Method and device for continuously measuring directional track of dynamic borehole while drilling

Abstract

The invention discloses a method and a device for continuously measuring a directional track of a dynamic borehole while drilling, a measurement-while-drilling tool integrating a micromechanical gyroscope, a triaxial accelerometer and a triaxial fluxgate is used, and the method comprises the following steps: performing zero offset error correction on the gyroscope in a static state, and determining an instantaneous rotating speed of the measurement-while-drilling tool during rotation according to the gyroscope; judging whether the instantaneous rotating speed is lower than a rotating speed threshold value; if not, preprocessing the sensor signals of each axis of the measurement-while-drilling tool, and dynamically compensating the signals of the three-axis accelerometer of the measurement-while-drilling tool; performing continuous calculation according to the processed sensor signals of each axis to obtain underground trajectory orientation engineering parameters; the dynamic compensation processing comprises dynamic acceleration amplitude compensation and acceleration signal phase compensation; the underground trajectory orientation engineering parameters comprise a hole drift angle and an azimuth angle. And dynamic compensation is carried out on the triaxial accelerometer signal, the real amplitude and phase relation of the signal are recovered, and the accuracy of dynamic calculation of the hole drift angle and the azimuth angle is ensured.

Description

Technical Field

[0001] This invention relates to the field of drilling technology, specifically to a method and apparatus for continuous measurement of dynamic wellbore directional trajectory while drilling. Background Technology

[0002] Directional drilling requires the use of MWD (Measurement While Drilling) tools to survey the wellbore trajectory. MWD tools integrate gravity / magnetic field sensors and calculate their own attitude by measuring the gravity / geomagnetic components at the tool's location.

[0003] Traditional directional surveying requires the drill string to be stationary, and a single measurement takes 6-7 minutes. Static surveying avoids factors such as vibration, impact, and position fluctuations, and can obtain accurate measurement results, but it has the following drawbacks: 1. It takes a long time, with a single measurement taking 5 to 7 minutes, which can easily lead to huge costs, especially in the offshore oil drilling field where timeliness is critical; 2. Static pump shutdown carries a probability of stuck drill bit, leading to well control risks; 3. Inability to coordinate with geological guidance during real-time drilling. Real-time continuous measurement during drilling is an important development trend in measurement while drilling, especially with the integration of rotary steerable systems for flexible orientation. During drilling, the orientation sensor, attached to the drill string, rotates at a high speed and is subjected to severe vibration and impact, resulting in a significant drop in the signal-to-noise ratio, making it impossible to use traditional methods to calculate high-precision trajectory information. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide a method and apparatus for continuous measurement of dynamic wellbore directional trajectory while drilling, which overcomes or at least partially solves the above problems.

[0005] According to one aspect of the present invention, a method for continuous measurement of dynamic wellbore directional trajectory while drilling is provided. The method uses a measurement-while-drilling tool integrating a micromechanical gyroscope, a triaxial accelerometer, and a triaxial fluxgate. The method includes: In a stationary state, zero bias error correction is performed on the gyroscope, and the instantaneous rotation speed of the drilling measurement tool is determined based on the gyroscope. Determine whether the instantaneous rotational speed is lower than the rotational speed threshold; If not, preprocess the signals from each axis sensor of the measurement while drilling tool and perform dynamic compensation processing on the triaxial accelerometer signals of the measurement while drilling tool; continuously calculate the downhole trajectory orientation engineering parameters based on the processed signals from each axis sensor; the dynamic compensation processing includes dynamic acceleration amplitude compensation and phase compensation of the acceleration signal; the downhole trajectory orientation engineering parameters include the inclination angle and azimuth angle.

[0006] According to another aspect of the present invention, a continuous measurement device for dynamic wellbore directional trajectory while drilling is provided. The device uses a measurement-while-drilling tool integrating a micromechanical gyroscope, a triaxial accelerometer, and a triaxial fluxgate. The device includes: The gyroscope speed measurement module is suitable for performing zero bias error correction on the gyroscope in a static state and determining the instantaneous speed of the drilling measurement tool when it rotates based on the gyroscope. The operating condition judgment module is suitable for determining whether the instantaneous speed is lower than the speed threshold. The calculation module, if the rotational speed judgment module determines that the rotational speed is not lower than the rotational speed threshold, preprocesses the signals of each axis sensor of the measurement-while-drilling tool and performs dynamic compensation processing on the three-axis accelerometer signals of the measurement-while-drilling tool; based on the processed signals of each axis sensor, the downhole trajectory orientation engineering parameters are continuously calculated; the dynamic compensation processing includes dynamic acceleration amplitude compensation and phase compensation of the acceleration signal; the downhole trajectory orientation engineering parameters include the inclination angle and azimuth angle.

[0007] According to another aspect of the present invention, a computing device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus; The memory is used to store at least one executable instruction, which causes the processor to perform the operation corresponding to the above-described continuous measurement method for dynamic wellbore directional trajectory while drilling.

[0008] According to another aspect of the present invention, a computer storage medium is provided, the storage medium storing at least one executable instruction, the executable instruction causing a processor to perform an operation corresponding to the above-described continuous measurement method for dynamic wellbore directional trajectory while drilling.

[0009] According to another aspect of the present invention, a computer program product is provided, including at least one executable instruction that causes a processor to perform operations corresponding to the above-described continuous measurement method for dynamic wellbore directional trajectory while drilling.

[0010] The method and apparatus for continuous measurement of dynamic wellbore directional trajectory during drilling provided by embodiments of the present invention restores the true amplitude and phase relationship of the triaxial accelerometer signal through dynamic compensation; ensuring the accuracy of dynamic calculation of well inclination and azimuth angles; and eliminating the need for static waiting as required by existing measurements, thereby reducing costs, lowering well control risks, and improving operational safety. Based on the downhole trajectory directional engineering parameters obtained through dynamic real-time continuous calculation, it can be coordinated with geological steering in real time to improve drilling efficiency.

[0011] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific implementation methods of the embodiments of the present invention are described below. Attached Figure Description

[0012] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A flowchart of a method for continuous measurement of dynamic wellbore directional trajectory while drilling according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the sensor distribution for the measurement while drilling tool is shown; Figure 3 This diagram illustrates the relationship between the output signal of the triaxial accelerometer and the square of the rotational speed. Figure 4 A supplementary schematic diagram of the radial accelerometer amplitude is shown; Figure 5 A schematic diagram of radial acceleration signal phase difference compensation is shown. Figure 6 A schematic diagram showing the geometric relationships between various parameters during orientation measurement is shown. Figure 7 A schematic diagram of a continuous measurement device for dynamic wellbore orientation trajectory during drilling according to an embodiment of the present invention is shown. Figure 8 A schematic diagram of the structure of a computing device according to an embodiment of the present invention is shown. Detailed Implementation

[0013] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0014] Figure 1 A flowchart of a method for continuous measurement of dynamic wellbore directional trajectory while drilling according to an embodiment of the present invention is shown, as follows: Figure 1 As shown, the method includes the following steps: Step S101: Perform zero-bias error correction on the gyroscope in a static state, and determine the instantaneous rotation speed of the drilling measurement tool based on the gyroscope.

[0015] The measurement-while-drilling tool used in this embodiment integrates a MEMS gyroscope, a three-axis accelerometer, and a three-axis fluxgate, such as... Figure 2 As shown, the MWD tool uses a three-axis accelerometer, a three-axis fluxgate magnetometer, and a micromechanical gyroscope (MEMS gyroscope). The first sensor is a three-axis accelerometer for gravity measurement, including three directions: Ax, Ay, and Az, corresponding to the X, Y, and Z axes. The second sensor is a three-axis fluxgate magnetometer for magnetic measurement, including three directions: Mx, My, and Mz, corresponding to the X, Y, and Z axes. The third sensor is a gyroscope, which is single-axis.

[0016] Existing MWD directional subs are commonly found in 4.75-inch to 8-inch drill bits. Due to the limitations of the drill collar's internal dimensions, MWD subs require a narrow and elongated skeleton, making it impossible for the sensitive center of mass of the triaxial accelerometer to be positioned on the skeleton's central axis. During rotation, this results in a deviation from the true value due to centrifugal force, necessitating accurate measurement of the drill bit's rotational speed to compensate for the centrifugal effect. Existing MWD subs also exhibit significant measurement errors under conditions of vibration, impact, magnetic interference, or drill bit parallel to the Earth's magnetic field lines, making accurate compensation impossible. Therefore, this embodiment employs a single-axis MEMS gyroscope to measure rotational speed. MEMS gyroscopes are small, easily integrated, unaffected by vibration or magnetic fields, have a range of up to 2000° / s, an accuracy better than 0.1%FS, and a temperature resistance up to 175℃, meeting the requirements of directional drilling and offering significant advantages. The triaxial accelerometer and triaxial fluxgate magnetometer facilitate the determination of the tool's position within the Earth's gravitational and magnetic fields, including gravitational and magnetic components.

[0017] Specifically, for the measurement-while-drilling tool in this embodiment, the triaxial accelerometer and triaxial fluxgate, in addition to meeting the requirements of temperature resistance, vibration resistance, and measurement accuracy, also need to have suitable bandwidth and sufficient accuracy in terms of response amplitude and bandwidth. The measurement-while-drilling tool in this embodiment also includes signal conditioning, acquisition, and processing circuits. The signal conditioning circuit mainly performs adjustments such as amplitude adjustment, center value adjustment, noise reduction, and bandwidth adjustment on the output signals of the triaxial accelerometer and triaxial fluxgate. Under dynamic rotation conditions, the gravity and geomagnetic components in the radial directions, such as the X and Y axes, exhibit periodic changes, with frequencies generally within 3Hz (180RPM drill string speed), and generally not exceeding 5Hz (300RPM drill string speed) under special high-speed drilling conditions. For magnetic measurements, the fluxgate sensor is only affected by changes in the ambient magnetic field; vibration will not affect the measurement. Considering the requirements for amplitude and phase accuracy in dynamic measurements, the filtering stage of the signal conditioning circuit can be designed as a first-order low-pass filter with a bandwidth consistent with the frequency response range of the fluxgate. For a 60Hz bandwidth three-axis fluxgate, considering a 3Hz input signal, the amplitude response attenuation is only 5%, and the phase difference is -2.86°. The bandwidth of the accelerometer signal conditioning circuit needs to balance the response to normal input signals and the suppression of vibration noise signals. A higher bandwidth value, such as 20~2000Hz (peak 15g), results in a lower proportion of random vibration acceleration being filtered out, affecting the detection of instantaneous gravity components under dynamic rotation conditions. Reducing the bandwidth of the filter circuit helps suppress vibration noise, but it also suppresses the normally changing instantaneous gravity components under rotation conditions, increasing the errors in both amplitude and phase response, and increasing the difficulty of amplitude compensation and phase correction. Therefore, in implementation, the selected value can be determined through experiments, such as high-density acceleration signal acquisition during downhole drilling to determine the noise spectrum; and placing the sensor module on a rotation and vibration composite test bench to test the design effect. Based on the test results, the bandwidth of the accelerometer signal conditioning circuit can be determined, such as around 10Hz. The above are examples; specific settings should be implemented according to the actual situation, and no limitations are set here. Dynamic rotation conditions also require that the detection output signals of each axis sensor accurately respond to input changes, including amplitude and phase. Noise filtering causing amplitude attenuation and phase shift in the target signal also requires dynamic compensation.

[0018] When performing analog-to-digital conversion on the output signals of each axis sensor, it is still necessary to complete the acquisition of each channel at the same time. Therefore, the signal acquisition circuit in this embodiment needs to select multi-channel synchronous acquisition with high sampling rate and sampling accuracy. The high-precision sampled signals total 7 channels, including: three accelerometer outputs, three-axis fluxgate outputs, and one gyroscope output.

[0019] Based on the above-mentioned measurement-while-drilling (MWD) tool, after the MWD tool is started, since the zero position of the gyroscope changes slightly each time it starts, it is necessary to first obtain the zero-bias error of the MWD tool in a static state. This means estimating the zero-bias error in a static state. The zero-bias error can be determined based on the average gyroscope data over a preset time period, such as taking the average of 30 seconds of gyroscope sampling data as the gyroscope zero-bias error. Correction is then performed based on this zero-bias error; specifically, the zero-bias error is used as a coefficient in the gyroscope model, and zero-bias error correction is applied to the gyroscope in a static state. Since the gyroscope outputs voltage even when it is not rotating, and this output voltage may change over time, it can cause errors in the rotational speed measurement. Therefore, initially, when the MWD tool is stationary, the output voltage value of the gyroscope under non-rotational conditions can be measured in advance to determine the voltage output reference of the gyroscope when the rotational speed is 0. When the MWD tool rotates, the actual voltage value corresponding to the rotational speed is the voltage value output by the gyroscope, minus the voltage reference (zero-bias) in the static state (i.e., when the rotational speed is 0), to obtain the instantaneous rotational speed of the MWD tool. The gyroscope model can be constructed by selecting the appropriate coefficients based on the implementation situation; no restrictions are imposed here.

[0020] Step S102: Determine whether the instantaneous speed is lower than the speed threshold.

[0021] In downhole drilling, due to factors such as drilling fluid circulation, vibration, and release of residual torque in the drill string, the drill string may still rotate slightly even when the top drive is in a static state. Based on the implementation situation, this embodiment sets the speed threshold value to 10 RPM. When the instantaneous speed of the measurement-while-drilling tool is lower than 10 RPM, it is still considered a static condition. If it is not lower than 10 RPM, that is, greater than or equal to 10 RPM, it is a dynamic condition, and a dynamic solution method is adopted accordingly, and step S103 is executed.

[0022] It should be noted that under static conditions of the MWD tool, the acceleration and magnetic components measured by the triaxial accelerometer and triaxial fluxgate sensors are stable and unchanging. In static conditions, each sensor continuously and steadily acquires stable gravity and magnetic components over a period of time, facilitating the calculation of downhole trajectory orientation engineering parameters. However, in dynamic conditions, the acceleration and magnetic components measured by each sensor change in real time. Significant fluctuations in rotational speed due to stuck drill bit or drill slippage lead to irregular changes in acceleration and magnetic components. Furthermore, vibrations and impacts from drill bit movement introduce interference and noise into the sensor measurements. During tool rotation, the accelerometer also experiences measurement deviations due to centrifugal force. Therefore, in dynamic conditions, it is impossible to accurately obtain downhole trajectory orientation engineering parameters directly from the sensor signals. Thus, this embodiment uses a rotational speed threshold to distinguish between dynamic and static conditions, employing different calculation methods for different conditions to ensure continuous and accurate measurement of downhole trajectory orientation engineering parameters.

[0023] Step S103: Preprocess the signals of each axis sensor of the measurement while drilling tool, and perform dynamic compensation processing on the three-axis accelerometer signal of the measurement while drilling tool. Continuously calculate the downhole trajectory orientation engineering parameters based on the processed signals of each axis sensor.

[0024] This embodiment can preprocess the sensor signals of each axis of the measurement while drilling tool according to the static calibration model. The preprocessing includes temperature drift compensation, installation error correction, output relationship calibration, etc.

[0025] Dynamic compensation processing of triaxial accelerometer signals from drilling measurement-while-drilling tools specifically includes dynamic acceleration amplitude compensation and phase compensation of the acceleration signals. Dynamic acceleration amplitude compensation compensates for the orthogonal radial acceleration signals (X-axis and Y-axis) of the triaxial accelerometers. Specifically, for example... Figure 3 As shown, the vertical axis represents the digital sampled values ​​of the acceleration signals from the triaxial accelerometer in the ax, ay, and az directions, and the horizontal axis represents the square of the rotational speed. Figure 3 As shown, the output signals of the radial accelerometers (X-axis and Y-axis) are proportional to the square of the rotational speed. The Z-axis accelerometer, parallel to the drill bit's axis, produces sinusoidal fluctuations under dynamic rotational conditions, resulting in amplitude attenuation at high speeds, but with minimal interference and sampled value fluctuations less than 2000. Z-axis errors can be compensated for by optimizing the mechanical coaxial installation; dynamic calibration of the Z-axis acceleration can also be performed if necessary. The orthogonal radial acceleration signals include a first radial acceleration signal (X-axis) and a second radial acceleration signal (Y-axis). For dynamic acceleration amplitude compensation, the MWD measurement sub can be rotated uniformly on a non-magnetic turntable, and the sensor response at different speeds can be measured. A centrifugal acceleration compensation coefficient model can be obtained through least-squares fitting. The centrifugal acceleration compensation coefficient model can be constructed based on the orthogonal radial acceleration signals and rotational speed for dynamic acceleration amplitude compensation. By setting different rotational speeds and recording instantaneous radial acceleration data, the dynamic amplitude of radial acceleration as a function of rotational speed is obtained, and its model is obtained through least-squares fitting. Figure 4 As shown, for the X-axis, the centrifugal acceleration compensation coefficient model is y = -0.00000000016273x 4 + 0.00000013032x 3 -0.000032225x 2 + 0.000031292x + 0.99963, coefficient of determination R 2 The value is 0.99999. The coefficients in the above centrifugal acceleration compensation model can be set according to the implementation situation; no restrictions are imposed here.

[0026] Acceleration signal phase compensation is performed by obtaining the equivalent installation error angle of the orthogonal radial acceleration signal from the triaxial accelerometer, such as... Figure 5 As shown, the equivalent installation error angle is ψ, where O-XYZ is the reference orthogonal coordinate system and the theoretical orthogonal phase. The signal conditioning and processing circuit includes a filter. Due to bandwidth limitations in the actual circuit, the signal phase shifts after passing through the bandwidth-limited filter, requiring phase compensation. The orthogonal radial acceleration signals from the triaxial accelerometer (the sensor installation angle between the X and Y axes in the radial direction is 90°) have different signal paths. The circuit contains an analog section, causing the phase difference between the two signals to be uncertain (it cannot be 90°), and the difference varies with the rotational speed. Xa represents the phase direction of X relative to Y under actual dynamic rotation conditions; that is, the actual angle between the two paths towards the orthogonal signal is 90°-ψ. Phase compensation is used to cancel ψ, transforming Xa into X with a true 90° angle relative to Y. Specifically, a phase transformation relationship and a phase difference compensation matrix are constructed based on the equivalent installation error angle, the orthogonal radial acceleration signal, and the theoretical orthogonal radial acceleration signal, from the orthogonal coordinate system O-XY to the non-orthogonal coordinate system OX. a The transformation matrix of Y is: [ ]=

[0027] Ignoring second-order minor quantities, we obtain the following: ]=

[0028] Let OX a The orthogonal radial acceleration signals obtained in the Y coordinate system are: P a x, P a The theoretical orthogonal radial acceleration signal in orthogonal coordinates is: P b x, P b y, yielding the phase transformation relationship and phase difference compensation matrix: ]=

[0029] Phase difference compensation is performed on orthogonal radial acceleration signals based on phase transformation relationship and phase difference compensation matrix.

[0030] Here, preprocessing is performed first, followed by dynamic compensation. For example, for temperature sampling from a triaxial accelerometer, centrifugal compensation is applied to the raw triaxial accelerometer samples, the physical quantities of acceleration on the X and Y axes are converted (considering temperature drift compensation), dynamic amplitude compensation is performed on the X and Y axis accelerations, and the X and Y axis acceleration vectors and Axy (i.e., non-orthogonal correction between the X and Y axes) are calculated. Axy and Az are then subjected to sliding filtering, and non-orthogonal correction is applied to Axy and Az. For a triaxial fluxgate, the raw temperature samples are processed, the triaxial magnetic components are converted (considering temperature drift compensation), and the X, Y, and Z axis magnetic components Mx, My, and Mz (considering non-orthogonal correction between the X, Y, and Z axes) are calculated. Mxy and Mz are then subjected to sliding filtering, etc. The above are just examples; specific settings depend on the implementation and are not limited here.

[0031] After preprocessing and dynamic compensation, downhole trajectory orientation engineering parameters can be calculated based on the signals from each axis sensor and the geometric relationships of the orientation measurement parameters. These parameters include the inclination angle and azimuth angle. The inclination angle is the angle between the measurement-while-drilling tool and the gravitational field, while the azimuth angle is the angle between the projection of the measurement-while-drilling tool onto the geomagnetic surface and the Earth's magnetic north and true north. The geometric relationships of the orientation measurement parameters include the geometric relationships between the three-axis accelerometer signals, the three-axis fluxgate signals, the inclination angle, and the azimuth angle, such as... Figure 6 As shown, gx, gy, gz, Hx, Hy, and Hz represent the X, Y, and Z-axis accelerometer signals and the magnetic component signals of the X, Y, and Z-axis fluxgate magnetometers, respectively. Starting from the left... Figure 6 The first figure lists the toolface angle of the intermediate measurement height, the second figure lists the magnetic north toolface angle, the third figure lists the well inclination angle, and the fourth figure lists the well inclination angle and azimuth angle. In the fourth figure, V1 and V2 are two different directions, and the azimuth angle is the result of projecting the magnetic components measured by the three-axis fluxgate onto the horizontal plane, orthogonally decomposing them, and performing trigonometric calculations. After projection, the azimuth angle is expressed as the arctangent of the ratio of the magnetic components in the V2 direction to those in the V1 direction.

[0032] Based on the geometric relationships of the above orientation measurement parameters, the well inclination angle and azimuth angle can be calculated, as shown below: =arctan

[0033] =arctan

[0034] =arctan

[0035] = arctan

[0036] Where a is the well inclination angle, β is the azimuth angle, θ is the GTF (Gravity Tool Face), and φ is the MTF (Magnetic Tool Face).

[0037] Furthermore, when calculating the well inclination angle using the aforementioned triaxial accelerometer signals, the radial accelerometer's acceleration amplitude is attenuated due to the centrifugal force of rotation; strong downhole radial vibration further attenuates the acceleration signal during analog and digital filtering; and the simultaneous involvement of three sensor signals increases the complexity of the solution. In this embodiment, when calculating the well inclination angle, the previous well inclination angle is first obtained (i.e., the previously obtained angle is acquired before the current calculation). It is then determined whether the previous angle is greater than a preset angle threshold, such as 10 degrees. If not, the current well inclination angle is calculated using the triaxial accelerometer signals based on the geometric relationship of the orientation measurement parameters. If so, the current well inclination angle is calculated based on the axial accelerometer signal and gravitational acceleration, i.e., using a single Z-axis accelerometer for measurement. The single Z-axis acceleration points along the axis of the measurement-while-drilling tool, is minimally affected by centrifugal rotation, and is simple and stable to measure. The calculation is as follows: =arccos /

[0038] The inverse cosine function is at a singularity when the z-axis accelerometer signal value is 1, exhibiting an infinite rate of change; even small disturbances can lead to large calculation errors. Therefore, based on the comparison between the previous well inclination and a preset angle threshold, the axial accelerometer signal is used for calculation when the inclination is greater than the threshold, and the triaxial accelerometer signal is used when the inclination is less than the threshold. The drill string is typically 30m long. After one drill string is completed, a new drill string is connected to continue drilling. A static measurement is performed when switching to a new drill string. When determining the well inclination angle, the initial angle is the one calculated under static conditions; subsequent measurements can be taken using the previously calculated inclination angle obtained in real-time.

[0039] This embodiment can calculate continuous downhole trajectory orientation engineering parameters in real time under dynamic rotating well conditions by performing preprocessing and dynamic compensation processing on the sensor signals of various sensors from the measurement-while-drilling tool, without the need for static time-consuming measurements. Furthermore, under dynamic rotating conditions, the instantaneous rotational speed acquired by the gyroscope can be monitored and verified, such as by sampling 500 times per second, averaging the obtained instantaneous rotational speed, and updating the average speed. When the difference between the maximum and minimum instantaneous rotational speed and the average speed within a certain threshold time is too large, such as exceeding a preset fluctuation threshold, the current sensor signal is abandoned for calculating downhole trajectory orientation engineering parameters to avoid data errors affecting subsequent use.

[0040] In an optional embodiment, the following steps may also be included: Step S104: Preprocess the signals from the sensors of each axis of the measurement while drilling tool, and calculate the downhole trajectory orientation engineering parameters based on the geometric relationship of the orientation measurement parameters.

[0041] When the instantaneous rotational speed is determined to be below the speed threshold, this can be considered a static operating condition, and the static downhole trajectory orientation engineering parameters can be calculated based on this static condition. Specifically, the signals from each axis sensor of the measurement-while-drilling tool are acquired and preprocessed. This preprocessing is the same as the preprocessing in step S103, and will not be repeated here. After preprocessing, no dynamic compensation processing is required, and the static downhole trajectory orientation engineering parameters can be directly calculated based on the geometric relationship of the orientation measurement parameters. The geometric relationship of the orientation measurement parameters remains unchanged regardless of whether the operating conditions are static or dynamic. In the static condition, there is no need to determine the well inclination angle; the well inclination angle can be directly calculated based on the triaxial accelerometer signal. The azimuth angle is calculated based on the triaxial fluxgate signal, the instantaneous gravity tool face angle, the well inclination angle, and the geometric relationship of the orientation measurement parameters. The instantaneous gravity tool face angle is calculated based on the radial accelerometer signal.

[0042] In an optional embodiment, the following steps may also be included: Step S105: Determine the total gravity based on the triaxial accelerometer signal, and determine the total magnetic field based on the triaxial fluxgate signal; verify the effectiveness of the downhole trajectory orientation engineering parameters based on the total gravity and / or the total magnetic field.

[0043] The parameters for downhole trajectory orientation engineering also include: total gravity and total magnetic field, where total gravity is GT and total magnetic field is MT, calculated as follows:

[0044] Among them, gx, gy, gz, Hx, Hy, and Hz are the X, Y, and Z axis accelerometer signals and the magnetic component signals of the X, Y, and Z axis fluxgate magnetometers, respectively.

[0045] Taking total gravity as an example, the measured total gravity value over a certain period of time is compared with a reference value, such as the local gravitational acceleration at the drilling site. If the difference is large, it indicates that there may be temporary abnormal working conditions downhole. For dynamic well inclination angles, single-axis axial accelerometer signals and gravitational acceleration calculations, which are less affected by working conditions, can be used. If the total gravity fluctuates significantly, such as by obtaining the fluctuation value based on the difference between the maximum, minimum, and average values ​​over a certain period of time, and the fluctuation value is greater than the fluctuation threshold, it indicates that the vibration and noise filtering effect is poor or that there is magnetic interference, requiring a re-evaluation and reuse of the obtained downhole trajectory orientation engineering parameters. Similarly, when verifying with the total magnetic field, the total magnetic field is compared with the local geomagnetic value at the drilling site, etc., which will not be elaborated here.

[0046] Furthermore, when judging the quality of the sensor signals of each axis based on the total gravity, the total gravity can be normalized. When the normalized total gravity is close to 1, downhole trajectory orientation engineering parameters, such as those obtained from 500 trials, can be obtained. Averaging these 500 downhole trajectory orientation engineering parameters further smooths fluctuations in the wellbore inclination and azimuth angles. The above number of trials is for illustrative purposes only; the specific number should be set according to the implementation situation and is not limited here.

[0047] Step S105 mainly verifies the effectiveness of dynamic operating conditions, and there is no requirement for the order of execution between it and step S104.

[0048] The continuous measurement method for dynamic wellbore orientation trajectory during drilling provided by this invention restores the true amplitude of the triaxial accelerometer signal through dynamic compensation, ensuring the accuracy of dynamic calculation of well inclination and azimuth angles. It also eliminates the need for static waiting as required by existing measurements, reducing costs, lowering well control risks, and improving operational safety. Based on the downhole trajectory orientation engineering parameters obtained through dynamic real-time continuous calculation, it can be coordinated with geological steering in real time to improve drilling efficiency.

[0049] Figure 7 A schematic diagram of the structure of the continuous measurement device for dynamic wellbore directional trajectory while drilling provided in an embodiment of the present invention is shown. Figure 7 As shown, The gyroscope speed measurement module 710 is suitable for performing zero bias error correction on the gyroscope in a static state, and for determining the instantaneous speed of the drilling measurement tool when it rotates based on the gyroscope. The operating condition judgment module 720 is suitable for judging whether the instantaneous speed is lower than the speed threshold. The calculation module 730, if the rotational speed judgment module 720 determines that the rotational speed is not lower than the threshold value, preprocesses the signals from each axis sensor of the measurement-while-drilling tool and performs dynamic compensation processing on the triaxial accelerometer signals of the measurement-while-drilling tool; based on the processed signals from each axis sensor, the downhole trajectory orientation engineering parameters are continuously calculated; the dynamic compensation processing includes dynamic acceleration amplitude compensation and phase compensation of the acceleration signal; the downhole trajectory orientation engineering parameters include the inclination angle and azimuth angle. The device uses a measurement-while-drilling tool integrating a micromechanical gyroscope, a triaxial accelerometer, and a triaxial fluxgate.

[0050] Optionally, the solver module 730 is further adapted to: A centrifugal acceleration compensation coefficient model is constructed based on the orthogonal radial acceleration signal and the square of the rotational speed from the triaxial accelerometer to perform dynamic acceleration amplitude compensation; the orthogonal radial acceleration signal includes the first radial acceleration signal and the second radial acceleration signal; Based on the orthogonal radial acceleration signal from the triaxial accelerometer, the equivalent installation error angle of the orthogonal radial acceleration signal is obtained. Based on the equivalent installation error angle, the orthogonal radial acceleration signal, and the theoretical orthogonal radial acceleration signal, a phase transformation relationship and a phase difference compensation matrix are constructed to compensate for the phase difference of the orthogonal radial acceleration signal.

[0051] Optionally, the solver module 730 is further adapted to: Based on the signals from each axis sensor, the azimuth angle is calculated according to the geometric relationship of the orientation measurement parameters. Obtain the inclination angle of the previous well and determine whether the inclination angle of the previous well is greater than a preset angle threshold; If so, calculate the current well inclination angle based on the axial accelerometer signal and gravitational acceleration; If not, calculate the current well inclination angle based on the triaxial acceleration signal.

[0052] Optionally, the device further includes a static processing module 740, which is adapted to preprocess the signals of each axis sensor of the measurement while drilling tool if the instantaneous rotational speed is lower than the rotational speed threshold, and calculate the downhole trajectory orientation engineering parameters based on the geometric relationship of the orientation measurement parameters.

[0053] Optionally, the geometric relationships of the orientation measurement parameters include the geometric relationships of the triaxial accelerometer signal, the triaxial fluxgate signal, the well inclination angle, and the azimuth angle; The static processing module 740 is further adapted to: The well inclination angle is calculated based on the triaxial accelerometer signal and the geometric relationship of the orientation measurement parameters. The azimuth angle is calculated based on the geometric relationship between the three-axis fluxgate signal, the instantaneous gravity tool face angle, the well inclination angle, and the orientation measurement parameters; the instantaneous gravity tool face angle is calculated based on the radial accelerometer signal.

[0054] Optionally, the downhole trajectory orientation engineering parameters also include: total gravity and total magnetic field; The device also includes: a verification module 750, adapted to determine the total gravity based on the triaxial accelerometer signal; and to determine the total magnetic field based on the triaxial fluxgate signal; and to verify the validity of the downhole trajectory orientation engineering parameters based on the total gravity and / or the total magnetic field.

[0055] The descriptions of the above modules refer to the corresponding descriptions in the method embodiments, and will not be repeated here.

[0056] This invention also provides a non-volatile computer storage medium storing at least one executable instruction that can perform the operation corresponding to the continuous measurement method of dynamic wellbore directional trajectory while drilling in any of the above method embodiments.

[0057] This application provides a computer program product, which includes at least one executable instruction or computer program that enables a processor to perform the operation corresponding to the continuous measurement method of dynamic wellbore directional trajectory while drilling in any of the above method embodiments.

[0058] Figure 8 The diagram illustrates the structure of a computing device according to an embodiment of the present invention. The specific embodiments of the present invention do not limit the specific implementation of the computing device.

[0059] like Figure 8 As shown, the computing device may include: a processor 802, a communication interface 804, a memory 806, and a communication bus 808.

[0060] in: The processor 802, communication interface 804, and memory 806 communicate with each other through the communication bus 808.

[0061] The communication interface 804 is used to communicate with other network elements such as clients or other servers.

[0062] The processor 802 is used to execute program 810, which can specifically execute the relevant steps in the above-described embodiment of the method for continuous measurement of dynamic wellbore directional trajectory while drilling.

[0063] Specifically, program 810 may include program code that includes computer operation instructions.

[0064] Processor 802 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The computing device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0065] Memory 806 is used to store program 810. Memory 806 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0066] Specifically, program 810 can be used to cause processor 802 to execute the continuous measurement method for dynamic wellbore directional trajectory while drilling in any of the above method embodiments. The specific implementation of each step in program 810 can be found in the corresponding descriptions of the steps and units in the above embodiments of continuous measurement for dynamic wellbore directional trajectory while drilling, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the equipment and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0067] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of the present invention are not directed to any particular programming language. It should be understood that the embodiments of the present invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing preferred embodiments of the present invention.

[0068] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0069] Similarly, it should be understood that, in order to streamline the embodiments of the invention and aid in understanding one or more of the various inventive aspects, features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of the invention. However, this disclosure should not be construed as reflecting an intention that the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0070] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0071] Furthermore, those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.

[0072] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components according to the embodiments of the present invention. The embodiments of the present invention can also be implemented as device or apparatus programs (e.g., computer programs and computer program products) for performing part or all of the methods described herein. Such programs implementing the embodiments of the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0073] It should be noted that the above embodiments are illustrative of the present invention and not restrictive of the invention, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. Embodiments of the present invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A method for continuous measurement of a dynamic borehole directional trajectory while drilling, characterized in that, The method uses a drilling measurement tool integrated with a micro-mechanical gyroscope, a three-axis accelerometer and a three-axis fluxgate, and the method comprises: performing zero bias error correction on the gyroscope in a static state, and determining an instantaneous rotation speed of the drilling measurement tool when the drilling measurement tool rotates according to the gyroscope; determining whether the instantaneous rotation speed is lower than a rotation speed threshold value; if not, pre-processing each axis sensor signal of the drilling measurement tool, and performing dynamic compensation processing on the three-axis accelerometer signal of the drilling measurement tool; continuously calculating a downhole trajectory orientation engineering parameter according to the processed each axis sensor signal; the dynamic compensation processing comprises dynamic acceleration amplitude compensation and phase compensation of the acceleration signal; and the downhole trajectory orientation engineering parameter comprises a tool face angle and a direction angle.

2. The method of claim 1, wherein, The dynamic compensation processing on the three-axis accelerometer signal of the drilling measurement tool further comprises: constructing a centrifugal acceleration compensation coefficient model according to orthogonal radial acceleration signals of the three-axis accelerometer and a rotation speed square to perform dynamic acceleration amplitude compensation; the orthogonal radial acceleration signals comprise a first radial acceleration signal and a second radial acceleration signal; obtaining an equivalent installation error angle of the orthogonal radial acceleration signals according to the orthogonal radial acceleration signals of the three-axis accelerometer; constructing a phase transformation relationship and a phase difference compensation matrix according to the equivalent installation error angle, the orthogonal radial acceleration signals and theoretical orthogonal radial acceleration signals to perform phase difference compensation on the orthogonal radial acceleration signals.

3. The method of claim 1, wherein, The continuously calculating the downhole trajectory orientation engineering parameter according to the processed each axis sensor signal further comprises: calculating the direction angle based on a geometric relationship of orientation measurement parameters according to the each axis sensor signal; obtaining a previous tool face angle, and determining whether the previous tool face angle is greater than a preset angle threshold value; if yes, calculating a current tool face angle based on an axial accelerometer signal and a gravity acceleration; if not, calculating the current tool face angle based on the three-axis accelerometer signal.

4. The method of claim 1, wherein, The method further comprises: if the instantaneous rotation speed is lower than the rotation speed threshold value, pre-processing each axis sensor signal of the drilling measurement tool, and calculating a downhole trajectory orientation engineering parameter according to a geometric relationship of orientation measurement parameters.

5. The method of claim 4, wherein, The geometric relationship of the orientation measurement parameters comprises a geometric relationship of the three-axis accelerometer signal, a three-axis fluxgate signal, a tool face angle and a direction angle; The calculating the downhole trajectory orientation engineering parameter according to the geometric relationship of the orientation measurement parameters further comprises: calculating the tool face angle according to the three-axis accelerometer signal in combination with the geometric relationship of the orientation measurement parameters; calculating the direction angle according to the three-axis fluxgate signal, an instantaneous gravity tool face angle, the tool face angle in combination with the geometric relationship of the orientation measurement parameters; the instantaneous gravity tool face angle is calculated according to a radial accelerometer signal.

6. The method according to any one of claims 1-5, characterized in that, The downhole trajectory orientation engineering parameter further comprises a total gravity and a total magnetic field; The method further comprises: determining the total gravity according to the three-axis accelerometer signal, and determining the total magnetic field according to the three-axis fluxgate signal; validating the downhole trajectory orientation engineering parameter according to the total gravity and / or the total magnetic field.

7. A while-drilling dynamic wellbore directional trajectory continuous measurement apparatus, characterized in that, The device uses a drilling measurement tool of integrated micro-mechanical gyroscope, three-axis accelerometer and three-axis magnetic flux gate, and the device comprises: a gyro rotation speed measurement module adapted to perform zero offset correction on the gyroscope in a static state and determine an instantaneous rotation speed of the drilling measurement tool when rotating according to the gyroscope; a working condition judgment module adapted to judge whether the instantaneous rotation speed is lower than a rotation speed threshold value; a solving module, if the rotation speed judgment module judges that the rotation speed is not lower than the rotation speed threshold value, pre-processes each axis sensor signal of the drilling measurement tool, and performs dynamic compensation processing on the three-axis accelerometer signal of the drilling measurement tool; continuously calculates downhole trajectory directional engineering parameters according to the processed each axis sensor signal; the dynamic compensation processing includes dynamic acceleration amplitude compensation and phase compensation of the acceleration signal; the downhole trajectory directional engineering parameters include a deviation angle and an azimuth angle.

8. A computing device, comprising: comprise: a processor, a memory, a communication interface and a communication bus, the processor, the memory and the communication interface complete communication with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction makes the processor execute the corresponding operation of the drilling dynamic wellbore directional trajectory continuous measurement method in any one of claims 1-6.

9. A computer storage medium, characterized in that The storage medium has at least one executable instruction stored therein, and the executable instruction makes the processor execute the corresponding operation of the drilling dynamic wellbore directional trajectory continuous measurement method in any one of claims 1-6.

10. A computer program product, characterised in that, comprise at least one executable instruction, and the executable instruction makes the processor execute the corresponding operation of the drilling dynamic wellbore directional trajectory continuous measurement method in any one of claims 1-6. comprise at least one executable instruction, and the executable instruction makes the processor execute the corresponding operation of the drilling dynamic wellbore directional trajectory continuous measurement method in any one of claims 1-6.

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