor measurement signal are performed by using a magnetic sensor measurement signal, approximate ideal recovery of a dynamic acceleration measurement signal is realized, and azimuth gamma measurement accuracy on this basis is improved.

[0006] The application is implemented by the following technical solutions: The application provides a method for azimuth gamma measurement of a rotary steering system in a first aspect, including the following steps, S1, real-time collection of acceleration sensor signals and magnetic sensor signals in a rotating state; S2, low-pass filtering processing of the acceleration sensor signals and the magnetic sensor signals collected in S1; S3, obtaining azimuth gamma rotation period information based on the magnetic sensor signals obtained in S2, and then converting the rotation period into a rotation angular frequency; S4, construction of a simple harmonic motion equation according to the rotation angular frequency, and matching of a phase corresponding to each period acceleration sensor signal by using the simple harmonic motion equation; S5, calculation of azimuth gamma at a position of the corresponding acceleration sensor signal by using the simple harmonic motion equation matched with the acceleration sensor signal in S4.

[0007] S4 specifically refers to construction of a simple harmonic motion equation by using a rotation angular frequency, matching calculation of the simple harmonic motion equation with the acceleration sensor signals subjected to low-pass filtering processing in S2, and the phase of the simple harmonic motion equation is the phase of the current period acceleration sensor signal when the matching value reaches the maximum.

[0008] S5 specifically includes that the simple harmonic motion equation matched each time in S4 is used to replace the acceleration sensor signal of the corresponding period, each period is divided into a plurality of azimuth sectors, gamma pulse count values in a time corresponding to the period signal are counted into the corresponding sector, and the count period is normalized to seconds, and the count value is systemically adjusted, and azimuth gamma measurement values are obtained.

[0009] The matching calculation refers to shape matching calculation.

[0010] The plurality of azimuth sectors refer to a lower sector corresponding to azimuth gamma at a 0°-45° and 315°-360° position of the period signal, a left sector corresponding to azimuth gamma at a 45°-135° position, an upper sector corresponding to azimuth gamma at a 135°-225° position, and a right sector corresponding to azimuth gamma at a 225°-315° position.

[0011] The S3 specifically comprises determining the extreme value position of the magnetic sensor signal by using a hill climbing method, and the time between two adjacent extreme value positions is the period of the magnetic sensor signal, and then the period of the magnetic sensor signal is converted into the rotational angular frequency.

[0012] The S3 specifically comprises determining the extreme value position of the magnetic sensor signal by using a hill climbing method, obtaining the time period between two adjacent extreme value positions, taking a plurality of time periods for average processing to obtain the period of the magnetic sensor signal, and then converting the period of the magnetic sensor signal into the rotational angular frequency.

[0013] The S1-S5 steps are cyclically executed to realize real-time measurement of the azimuth gamma.

[0014] The low-pass filtering processing comprises wavelet filtering, Butterworth filtering or finite impulse response filtering.

[0015] In the S3, the azimuth gamma rotation period information is obtained by Fourier transform or wavelet transform.

[0016] The rotational angular frequency is obtained according to the following formula:

[0017] In the formula, is the rotational angular frequency, and T is the rotation period.

[0018] The simple harmonic motion equation is a standard sine function or a standard cosine function.

[0019] The expression of the standard sine function is:

[0020] In the formula, A is the amplitude, is the rotational angular frequency, is the initial phase.

[0021] The expression of the standard cosine function is:

[0022] In the formula, A is the amplitude, is the rotational angular frequency, is the initial phase.

[0023] The matching calculation comprises shape matching or phase matching while performing frequency domain feature matching after frequency domain transformation.

[0024] The shape matching calculation refers to using a correlation-based method, specifically a normalized cross-correlation algorithm, to calculate the dot product by sliding a template signal and a target signal, and to normalize to eliminate the amplitude influence, and the closer the correlation coefficient is to 1, the more similar the shape is.

[0025] The specific steps of the climbing method are as follows: Initialization: Use the current sample point value as the initial solution S; Loop search: generating neighborhood: the value of the next sample point is used as a candidate solution, called the "neighborhood" of S; evaluating neighborhood: comparing the value of the next sample point with the value of the current point; Judgment and move: If the absolute value of this optimal neighborhood solution is higher than that of the current solution S, then set it as the new current solution S and continue the loop; If there is no neighborhood solution with a higher absolute value than S, it means that a "peak" has been reached, and the algorithm terminates. This point is the extreme value position of the magnetic sensor signal.

[0026] A second aspect of the present invention provides an azimuth gamma measurement system for a rotary guidance system, comprising a signal acquisition module for real-time acquisition of acceleration sensor signals and magnetic sensor signals in a rotating state; A signal processing module used to perform low-pass filtering on the acquired accelerometer and magnetometer signals; A signal conversion module used to acquire azimuth gamma rotation period information through magnetic sensor signals, and then convert the rotation period into rotation angular frequency; A matching calculation module is used to construct a simple harmonic motion equation based on the rotation angular frequency and to match the corresponding phase of the acceleration sensor signal in each cycle using the simple harmonic motion equation. An azimuth gamma measurement module for calculating the azimuth gamma at the location corresponding to the accelerometer signal using a simple harmonic motion equation matched with the accelerometer signal.

[0027] A third aspect of the present invention provides a computer device including a processor, an input device, an output device, and a memory, wherein the processor, the input device, the output device, and the memory are interconnected, wherein the memory is used to store a computer program, the computer program including program instructions, and the processor is configured to invoke the program instructions to perform some or all of the steps described in the first aspect of the present invention.

[0028] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program for electronic data interchange, wherein the computer program causes a computer to perform some or all of the steps described in the first aspect of the present invention.

[0029] The beneficial effects of this invention are mainly reflected in the following aspects: 1. The present application, by combining the data of the magnetic sensor and the acceleration sensor, using filtering, function matching, function replacement and azimuth sector division, etc. steps, can remove the influence of distortion under complex working conditions such as magnetic interference and rotation, vibration, stick-slip, etc. to realize high-precision measurement of azimuth gamma. Compared with the traditional method relying on a single sensor, the present application comprehensively utilizes the characteristics of the magnetic sensor and the acceleration sensor, frequency locking and phase tracking of the acceleration signal, which can realize the approximate ideal recovery of the dynamic acceleration measurement signal, thereby improving the azimuth gamma measurement accuracy based on this, and has good adaptability.

[0030] 2. The present application, by matching the simple harmonic motion equation with the filtered acceleration sensor signal, and taking the phase corresponding to the maximum matching value as the standard, can realize accurate positioning of the acceleration signal phase, thereby ensuring the accuracy of the calculation result.

[0031] 3. The present application, using the simple harmonic motion equation to replace the severely distorted acceleration sensor signal, and through azimuth sector division and gamma pulse count normalization, can effectively eliminate the difference in cycle length caused by working condition changes, and improve the statistical accuracy of azimuth gamma.

[0032] 4. The present application adopts shape matching calculation, which can enhance the robustness and accuracy of matching, avoid misjudgment caused by signal noise or local distortion, and improve the reliability of phase determination.

[0033] 5. The present application divides a rotation period into multiple sectors, which can intuitively correspond to the gamma measurement value of different azimuths.

[0034] 6. The present application determines the extreme value position to obtain the period by hill climbing method, which is simple and real-time, can ensure reliable identification of the rotation period while processing quickly, and can do mean value processing on the period between multiple extreme value positions to improve the calculation accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0035] The present application will be further specifically described below in conjunction with the drawings and specific embodiments of the specification: Figure 1 The method flowchart of the present application is shown in Figure 1. Figure 2 The comparison between the disturbed waveform and the ideal waveform of the acceleration sensor and the magnetic sensor is shown in Figure 2. Figure 3 The schematic diagram of obtaining azimuth gamma period information using a magnetic sensor is shown in Figure 3. Figure 4 The schematic diagram of finding the corresponding phase of the acceleration sensor signal of each period using the simple harmonic motion equation is shown in Figure 4. Figure 5To calculate the azimuth gamma schematic diagram at the position corresponding to the acceleration sensor signal with the simple harmonic motion equation; Figure 6 For the hill climbing method step flow chart. DETAILED DESCRIPTION

[0036] Embodiment 1 As a preferred embodiment of the present application, the embodiment provides a method for azimuth gamma measurement of a rotary steering system, comprising the following steps: S1, real-time acquisition of acceleration sensor signals and magnetic sensor signals in a rotating state; S2, low-pass filtering processing of the acceleration sensor signals and the magnetic sensor signals collected in S1 to remove signal burrs caused by circuit noise or vibration; the low-pass filtering processing includes wavelet filtering, Butterworth filtering or finite impulse response filtering; S3, obtaining azimuth gamma rotation period information based on the magnetic sensor signals obtained in S2, and then converting the rotation period into a rotation angular frequency; specifically, the hill climbing method is used to determine the extreme value position of the magnetic sensor signals, and the time between the adjacent two extreme value positions is the magnetic sensor signal period, and then the magnetic sensor signal period is converted into the rotation angular frequency through the formula ; the specific steps of the hill climbing method are as follows: Initialization: taking the current sampling point value as the initial solution S; Cyclic search: generating a neighborhood: taking the next sampling point value as a candidate solution, called the "neighborhood" of S; evaluating the neighborhood: comparing the next sampling point value with the current point value; Judgment and movement: if this optimal neighborhood solution is better than the current solution S, set it as the new current solution S and continue the loop; If there is no neighborhood solution better than S, it means that a "peak" has been reached, and the algorithm terminates, and the point is the extreme value position of the magnetic sensor signals; S4, constructing a simple harmonic motion equation according to the rotation angular frequency, and matching the phase of the acceleration sensor signal corresponding to each period with the simple harmonic motion equation; as shown in Figure 4 , a simple harmonic motion equation is constructed by using the rotation angular frequency, and the simple harmonic motion equation is matched and calculated with the acceleration sensor signals after low-pass filtering processing in S2; in the embodiment, the frequency domain feature matching after frequency domain transformation is performed at the same time as the phase matching, and when the matching value reaches the maximum, the phase of the simple harmonic motion equation is the phase of the current period acceleration sensor signal.

[0037] S5, calculating the azimuth gamma at the position corresponding to the acceleration sensor signal by using the simple harmonic motion equation matched with the acceleration sensor signal in S4; specifically, using the simple harmonic motion equation matched each time in S4 to replace the acceleration sensor signal of the corresponding period, dividing each period into multiple azimuth sectors, counting the gamma pulse count value corresponding to the period signal time into the corresponding sector, normalizing the count period to seconds, adjusting the count value, and adjusting the azimuth gamma measurement value to the gamma pulse count value per second of the corresponding sector, i.e. obtaining the azimuth gamma measurement value.

[0038] In this embodiment, the approximate ideal recovery of the dynamic acceleration measurement signal can be realized, thereby improving the azimuth gamma measurement accuracy based thereon.

[0039] Embodiment 2 As another preferred embodiment of the present application, the embodiment provides an azimuth gamma measurement method for a rotary steering system, comprising the following steps: S1, collecting acceleration sensor signals and magnetic sensor signals in a rotating state in real time; comparing the collected waveforms with ideal waveforms under interference conditions of the acceleration sensor and the magnetic sensor Figure 2 as shown (for easy display, the waveforms have been deburred), the acceleration sensor signal is affected by rotation, vibration, stick-slip, etc. to produce burrs, distortion, and overall up-down shift (amplitude) in position; the magnetic sensor signal is affected by the magnetic field to produce burrs, overall up-down shift (amplitude) and left-right shift (phase) in position; S2, performing low-pass filtering on the acceleration sensor signals and the magnetic sensor signals collected in S1 to remove signal burrs caused by circuit noise or vibration; the low-pass filtering includes wavelet filtering, Butterworth filtering, or finite impulse response filtering; as shown Figure 2 as shown, burrs can only be removed by filtering, but the acceleration sensor signal distortion cannot be corrected, and the phase shift of the magnetic sensor signal cannot be corrected due to the uncertainty of the magnetic field interference, so that neither the acceleration sensor signal nor the magnetic sensor signal can obtain accurate azimuth information using the traditional method; S3, obtaining azimuth gamma rotation period information based on the magnetic sensor signal obtained in S2, and then converting the rotation period into a rotation angular frequency; as shown Figure 3 as shown, the mountain climbing method is used to determine the extreme value position of the magnetic sensor signal, to improve the calculation accuracy, the time period between two adjacent extreme value positions is obtained, a plurality of time periods are taken for average processing to obtain the magnetic sensor signal period, and then the magnetic sensor signal period is converted into a rotation angular frequency by the formula ; the specific steps of the mountain climbing method are as follows: Initialization: taking the current sampling point value as the initial solution S; Loop search: generating neighborhood: the value of the next sample point is used as a candidate solution, called the "neighborhood" of S; evaluating neighborhood: comparing the value of the next sample point with the value of the current point; Judgment and move: If the absolute value of this neighborhood solution is higher than that of the current solution S, then set it as the new current solution S and continue the loop; If there is no neighborhood solution with a higher absolute value than S, it indicates that a "peak" has been reached, and the algorithm terminates. This point is the extreme value location of the magnetic sensor signal. S4. Construct a simple harmonic motion equation based on the rotational angular frequency, and use the simple harmonic motion equation to match the phase of the acceleration sensor signal for each cycle; for example... Figure 4 As shown, a simple harmonic motion equation is constructed using the rotational angular frequency. This simple harmonic motion equation is then used to perform shape matching calculations with the accelerometer signal after low-pass filtering in S2. The shape matching calculations refer to using a correlation-based method, specifically a normalized cross-correlation algorithm. This involves calculating the dot product between a sliding template signal and the target signal, and then normalizing it to eliminate amplitude effects. The closer the correlation coefficient is to 1, the more similar the shapes are. When the matching value reaches its maximum, the phase of this simple harmonic motion equation is the phase of the accelerometer signal in the current cycle.

[0040] S5. Calculate the azimuth gamma at the location corresponding to the accelerometer signal using the simple harmonic motion equations matched with the accelerometer signal in S4; such as... Figure 5 As shown, specifically, it refers to using the simple harmonic motion equation matched in S4 each time, that is, the simple harmonic motion equation when the matching value reaches its maximum, to replace the acceleration sensor signal of the corresponding period with the simple harmonic motion equation, dividing each period into multiple azimuth sectors. The multiple azimuth sectors refer to the lower azimuth gamma sector corresponding to the 0°-45° and 315°-360° positions of the period signal, the left azimuth gamma sector corresponding to the 45°-135° position, the upper azimuth gamma sector corresponding to the 135°-225° position, and the right azimuth gamma sector corresponding to the 225°-315° position. The gamma pulse count value corresponding to the time of the period signal is included in the corresponding sector, and the counting period is normalized to seconds. The count value is then systematically adjusted to obtain the azimuth gamma measurement value.

[0041] Steps S1-S5 are executed cyclically to achieve real-time azimuth gamma measurement.

[0042] Example 3 This embodiment provides an azimuth gamma measurement system for a rotary guide system, including a signal acquisition module for real-time acquisition of acceleration sensor signals and magnetic sensor signals under rotational conditions; A signal processing module used to perform low-pass filtering on the acquired accelerometer and magnetometer signals; A signal conversion module for acquiring azimuth gamma rotation period information from a magnetic sensor signal, and then converting the rotation period into a rotation angular frequency signal; A matching calculation module for constructing a simple harmonic motion equation according to the rotation angular frequency, and matching each period acceleration sensor signal corresponding phase using the simple harmonic motion equation; An azimuth gamma measurement module for calculating the azimuth gamma at the position corresponding to the acceleration sensor signal using the simple harmonic motion equation matched with the acceleration sensor signal.

[0043] Embodiment 4 The embodiment provides a computer device, comprising a processor, an input device, an output device and a memory, the processor, the input device, the output device and the memory are connected with each other, wherein the memory is used for storing a computer program, the computer program comprises program instructions, the processor is configured to invoke the program instructions, and execute the steps described in the embodiment 1 or the embodiment 2 of the application.

[0044] Embodiment 5 The embodiment provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program for electronic data exchange, the computer program comprises program instructions, and the program instructions enable a processor to execute the steps described in the embodiment 1 or the embodiment 2 when the program instructions are executed by the processor.

Claims

1. A method for azimuthal gamma measurements for a rotary steerable system, characterized in that, The method comprises the following steps: S1, collecting acceleration sensor signals and magnetic sensor signals in a rotating state in real time; S2, performing low-pass filtering processing on the acceleration sensor signals and the magnetic sensor signals collected in S1; S3, obtaining azimuth gamma rotation period information based on the magnetic sensor signals obtained in S2, and then converting the rotation period into a rotation angular frequency; S4, constructing a simple harmonic motion equation according to the rotation angular frequency, and matching the phase of each period acceleration sensor signal by using the simple harmonic motion equation; S5, calculating the azimuth gamma at the position of the corresponding acceleration sensor signal by using the simple harmonic motion equation matched with the acceleration sensor signal in S4.

2. The azimuthal gamma survey method for a rotary steerabie system of claim 1, wherein: The S4 specifically refers to constructing a simple harmonic motion equation by using the rotation angular frequency, matching the simple harmonic motion equation with the acceleration sensor signal after low-pass filtering processing in S2, and calculating when the matching value reaches the maximum, the phase of the simple harmonic motion equation is the phase of the current period acceleration sensor signal.

3. The azimuthal gamma survey method for a rotary steerabie system of claim 2, characterized in that: The S5 specifically includes: using the simple harmonic motion equation matched each time in S4, replacing the corresponding period acceleration sensor signal with the simple harmonic motion equation, dividing each period into multiple azimuth sectors, counting the gamma pulse count value in the corresponding period signal into the corresponding sector, normalizing the count period to seconds, and adjusting the count value to obtain the azimuth gamma measurement value.

4. The azimuthal gamma survey method for a rotary steerabie system of claim 3, characterized in that: The matching calculation refers to shape matching calculation.

5. The azimuthal gamma survey method for a rotary steerable system of claims 3 or 4, characterized in that: The multiple azimuth sectors refer to the lower sector of the azimuth gamma corresponding to the 0°-45° and 315°-360° positions of the period signal, the left sector of the azimuth gamma corresponding to the 45°-135° position, the upper sector of the azimuth gamma corresponding to the 135°-225° position, and the right sector of the azimuth gamma corresponding to the 225°-315° position.

6. The azimuthal gamma survey method for a rotary steerabie system of claim 5, wherein: The S3 specifically includes determining the extreme value position of the magnetic sensor signal by using the hill climbing method, and the time between the adjacent two extreme value positions is the period of the magnetic sensor signal, and then the period of the magnetic sensor signal is converted into the rotation angular frequency.

7. The azimuthal gamma survey method for a rotary steerabie system of claim 5, characterized in that: The S3 specifically includes determining the extreme value position of the magnetic sensor signal by using the hill climbing method, obtaining the time period between the adjacent two extreme value positions, taking the average of a plurality of time periods to obtain the period of the magnetic sensor signal, and then converting the period of the magnetic sensor signal into the rotation angular frequency.

8. The azimuthal gamma surveying method for a rotary steerabie system of claim 1, wherein: The S1-S5 steps are executed in a loop to realize real-time measurement of the azimuth gamma.

9. The azimuthal gamma surveying method for a rotary steerabie system of claim 1, wherein: The low-pass filtering processing includes wavelet filtering, Butterworth filtering or finite impulse response filtering.

10. The azimuthal gamma surveying method for a rotary steerabie system of claim 1, characterized in that: In S3, the azimuth gamma rotation period information is obtained by Fourier transform or wavelet transform.

11. The azimuthal gamma surveying method for a rotary steerable system of claim 1, wherein: The rotation angular frequency is obtained according to the following formula: In the formula, is the rotational angular frequency and T is the rotational period.

12. The azimuthal gamma surveying method for a rotary steerabie system of claim 1, characterized in that: The simple harmonic motion equation is a standard sine function or a standard cosine function.

13. The azimuthal gamma surveying method for a rotary steerabie system of claim 12, characterized in that: The expression of the standard sine function is: In the formula, A is an amplitude, is an angular frequency of rotation, is an initial phase.

14. The azimuthal gamma surveying method for a rotary steerabie system of claim 12, characterized in that: The expression of the standard cosine function is: In the formula, A is an amplitude, is an angular frequency of rotation, is an initial phase.

15. The azimuthal gamma surveying method for a rotary steerabie system of claim 3, characterized in that: The matching calculation further includes phase matching while performing frequency domain feature matching after frequency domain transformation.

16. The azimuthal gamma surveying method for a rotary steerabie system of claim 4, characterized in that: The shape matching calculation refers to: adopting a correlation-based method, specifically a normalized cross-correlation algorithm, calculating the dot product by sliding a template signal and a target signal, and normalizing to eliminate amplitude influence. The closer the correlation coefficient is to 1, the more similar the shape is.

17. The azimuthal gamma surveying method for a rotary steerabie system of claim 7, characterized in that: The specific steps of the hill climbing method are: Initialization step, taking the current sample point value as the initial solution S; Loop search step, generating a neighborhood: taking the next sample point value as a candidate solution, referred to as the "neighborhood" of S; evaluating the neighborhood: comparing the next sample point value with the current point value; Judgment and movement step: if this neighborhood solution is higher than the absolute value of the current solution S, set it as the new current solution S, and continue the loop; If there is no neighborhood solution higher than the absolute value of S, it means that a "peak" has been reached, and the algorithm terminates, and the point is the magnetic sensor signal extremum position.

18. A azimuthal gamma measurement system for a rotary steerable system, characterized in that: The signal acquisition module is configured to acquire the acceleration sensor signal and the magnetic sensor signal in real time in a rotating state. The signal processing module is configured to perform low-pass filtering processing on the acquired acceleration sensor signal and the magnetic sensor signal. The signal conversion module is configured to obtain the azimuth gamma rotation period information through the magnetic sensor signal, and then convert the rotation period into a rotation angular frequency. The matching calculation module is configured to construct a simple harmonic motion equation according to the rotation angular frequency, and match the phase corresponding to each period of the acceleration sensor signal by using the simple harmonic motion equation. The azimuth gamma measurement module is configured to calculate the azimuth gamma at the position of the corresponding acceleration sensor signal by using the simple harmonic motion equation matched with the acceleration sensor signal.

19. A computer device, comprising: The computer readable storage medium stores a computer program, and the computer program includes program instructions, and the program instructions, when executed by a processor, cause the processor to execute the method according to any one of claims 1-17.

20. A computer-readable storage medium, characterized in that: The computer readable storage medium stores a computer program, and the computer program includes program instructions, and the program instructions, when executed by a processor, cause the processor to execute the method according to any one of claims 1-17.

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