Method and system for realizing continuous inclination survey and real-time transmission in drilling process of directional well

Abstract

The invention belongs to the technical field of shale gas exploitation, and particularly relates to a method for realizing continuous inclinometry and real-time transmission in a drilling process of a directional well, which comprises the following steps of: integrating a high-dynamic accelerometer and a fluxgate sensor on a non-magnetic shell, assembling a high-speed synchronous analog-to-digital converter into a synchronous sampling module, and carrying out dynamic parameter calibration and temperature compensation; triggering synchronous sampling by a synchronous sampling module, and preprocessing an original signal; recognizing the vibration interference frequency, and adjusting the parameters of the self-adaptive band elimination filter to eliminate the vibration interference; calculating a real-time rotating speed according to a fluxgate signal period to obtain a centripetal acceleration, and calculating a real gravitational acceleration by combining the centripetal acceleration with an acceleration signal after vibration elimination; and finally, based on the real gravitational acceleration and fluxgate data, key parameters of the directional well are calculated. According to the invention, the problems of low efficiency and poor precision of the measurement while drilling technology in the prior art can be solved.

Description

Technical Field

[0001] This invention belongs to the field of shale gas extraction technology, and in particular relates to a method and system for achieving continuous inclination measurement and real-time transmission during directional well drilling. Background Technology

[0002] In the field of oil and gas resource exploration and development, as shallow and easily exploitable resources are gradually depleted, the focus of exploration and development is gradually shifting to deep, ultra-deep, and complex lithological oil and gas reservoirs such as shale gas and tight gas. In the development of such oil and gas reservoirs, complex structures such as horizontal wells and extended reach wells have become the core technical means to increase single-well production and improve resource utilization.

[0003] Measurement while drilling (MWD) is a crucial technology for trajectory control in complex well structures. Its core function is to acquire key trajectory parameters such as well inclination angle, azimuth angle, and tool face angle in real time during drilling. This provides data support for drilling engineers to adjust the attitude of directional tools. However, existing MWD technologies still face two major bottlenecks in practical applications, severely restricting the efficiency and accuracy of complex well development: On the one hand, traditional measurement while drilling (MWD) mode is inefficient and results in significant loss of drilling time. This is because traditional MWD technology uses intermittent measurement. Every 1-2 drill strings need to be drilled, the top drive rotation needs to be stopped, the mud pump needs to be shut down, and the measurement program needs to be started after the drill string comes to a standstill, which is time-consuming. On the other hand, conventional real-time measurement while drilling data is not accurate enough. This is because while existing technologies can achieve real-time measurement during drilling, limitations in hardware performance, signal processing, and error control technologies result in measurement data that does not meet the required accuracy.

[0004] Therefore, in the existing directional well drilling process, the current measurement-while-drilling technology suffers from low efficiency and poor accuracy. Summary of the Invention

[0005] The technical problem solved by this invention is to provide a method and system for continuous inclination measurement and real-time transmission during directional well drilling, so as to solve the problems of low efficiency and poor accuracy of existing measurement-while-drilling technology.

[0006] The basic solution provided by this invention is a method for achieving continuous inclination measurement and real-time transmission during directional well drilling, comprising: S1: In the measurement while drilling equipment, multiple high dynamic response accelerometers and multiple high dynamic response fluxgate sensors are integrated into a non-magnetic metal shell, and a synchronous sampling module is designed through a high-speed synchronous analog-to-digital converter. S2: Perform dynamic parameter calibration and temperature compensation on the accelerometer and fluxgate sensor; S3: The accelerometer and fluxgate sensor are triggered to perform synchronous sampling through the synchronous sampling module to obtain the raw acquisition signal, and the raw acquisition signal is preprocessed. S4: Based on the acceleration signal in the preprocessed raw acquisition signal of the accelerometer, the vibration interference frequency is identified and the adaptive band-stop filter parameters are adjusted to obtain the acceleration signal of the accelerometer after eliminating vibration interference. S5: Based on the periodic change of the fluxgate sensor signal, calculate the real-time rotation speed, then calculate the centripetal acceleration of the accelerometer based on the real-time rotation speed value, and calculate the true gravitational acceleration of the accelerometer based on the acceleration signal of the accelerometer after eliminating vibration interference. S6: Based on the calculated actual gravitational acceleration from the accelerometer and the data from the fluxgate sensor, calculate the key parameters of the directional well.

[0007] The principle and advantages of this invention are as follows: In the implementation of continuous inclination measurement, this invention uses an integrated high dynamic response accelerometer, fluxgate sensor, and high-speed synchronous analog-to-digital converter as the hardware core. The high dynamic sensor ensures that the drill string continuously captures gravitational acceleration and geomagnetic signals when rotating. The synchronous sampling module triggers multiple sensors to collect data synchronously through a unified clock, ensuring that the data corresponds to the same wellbore position. Combined with dynamic parameter calibration and temperature compensation, a stable source is provided for continuous signal output. Furthermore, through S4's real-time identification of vibration interference frequency and dynamic adjustment of band-stop filter parameters, and S5's real-time calculation of rotational speed and centripetal acceleration based on the fluxgate signal period and completion of compensation, seamless connection between signal acquisition and processing is achieved, supporting the continuity of inclination measurement from hardware to algorithm.

[0008] In real-time transmission, S3's high-speed sampling and lightweight preprocessing quickly complete the initial purification of the original signal. S4-S6's signal filtering, error compensation, and key parameter calculation form an efficient processing link, which can instantly convert the purified sensor data into directional well parameters such as well inclination angle and azimuth angle, directly connecting to the transmission channel to achieve low-latency flow from data acquisition to parameter output.

[0009] Therefore, the technical advantage lies in the following: This application integrates a high-dynamic accelerometer and a triaxial fluxgate sensor, and combines them with a high-speed synchronous analog-to-digital converter to form a synchronous sampling module, thereby better solving the problems of low efficiency and poor accuracy in the prior art. Specifically: To address the issue of low efficiency, this solution adopts a full-process, non-stop drilling design, abandoning the traditional intermittent measurement mode that involves stopping drilling and pumps. By leveraging a coherent link of synchronous sampling, real-time signal processing, and parameter calculation, it avoids the time loss of a single measurement, significantly reduces non-drilling time in the drilling cycle, and greatly improves the overall efficiency of drilling and directional measurement. To address the issue of poor accuracy in conventional technologies, S2's dynamic calibration and temperature compensation eliminate sensor parameter drift errors, S4's adaptive band-stop filtering accurately removes vibration interference components, S5's centripetal acceleration compensation corrects system errors caused by drill string rotation eccentricity, and S1's synchronous sampling ensures time consistency of multi-sensor data. These multi-stage error control mechanisms work together to improve the calculation accuracy of key parameters in directional wells, solving the problems of large deviations and lack of reference value in conventional real-time measurement data.

[0010] Furthermore, S4 includes: S4-1: Perform short-time Fourier transform on the acceleration signal in the preprocessed original acquired signal to extract the interference frequency in real time; S4-2: Construct an adaptive band-stop filter and update the center frequency of the adaptive band-stop filter based on the real-time extracted interference frequency; S4-3: Input the acceleration signal into the adaptive bandstop filter to obtain the acceleration signal after eliminating vibration interference.

[0011] Beneficial effects: By capturing the vibration interference frequency in real time through short-time Fourier transform and dynamically adjusting the center frequency of the band-stop filter, the vibration interference components with variable frequencies during drilling can be accurately filtered out, effectively preserving the gravitational acceleration information in the acceleration signal, and providing high-quality data support for subsequent calculations of real gravitational acceleration.

[0012] Furthermore, S5 includes: S5-1: Calculate the real-time rotational speed based on the periodic changes in the X / Y axis fluxgate sensor signals. ; S5-2: Real-time rotation speed based on fluxgate sensor The centripetal acceleration of the accelerometer is calculated using the following expression:

[0013] in, Indicates centripetal acceleration. The eccentricity radius of the accelerometer, Represents the gravitational acceleration constant; S5-3: Based on the actual measured value of the accelerometer after eliminating vibration interference, calculate the compensated true gravitational acceleration of the accelerometer. The expression is:

[0014] in, This indicates the actual gravitational acceleration value measured by the accelerometer. This indicates the actual measured value of the accelerometer. This indicates the centripetal acceleration value of the accelerometer.

[0015] Beneficial effects: The real-time rotational speed of the drill bit is accurately calculated by the periodic change of the fluxgate signal. The centripetal acceleration is derived by combining the eccentric radius and separated from the acceleration measurement value after eliminating vibration interference. This effectively corrects the systematic error caused by the eccentricity of the drill bit rotation and improves the accuracy of the true gravity acceleration data output by the accelerometer.

[0016] Furthermore, S6 includes: S6-1: The well inclination angle is calculated based on the true gravitational acceleration component of the compensated accelerometer. The expression is:

[0017] in, Indicates the inclination angle of the well. This represents the X-axis component of the gravitational acceleration measured by the accelerometer. This represents the Y-axis component of the gravitational acceleration measured by the accelerometer. Represents the gravitational acceleration constant; S6-2: Calculate the azimuth angle based on the combined magnetic field component and gravitational acceleration component of the fluxgate sensor. The expression is:

[0018]

[0019]

[0020] S6-3: Calculate the gravity tool face angle, the expression is:

[0021] in, This indicates the face angle of a gravity tool.

[0022] Beneficial effects: Based on the compensated true gravitational acceleration components and fluxgate magnetic field components, key parameters of directional wells such as well inclination angle, azimuth angle and gravity tool face angle are accurately calculated through standardized formulas, realizing high-precision quantification of core parameters of wellbore trajectory and providing reliable data basis for directional well drilling trajectory control.

[0023] Furthermore, S1 includes: S1-1: Select bandwidth High dynamic accelerometer and triaxial fluxgate sensor; S1-2: Integrates three accelerometers and three fluxgate sensors into a non-magnetic metal housing; S1-3: A 24-bit high-speed synchronous analog-to-digital converter is used to connect the accelerometer and fluxgate sensor.

[0024] Beneficial effects: By selecting high-bandwidth sensors to ensure no signal attenuation at high drill speeds, integrating a non-magnetic housing to avoid magnetic field interference, and using a 24-bit high-speed synchronous analog-to-digital converter to ensure time consistency and acquisition accuracy of multi-sensor data, a high-quality hardware foundation is laid for subsequent signal processing and parameter calculation.

[0025] Furthermore, S2 includes: S2-1: Place the accelerometer and fluxgate sensor in a standard attitude, collect calibration data of the accelerometer and fluxgate sensor in different attitudes, and use the collected calibration data to perform orthogonal calibration on the measurement data of the accelerometer and fluxgate sensor. S2-2: Place the accelerometer and fluxgate sensor in different temperature environments, obtain the temperature characteristic test results of the output data of the accelerometer and fluxgate sensor changing with temperature, and collect the measurement data of the accelerometer and fluxgate sensor in real time during operation, and use the temperature characteristic test results to perform temperature compensation processing on the measurement data.

[0026] Beneficial effects: By correcting the non-orthogonal error of the sensor axis system through orthogonal calibration under standard attitude, and by combining characteristic tests under different temperature environments to achieve real-time temperature compensation, the measurement deviation caused by sensor system errors and downhole temperature fluctuations is effectively eliminated, thereby improving the stability and accuracy of the output data of the accelerometer and fluxgate sensor.

[0027] A system for continuous inclination measurement and real-time transmission during directional well drilling, applied to the aforementioned method for continuous inclination measurement and real-time transmission during directional well drilling, includes: Hardware foundation layer: In the measurement while drilling equipment, multiple high dynamic response accelerometers and multiple high dynamic response fluxgate sensors are integrated into a non-magnetic metal shell, and a synchronous sampling module is designed through a high-speed synchronous analog-to-digital converter; dynamic parameter calibration and temperature compensation processing are performed on the accelerometers and fluxgate sensors. Signal processing layer: The accelerometer and fluxgate sensor are triggered to perform synchronous sampling through the synchronous sampling module to obtain the raw acquisition signal, and the raw acquisition signal is preprocessed. Based on the acceleration signal in the preprocessed raw acquisition signal of the accelerometer, vibration interference frequency identification and adaptive band-stop filter parameter adjustment are performed to obtain the acceleration signal of the accelerometer after eliminating vibration interference. Based on the periodic changes in the fluxgate sensor signal, the real-time rotational speed is calculated, and then the centripetal acceleration of the accelerometer is calculated based on the real-time rotational speed value. Based on the acceleration signal of the accelerometer after eliminating vibration interference, the true gravitational acceleration of the accelerometer is calculated. Data transmission layer: The calculated actual gravitational acceleration from the accelerometer and the data from the fluxgate sensor are transmitted to the server, which then calculates the key parameters of the directional well. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating an embodiment of the present invention. Detailed Implementation

[0029] The following detailed description illustrates the specific implementation method: Shale gas directional wells are a core technology for developing deep-buried, highly heterogeneous shale gas reservoirs. By precisely controlling the wellbore trajectory, they enable long-distance horizontal penetration through shale reservoirs, maximizing contact with gas-producing zones to increase single-well production. Construction must revolve around three core aspects: precise trajectory control, reservoir protection, and drilling efficiency, while setting key parameters based on the geological characteristics of shale, such as its tendency to collapse and high abrasiveness. Regarding wellbore trajectory control, the inclination angle must be strictly controlled in the vertical section. To avoid early wellbore deviation, the inclination angle of the directional ramp-up section is gradually adjusted according to the design. At the same time, ensure that the azimuth angle is within the design tolerance. to ,pass (Additional slant) (Descending slope) (Stabilizing the inclination) tool face angle adjustment, ultimately achieving the inclination angle of the horizontal section of the well. It extends along the reservoir strike; drilling fluid parameters need to balance wellbore stability and reservoir protection, with density set according to the formation pressure coefficient. (High values ​​are taken for deep, high-temperature, and high-pressure wells). Marsh funnel viscosity is controlled at 25-35s in the vertical section and increased to 35-50s in the directional and horizontal sections to enhance rock-carrying capacity, while API filtration loss is controlled within... 5-10 mL, high temperature and high pressure filtration loss 3mL, pH value maintained at 8-10 to reduce drill string corrosion and formation damage; drilling process parameters need to match the rock breaking requirements of shale, with a drilling pressure of 80-150kN in the directional section. Rotation speed combination, horizontal section reduced to 50-100kN drilling pressure and The rotational speed is adjusted to protect the wellbore, and the displacement is adjusted according to the wellbore size. This is combined with the cylinder liner, a pump speed of about 100 spm, and a diesel engine speed of 1100-1200 rpm to ensure efficient drilling fluid circulation and stable rock-breaking energy, ultimately achieving safe and efficient shale gas directional well construction. However, to achieve the above-mentioned technology, existing measurement-while-drilling (MWD) technologies have two problems in practical applications: the traditional MWD mode is inefficient and the conventional real-time MWD data has insufficient accuracy. This application proposes improvements to address these issues, and the embodiments are basically as shown in the appendix. Figure 1As shown: A method for continuous inclination measurement and real-time transmission during directional well drilling, comprising: S1: In the measurement-while-drilling (MWD) equipment, multiple high-dynamic-response accelerometers and multiple high-dynamic-response fluxgate sensors are integrated into a non-magnetic metal housing, and a synchronous sampling module is designed using a high-speed synchronous analog-to-digital converter; wherein, S1 includes: S1-1: Select bandwidth High dynamic accelerometer and triaxial fluxgate sensor; S1-2: Integrates three accelerometers and three fluxgate sensors into a non-magnetic metal housing; S1-3: A 24-bit high-speed synchronous analog-to-digital converter is used to connect the accelerometer and fluxgate sensor.

[0030] In this embodiment, based on the existing drilling tool system, the core sensors are selected and designed. Specifically, for the high-speed, high-temperature, and high-vibration conditions during directional drilling, the selection of accelerometers and fluxgate sensors is as follows: Accelerometer: Select bandwidth MEMS high dynamic accelerometer, measurement range Nonlinear error Ensure 5 The gravitational acceleration signal is unaffected and undistorted; Fluxgate sensor: Select bandwidth A three-axis fluxgate sensor with high resolution. Temperature coefficient It is unaffected by vibration and centripetal acceleration, and is also used for rotational speed measurement; Integration Requirements: Integrate three accelerometers (X / Y / Z axes) and three fluxgate sensors (X / Y / Z axes) into a non-magnetic metal housing, ensuring the orthogonality of the sensor axis system. .

[0031] To ensure that the six sensor components reflect the physical quantities at the same wellbore location, a 24-bit high-speed synchronous analog-to-digital converter is used in the design of the synchronous sampling module, and the sampling frequency of the synchronous sampling module is set accordingly. Synchronization error ; S2: Perform dynamic parameter calibration and temperature compensation processing on the accelerometer and fluxgate sensor; wherein, S2 includes: S2-1: Place the accelerometer and fluxgate sensor in a standard attitude, collect calibration data of the accelerometer and fluxgate sensor in different attitudes, and use the collected calibration data to perform orthogonal calibration on the measurement data of the accelerometer and fluxgate sensor. S2-2: Place the accelerometer and fluxgate sensor in different temperature environments, obtain the temperature characteristic test results of the output data of the accelerometer and fluxgate sensor changing with temperature, and collect the measurement data of the accelerometer and fluxgate sensor in real time during operation, and use the temperature characteristic test results to perform temperature compensation processing on the measurement data.

[0032] In this embodiment, the accuracy of the accelerometer and fluxgate sensor directly affects the results of measurement while drilling. Therefore, through sensor orthogonal calibration and temperature compensation, the wellbore deviation and azimuth accuracy are ensured throughout the entire temperature history. Specifically: 1. Sensor orthogonal calibration: For accelerometers and fluxgate sensors, based on factors such as installation errors and inter-axis crosstalk, a sensor error model is constructed with reference to existing technologies. The sensor is then placed in a standard posture, and sensor output data under different standard postures is collected as calibration data. The orthogonal calibration parameters of the sensor, including axis deviation and scaling factor, are calculated using the least squares method based on the calibration data. Finally, during the sensor measurement process, the measurement data is corrected in real time based on the calculated calibration parameters to eliminate the orthogonal error of the sensor.

[0033] 2. Temperature compensation design: By testing the sensor under different temperature environments, the characteristic curve of the sensor output data changing with temperature is obtained. Then, based on the temperature characteristic test results and the existing linear model, a temperature compensation model between the sensor measurement error and temperature is established. Then, during the sensor operation, the sensor's operating temperature is collected in real time. Based on the real-time collected temperature and the established temperature compensation model, the sensor's measurement data is compensated in real time to eliminate the influence of temperature changes on measurement accuracy.

[0034] S3: The accelerometer and fluxgate sensor are triggered to perform synchronous sampling through the synchronous sampling module to obtain the raw acquisition signal, and the raw acquisition signal is preprocessed. In this embodiment, the acquisition process for multi-sensor synchronous signal acquisition is as follows: First, the synchronous sampling module is activated, triggering synchronous sampling of three accelerometers and three fluxgate sensors through a unified clock signal (1kHz). Then, the acquired voltage signal is differentially amplified and transmitted to the preprocessing unit. The preprocessing unit performs format conversion (binary to digital) on the original acquired signal and caches it in the memory to provide a data pool for subsequent processing. The preprocessing includes accelerometer signal conversion and fluxgate signal conversion. Accelerometer signal conversion converts the acquired digital quantity into the actual acceleration value; fluxgate signal conversion converts the acquired digital quantity into the actual magnetic field strength value.

[0035] S4: Based on the acceleration signal in the preprocessed raw acquisition signal of the accelerometer, vibration interference frequency identification and adaptive band-stop filter parameter adjustment are performed to obtain the accelerometer acceleration signal after eliminating vibration interference; wherein, S4 includes: S4-1: Perform short-time Fourier transform on the acceleration signal in the preprocessed original acquired signal to extract the interference frequency in real time; S4-2: Construct an adaptive band-stop filter and update the center frequency of the adaptive band-stop filter based on the real-time extracted interference frequency; S4-3: Input the acceleration signal into the adaptive bandstop filter to obtain the acceleration signal after eliminating vibration interference.

[0036] In this embodiment, the vibration interference frequency identification process is as follows: First, a short-time Fourier transform is performed on the preprocessed acceleration signal; then, the frequency corresponding to the peak value of the frequency domain amplitude during the short-time Fourier transform process is searched to determine the interference frequency. For adjusting the parameters of the adaptive band-stop filter, we first construct the adaptive band-stop filter, with the following expression:

[0037] in, Indicates the sampling rate. Indicates the filter strength coefficient. Indicates the transformation variable. The frequency represents the interference frequency; therefore, the adaptive bandstop filter updates the center frequency of the filter in real time according to the interference frequency, thereby achieving dynamic suppression of vibration interference.

[0038] Finally, the acceleration signal is input into an adaptive band-stop filter to obtain the acceleration signal after vibration interference is eliminated.

[0039] S5: Based on the periodic change of the fluxgate sensor signal, the real-time rotational speed is calculated, and then the centripetal acceleration of the accelerometer is calculated based on the real-time rotational speed value. Finally, based on the acceleration signal of the accelerometer after eliminating vibration interference, the true gravitational acceleration of the accelerometer is calculated. S5 includes: S5-1: Calculate the real-time rotational speed based on the periodic changes in the X / Y axis fluxgate sensor signals. ; S5-2: Real-time rotation speed based on fluxgate sensor The centripetal acceleration of the accelerometer is calculated using the following expression:

[0040] in, Indicates centripetal acceleration. The eccentricity radius of the accelerometer, Represents the gravitational acceleration constant; S5-3: Based on the actual measured value of the accelerometer after eliminating vibration interference, calculate the compensated true gravitational acceleration of the accelerometer. The expression is:

[0041] in, This indicates the actual gravitational acceleration value measured by the accelerometer. This indicates the actual measured value of the accelerometer. This indicates the centripetal acceleration value of the accelerometer.

[0042] In this embodiment, the magnitude of the centripetal acceleration is determined by the rotational speed of the drill string and the eccentricity radius of the accelerometer. Acquiring accurate accelerometer measurement data requires two steps: The first step is vibration interference elimination, which is performed in step S4. Because the total acceleration signal collected by the accelerometer = gravitational acceleration + vibration acceleration + centripetal acceleration, step S4 can filter out the random interference of vibration acceleration and output the superimposed signal of gravitational acceleration and centripetal acceleration. The second step is centripetal acceleration compensation. The centripetal acceleration is calculated independently from the superimposed signal of gravitational acceleration and centripetal acceleration output in the first step. Then, the centripetal acceleration is subtracted from the superimposed signal to remove system errors and obtain the true gravitational acceleration signal.

[0043] S6: Based on the calculated actual gravitational acceleration from the accelerometer and data from the fluxgate sensor, calculate the key parameters of the directional well; S6 includes: S6-1: The well inclination angle is calculated based on the true gravitational acceleration component of the compensated accelerometer. The expression is:

[0044] in, Indicates the inclination angle of the well. This represents the X-axis component of the gravitational acceleration measured by the accelerometer. This represents the Y-axis component of the gravitational acceleration measured by the accelerometer. Represents the gravitational acceleration constant; S6-2: Calculate the azimuth angle based on the combined magnetic field component and gravitational acceleration component of the fluxgate sensor. The expression is:

[0045]

[0046]

[0047] S6-3: Calculate the gravity tool face angle, the expression is:

[0048] in, This indicates the face angle of a gravity tool.

[0049] Finally, mud pulse transmission is used to transmit the inclinometer parameters ( , , The sensor status data (temperature, rotation speed) is encoded into binary pulse signals and transmitted to the ground via the mud pressure fluctuations in the drill string. After decoding by the ground receiving system, the signals are transmitted to the drilling monitoring platform via industrial Ethernet for monitoring.

[0050] Based on the above technical solution, experiments were conducted before and after the implementation of the design scheme. In the comparative experimental design, the accelerometer used was a conventional low-dynamic accelerometer, the magnetic field sensor was a common single-axis magnetoresistive sensor, the sampling module was an 8-bit asynchronous analog-to-digital converter, and the casing was a common metal casing. The sampling method was intermittent measurement, that is, after drilling 1-2 columns, the top drive rotation was stopped, the mud pump was shut off, and the measurement was started after the drill string came to a standstill. Each measurement took 10-12 minutes. After conventional preprocessing of the sampled signals, the measurement indicators, including well inclination angle, azimuth angle, and gravity tool face angle, were extracted. The average value of 3 sets of data was taken for each measurement. In the experimental design of this embodiment, based on the technical solution of this application, the accelerometer used in the equipment selection is a high dynamic accelerometer, the magnetic field sensor is a three-axis fluxgate sensor, the sampling module is a 24-bit high-speed synchronous analog-to-digital converter, and the shell is a non-magnetic metal shell; the sampling method is continuous synchronous measurement, without the need to stop drilling or pumps. The synchronous sampling module starts 6 sensors to collect data in real time through a unified clock, outputting 1 set of valid data every 10 seconds, and there is no drilling interruption throughout the process; after the sampled signal is preprocessed by this application, namely vibration interference elimination, temperature compensation, and centripetal acceleration compensation, the extracted measurement indicators are the same as those in the comparative example, including well inclination angle, azimuth angle, and gravity tool face angle.

[0051] In the above experiments, the experimental conditions were standardized, including: Consistent well conditions: Select the same shale gas directional well, and the experimental well section is "build-up section (well depth 1800-3300 meters) + horizontal section (well depth 3300-5900 meters)", with the geological conditions being homogeneous shale layers (to avoid interference from formation heterogeneity in measurements).

[0052] Drilling parameters are consistent: the drilling pressure (140-180kN), drill string speed (60-80r / min), and drilling fluid discharge (23-27L / s) are exactly the same and are executed by the same drilling control system.

[0053] Consistent accuracy benchmarks: using a high-precision ground-based reference instrument (well inclination angle error) Azimuth error Three "calibration points" were preset in the experimental well section as a benchmark for comparing the "true values" of the measurement values ​​of the two schemes.

[0054] In the final comparative examples, in terms of data volume, only about 50-100 sets of data could be collected in the 1000-meter experimental well section. Regarding the absolute error of the measurement indicators, the absolute error of the well inclination angle was... The absolute error of the azimuth angle is within The absolute error of the face angle of the gravity tool is within ; In the embodiment, regarding the amount of data, approximately 3600 sets of data can be collected at the experimental proximal end; regarding the absolute error of the measurement indicators, the absolute error of the well inclination angle is... The absolute error of the azimuth angle is The absolute error of the face angle of the gravity tool is .

[0055] Therefore, by comparing the above comparative examples and the embodiments of this application, it can be clearly observed that: The absolute errors of well inclination angle, azimuth angle, and gravity tool face angle in the embodiment were all reduced compared to the comparative example. The above results are consistent with the low error range (meeting the requirements for precise trajectory control in directional wells). Indirectly demonstrating efficiency advantages: the example requires no drilling stoppage for measurement, and the drilling time in the experimental well section is proportionally shortened compared to the comparison. (At the same time, it verifies the efficiency improvement).

[0056] This satisfies the advantages of improved accuracy in the technical solution of this application.

[0057] In another embodiment of this example, a system for continuous inclination measurement and real-time transmission during directional well drilling is also included, applied to the aforementioned method for continuous inclination measurement and real-time transmission during directional well drilling, comprising: Hardware foundation layer: In the measurement while drilling equipment, multiple high dynamic response accelerometers and multiple high dynamic response fluxgate sensors are integrated into a non-magnetic metal shell, and a synchronous sampling module is designed through a high-speed synchronous analog-to-digital converter; dynamic parameter calibration and temperature compensation processing are performed on the accelerometers and fluxgate sensors. Signal processing layer: The accelerometer and fluxgate sensor are triggered to perform synchronous sampling through the synchronous sampling module to obtain the raw acquisition signal, and the raw acquisition signal is preprocessed. Based on the acceleration signal in the preprocessed raw acquisition signal of the accelerometer, vibration interference frequency identification and adaptive band-stop filter parameter adjustment are performed to obtain the acceleration signal of the accelerometer after eliminating vibration interference. Based on the periodic changes in the fluxgate sensor signal, the real-time rotational speed is calculated, and then the centripetal acceleration of the accelerometer is calculated based on the real-time rotational speed value. Based on the acceleration signal of the accelerometer after eliminating vibration interference, the true gravitational acceleration of the accelerometer is calculated. Data transmission layer: The calculated actual gravitational acceleration from the accelerometer and the data from the fluxgate sensor are transmitted to the server, which then calculates the key parameters of the directional well.

[0058] The above are merely embodiments of the present invention. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A method for continuous inclination measurement and real-time transmission during directional well drilling, characterized in that: include: S1: In the measurement while drilling equipment, multiple high dynamic response accelerometers and multiple high dynamic response fluxgate sensors are integrated into a non-magnetic metal shell, and a synchronous sampling module is designed through a high-speed synchronous analog-to-digital converter. S2: Perform dynamic parameter calibration and temperature compensation on the accelerometer and fluxgate sensor; S3: The accelerometer and fluxgate sensor are triggered to perform synchronous sampling through the synchronous sampling module to obtain the raw acquisition signal, and the raw acquisition signal is preprocessed. S4: Based on the acceleration signal in the preprocessed raw acquisition signal of the accelerometer, the vibration interference frequency is identified and the adaptive band-stop filter parameters are adjusted to obtain the acceleration signal of the accelerometer after eliminating vibration interference. S5: Based on the periodic change of the fluxgate sensor signal, calculate the real-time rotation speed, then calculate the centripetal acceleration of the accelerometer based on the real-time rotation speed value, and calculate the true gravitational acceleration of the accelerometer based on the acceleration signal of the accelerometer after eliminating vibration interference. S6: Based on the calculated actual gravitational acceleration from the accelerometer and the data from the fluxgate sensor, calculate the key parameters of the directional well.

2. The method for continuous inclination measurement and real-time transmission during directional well drilling according to claim 1, characterized in that: S4 includes: S4-1: Perform short-time Fourier transform on the acceleration signal in the preprocessed original acquired signal to extract the interference frequency in real time; S4-2: Construct an adaptive band-stop filter and update the center frequency of the adaptive band-stop filter based on the real-time extracted interference frequency; S4-3: Input the acceleration signal into the adaptive bandstop filter to obtain the acceleration signal after eliminating vibration interference.

3. The method for continuous inclination measurement and real-time transmission during directional well drilling according to claim 2, characterized in that: S5 includes: S5-1: Calculate the real-time rotational speed based on the periodic changes in the X / Y axis fluxgate sensor signals. ; S5-2: Real-time rotation speed based on fluxgate sensor The centripetal acceleration of the accelerometer is calculated using the following expression: in, Indicates centripetal acceleration. Let be the eccentricity radius of the accelerometer. Represents the gravitational acceleration constant; S5-3: Based on the actual measured value of the accelerometer after eliminating vibration interference, calculate the compensated true gravitational acceleration of the accelerometer. The expression is: in, This indicates the actual gravitational acceleration value measured by the accelerometer. This indicates the actual measured value of the accelerometer. This indicates the centripetal acceleration value of the accelerometer.

4. The method for continuous inclination measurement and real-time transmission during directional well drilling according to claim 3, characterized in that: S6 includes: S6-1: The well inclination angle is calculated based on the true gravitational acceleration component of the compensated accelerometer. The expression is: in, Indicates the inclination angle of the well. This represents the X-axis component of the gravitational acceleration measured by the accelerometer. This represents the Y-axis component of the gravitational acceleration measured by the accelerometer. Represents the gravitational acceleration constant; S6-2: Calculate the azimuth angle based on the combined magnetic field component and gravitational acceleration component of the fluxgate sensor. The expression is: S6-3: Calculate the gravity tool face angle, the expression is: in, This indicates the face angle of a gravity tool.

5. The method for continuous inclination measurement and real-time transmission during directional well drilling according to claim 4, characterized in that: S1 includes: S1-1: Select bandwidth High dynamic accelerometer and triaxial fluxgate sensor; S1-2: Integrates three accelerometers and three fluxgate sensors into a non-magnetic metal housing; S1-3: A 24-bit high-speed synchronous analog-to-digital converter is used to connect the accelerometer and fluxgate sensor.

6. The method for continuous inclination measurement and real-time transmission during directional well drilling according to claim 5, characterized in that: S2 includes: S2-1: Place the accelerometer and fluxgate sensor in a standard attitude, collect calibration data of the accelerometer and fluxgate sensor in different attitudes, and use the collected calibration data to perform orthogonal calibration on the measurement data of the accelerometer and fluxgate sensor. S2-2: Place the accelerometer and fluxgate sensor in different temperature environments, obtain the temperature characteristic test results of the output data of the accelerometer and fluxgate sensor changing with temperature, and collect the measurement data of the accelerometer and fluxgate sensor in real time during operation, and use the temperature characteristic test results to perform temperature compensation processing on the measurement data.

7. A system for continuous inclination measurement and real-time transmission during directional well drilling, applied to a method for continuous inclination measurement and real-time transmission during directional well drilling as described in any one of claims 1-6, characterized in that: include: Hardware foundation layer: In the measurement while drilling equipment, multiple high dynamic response accelerometers and multiple high dynamic response fluxgate sensors are integrated into a non-magnetic metal shell, and a synchronous sampling module is designed through a high-speed synchronous analog-to-digital converter; dynamic parameter calibration and temperature compensation processing are performed on the accelerometers and fluxgate sensors. Signal processing layer: The accelerometer and fluxgate sensor are triggered to perform synchronous sampling through the synchronous sampling module to obtain the raw acquisition signal, and the raw acquisition signal is preprocessed. Based on the acceleration signal in the preprocessed raw acquisition signal of the accelerometer, vibration interference frequency identification and adaptive band-stop filter parameter adjustment are performed to obtain the acceleration signal of the accelerometer after eliminating vibration interference. Based on the periodic changes in the fluxgate sensor signal, the real-time rotational speed is calculated, and then the centripetal acceleration of the accelerometer is calculated based on the real-time rotational speed value. Based on the acceleration signal of the accelerometer after eliminating vibration interference, the true gravitational acceleration of the accelerometer is calculated. Data transmission layer: The calculated actual gravitational acceleration from the accelerometer and the data from the fluxgate sensor are transmitted to the server, which then calculates the key parameters of the directional well.

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