Accelerometer installation error correction method and related equipment

Abstract

The invention discloses an accelerometer installation error correction method and related equipment, and the method comprises the steps: obtaining output signals of an accelerometer in at least two directions in response to the rotation motion of target equipment provided with the accelerometer around a first axis; wherein the extension direction of the first axis is the axial direction of the target equipment; determining a signal phase difference between the at least two directions based on the output signal and the installation errors of the accelerometer in the at least two directions; determining non-orthogonal errors in at least two directions based on the signal phase difference and a preset reference phase difference; and correcting the installation error based on the non-orthogonal error.

Description

Technical Field

[0001] This application belongs to the field of rotating machinery speed measurement, and specifically relates to a method for correcting accelerometer installation error, a device for correcting accelerometer installation error, an electronic device, and a computer-readable storage medium. Background Technology

[0002] In the field of rotating machinery speed measurement, traditional methods rely on specialized sensors such as encoders, which suffer from problems such as complex installation, high cost, and poor environmental adaptability. Therefore, using a triaxial accelerometer to infer the rotational speed from the signal cycle is an alternative solution, but its practical application is limited by unavoidable installation errors (such as angular deviation and non-orthogonality errors). These errors are coupled with centrifugal force and gravity, leading to inaccurate speed calculations, especially under varying operating conditions.

[0003] Related technologies either pursue high-precision installation (high cost) or rely on idealized signal processing (poor adaptability), neither of which can achieve robust and accurate speed measurement under universal installation conditions. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a method for correcting accelerometer installation errors and related equipment.

[0005] In a first aspect, embodiments of this application provide a method for correcting accelerometer installation errors, comprising: In response to the rotational motion of a target device equipped with an accelerometer about a first axis, the output signals of the accelerometer in at least two directions are acquired; wherein the extension direction of the first axis is the axial direction of the target device; Based on the output signal and the installation error of the accelerometer in at least two directions, determine the signal phase difference between at least two directions; Based on the signal phase difference and the preset reference phase difference, non-orthogonal errors in at least two directions are determined; Installation errors are corrected based on non-orthogonal errors.

[0006] In some embodiments, at least two directions include a second axial direction and a third axial direction; Acquire the output signals of the accelerometer in at least two directions, including: In response to the rotation of the target device about the first axis, the accelerometer acquires a first output signal in the direction of the second axis and a second output signal in the direction of the third axis. The second and third axes are both located in a plane perpendicular to the first axis.

[0007] In some embodiments, before determining the signal phase difference between at least two directions, the method further includes: While the target device rotates about a first axis, acquire dynamic output values ​​of the accelerometer in at least two directions; and, When the target device is stationary, acquire the static output values ​​of the accelerometer in at least two directions; Based on the dynamic and static output values, the installation error of the accelerometer in at least two directions is determined.

[0008] In some embodiments, the installation error includes a first installation error parameter and a second installation error parameter; the method further includes: determining a second installation error parameter of the target device in a second axial direction based on the first installation error parameter of the target device in a first axial direction.

[0009] In some embodiments, the first installation error parameter includes a first installation tilt angle and a first eccentric radius; the dynamic output value includes a minimum axial output value, a maximum axial output value, and a constant axial output value. While the target device rotates about a first axis, acquire dynamic output values ​​of the accelerometer in at least two directions, including: Control the target device to rotate at a constant speed around the first axis, adjust the orientation of the target device and obtain the axial output sequence of the accelerometer, traverse the axial output sequence, and determine the maximum axial output value of the accelerometer. Adjust the target device to the first orientation, and in response to the rotation of the target device about the first axis, obtain the minimum axial output value of the accelerometer in the first orientation; Adjust the target device to the second orientation; in response to the rotation of the target device about the first axis, obtain a constant axial output value of the accelerometer in the second orientation; The first orientation is the orientation of the target device when the accelerometer output is at its maximum axial value; the second orientation is the orientation of the target device when the accelerometer's axial output is constant. Based on the dynamic output value, the first mounting tilt angle and the first eccentric radius of the accelerometer in the direction of the first axis are determined.

[0010] In some embodiments, determining the first mounting tilt angle and the first eccentric radius of the accelerometer in the direction of the first axis based on the dynamic output value includes: Determine the angular velocity of the target device rotating uniformly around the first axis; Based on the dynamic output value, a system of simultaneous equations is constructed with the first installation tilt angle and the first eccentric radius as unknowns; Solve the system of simultaneous equations to obtain the first installation tilt angle and the first eccentricity radius; The system of simultaneous equations is as follows:

[0011] in, This indicates the minimum axial output value of the accelerometer in the direction of the first axis. This indicates the constant axial output value of the accelerometer in the direction of the first axis. Indicates the magnitude of gravitational acceleration. This represents the angular velocity of the target device's rotation. This indicates the installation error angle of the Z-axis accelerometer. This indicates the eccentricity radius of the Z-axis accelerometer installation.

[0012] In some embodiments, the second installation error parameter includes the second installation tilt angle and the second eccentricity radius; Based on the first installation error parameter of the target equipment in the first axial direction, the second installation error parameter of the target equipment in the second axial direction is determined, including: When the target device is in a static state, acquire the static output value of the accelerometer; Based on the static output value and the first mounting angle, determine the second mounting angle of the accelerometer in the direction of the second axis; In response to the rotation of the target device about the first axis, the dynamic output value of the accelerometer in the direction of the second axis is acquired; The second eccentric radius in the direction of the second axis is determined based on the second installation tilt angle, angular velocity, and dynamic output value.

[0013] In some embodiments, determining the signal phase difference between the at least two directions includes: Based on the installation error, a first signal component in the output signal is determined; wherein, the first signal component is generated based on the rotational motion of the target device; The first signal component is separated from the output signal to obtain the second signal component; The signal phase difference is obtained by performing cross-correlation analysis on the second signal component.

[0014] In some embodiments, cross-correlation analysis is performed on the second signal component to obtain the signal phase difference, including: Determine the cross-correlation function of the second signal component, and determine the signal phase difference based on the cross-correlation function; The cross-correlation function is expressed as:

[0015] in, Represents the cross-correlation function. and This represents the second signal component.

[0016] In some embodiments, non-orthogonal errors in at least two directions are determined based on the signal phase difference and a preset reference phase difference, including: Determine the difference between the signal phase difference and the preset reference phase difference, and use the difference as a non-orthogonal error in at least two directions.

[0017] In some embodiments, correcting installation errors based on non-orthogonal errors includes: In response to a non-orthogonal error exceeding a preset threshold, a prompt message is generated to indicate the accelerometer's installation status; The installation error is corrected based on the prompt information.

[0018] Secondly, embodiments of this application provide an accelerometer installation error correction system, comprising: The output signal determination module is configured to: in response to the rotational movement of the target device on which the accelerometer is mounted about a first axis, acquire the output signals of the accelerometer in at least two directions; wherein the extension direction of the first axis is the axial direction of the target device; The phase difference determination module is configured to determine the signal phase difference between at least two directions based on the output signal and the installation error of the accelerometer in at least two directions; The error determination module is configured to: determine non-orthogonal errors in at least two directions based on the signal phase difference and a preset reference phase difference; The error correction module corrects installation errors based on non-orthogonal errors.

[0019] Thirdly, embodiments of this application provide an electronic device, including: a processor and a memory, wherein the memory stores a program or instructions executable on the processor, and the program or instructions, when executed by the processor, implement the steps of the accelerometer installation error correction method as described in the first aspect.

[0020] Fourthly, embodiments of this application provide a computer-readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the accelerometer installation error correction method as described in the first aspect.

[0021] The technical solution provided in this application first responds to the rotational motion of a target device equipped with an accelerometer around a first axis, acquiring the output signals of the accelerometer in at least two directions. Then, based on the output signals and the installation errors of the accelerometer in at least two directions, the signal phase difference between the at least two directions is determined. Further, based on the signal phase difference and a preset reference phase difference, the non-orthogonal error in the at least two directions is determined. Finally, the installation error is corrected based on the non-orthogonal error. This application achieves high-precision, low-cost rotational speed measurement using a triaxial accelerometer by systematically calibrating and compensating for installation errors during the commissioning phase. It also possesses self-monitoring of installation status and adaptive capabilities for operating conditions, solving the problems of low accuracy and poor reliability of traditional methods in complex environments, and realizing integrated calculation of rotational speed, attitude, and gravitational acceleration.

[0022] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0023] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the accelerometer's three-axis division and the near-drill bit instrument rotation provided in an embodiment of this application; Figure 2 A flowchart illustrating the method for correcting accelerometer installation errors provided in this application embodiment; Figure 3 This is a schematic diagram of the installation error of the accelerometer's Y-axis and Z-axis provided in the embodiments of this application; Figure 4 This is a schematic diagram of another installation error of the accelerometer's Y-axis and Z-axis provided in an embodiment of this application; Figure 5 A schematic diagram of an accelerometer installation error correction system provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0024] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0025] It should be understood that the steps described in the method embodiments of this application may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this application is not limited in this respect.

[0026] As described in the background section, in fields such as oil drilling, geological exploration, and rotating machinery monitoring, real-time and accurate measurement of the rotational speed of rotating components such as drill collars and spindles is of great significance for optimizing operating parameters, ensuring equipment safety, and achieving closed-loop control. Traditional speed measurement methods mainly rely on installing dedicated speed measuring devices such as encoders, magnetoelectric sensors, or Hall elements. While these methods are direct, they often require additional signal generating components (such as gears or magnets) to be installed on the rotating body, or sensors to be arranged in a limited space, resulting in complex system structures, difficult installation and maintenance, increased costs, and susceptibility to reliability issues under harsh operating conditions such as downhole, high temperature, and high vibration.

[0027] With the development of microelectromechanical systems (MEMS) technology, triaxial accelerometers have been widely used in attitude sensing and motion measurement due to their small size, low cost, and high reliability. Theoretically, the rotational angular velocity can be calculated by analyzing the periodic changes in the accelerometer's output signal during rotation. However, this method faces a fundamental problem in practical engineering applications: accelerometers inevitably suffer from installation angular errors (such as the accelerometer's sensing axis not coinciding with the theoretical axis of the device) and non-orthogonal errors (such as the sensing axes not being perfectly perpendicular). During rotation, these errors strongly couple with the centrifugal and gravitational acceleration components, leading to severe distortion of the output signal. This results in low accuracy and poor stability of the rotational speed extracted directly from the time-domain signal period, making the method almost impractical, especially when the rotational speed fluctuates or radial vibrations are present.

[0028] To use accelerometers in rotational measurements, existing technologies typically employ two approaches: one is to pursue extremely high installation accuracy and use complex tooling for calibration, which significantly increases manufacturing and maintenance costs; the other is to attempt to separate error components through complex signal filtering algorithms, but this relies on ideal assumptions about the motion state, has poor adaptability to actual varying working conditions, and cannot correct for time-varying installation states caused by vibration and impact.

[0029] Therefore, how to fully utilize rather than passively eliminate installation error information under the reality that perfect installation is not possible, and realize a highly robust and adaptive speed measurement method, has become a technical problem that urgently needs to be solved in this field.

[0030] Based on this, this application provides a method for correcting accelerometer installation errors. By systematically calibrating and compensating for installation errors during the commissioning phase, a triaxial accelerometer is used to achieve high-precision and low-cost rotational speed measurement. It also possesses self-monitoring capabilities for installation status and adaptive capabilities for operating conditions, solving the problems of low accuracy and poor reliability of traditional methods in complex environments, and achieving integrated calculation of rotational speed, attitude, and gravitational acceleration.

[0031] refer to Figure 1 This is a schematic diagram of the three-axis division of the accelerometer and the rotation of the instrument near the drill bit provided in the embodiments of this application.

[0032] like Figure 1 As shown, the accelerometer is eccentrically mounted, with its Z-axis pointing towards the axis of the instrument near the drill bit. The radius of the accelerometer's center from the axis of rotation is... When the downhole near-bit instrument rotates with the drill bit, its internal accelerometer also rotates. The Z-axis is parallel to the instrument's axis and is almost unaffected by rotation. Ignoring vibration and other interference, the Y-axis is affected by centrifugal force generated during rotation. Therefore, the Y-axis data from the accelerometer's three-axis data can be used to calculate the rotational speed, using the following formula:

[0033] in, Centripetal acceleration is expressed in units of 1. AD represents the digital value of centrifugal acceleration along the Y-axis. The unit of measurement for the accelerometer is scal / G, where G represents gravitational acceleration, and the unit is scal / G. r represents the radius of the accelerometer center from the axis of rotation, and RPM represents the rotational speed, in units of... .

[0034] refer to Figure 2 This is a flowchart illustrating the method for correcting accelerometer installation errors provided in an embodiment of this application.

[0035] Specifically, this embodiment takes a measurement-while-drilling system as an example, where the first axis is the rotation axis of the drill collar (Z-axis), the second axis is the Y-axis, and the third axis is the X-axis. The Y-axis and X-axis are theoretically orthogonal to each other and both perpendicular to the Z-axis.

[0036] Step S201: In response to the rotation of the target device on which the accelerometer is mounted about the first axis, acquire the output signals of the accelerometer in at least two directions.

[0037] refer to Figure 3 This is a schematic diagram of the installation error of the accelerometer Y-axis and Z-axis provided in the embodiments of this application.

[0038] In actual drilling operations, the drill collar (target equipment) rotates around its axis (the first axis, i.e., the Z-axis direction). Output signals from two horizontal accelerometers (typically the X-axis and Y-axis) are continuously acquired. and Because the drill collar rotates, the projection of gravitational acceleration onto the X and Y planes will change periodically. Ideally ( =0), these two signals should be sine / cosine signals with a 90° phase difference. Installation errors and centrifugal acceleration will be superimposed on this signal.

[0039] Step S202: Based on the output signal and the installation error of the accelerometer in at least two directions, determine the signal phase difference between at least two directions.

[0040] In this step, other installation errors are assumed. Calibration has been completed and is known during the commissioning phase. Furthermore, using known error parameters, including but not limited to the mounting tilt angles of each axis (such as the Z-axis and Y-axis)... , ) and eccentricity radius ( ), from the original signal and Subtracting the centrifugal acceleration component as well as .

[0041] Furthermore, cross-correlation analysis is performed on the processed "pure gravity projection" signal, or the actual phase difference between the two signals is accurately calculated using methods such as Hilbert transform and FFT phase analysis to eliminate centrifugal force interference, extract the periodic signal generated solely by gravity projection, and measure their true phase relationship.

[0042] Step S203: Based on the signal phase difference and the preset reference phase difference, determine the non-orthogonal error in at least two directions.

[0043] Under ideal orthogonal installation conditions, the phase difference between the rotational gravity signals sensed by the two horizontal axes should be 90°. The calculation formula is:

[0044] Calculated This is the non-orthogonal error angle between the X-axis and the Y-axis. If If the value is not zero, it means that the two axes are not strictly perpendicular during installation.

[0045] Step S204: Correct the installation error based on the non-orthogonal error.

[0046] The "calibration" here does not refer to physically adjusting the sensor, but rather to using the calculated values ​​in subsequent data processing. The value is used to correct the solution of the gravitational component.

[0047] When calculating the actual Y-axis gravity component, the formula becomes:

[0048] because Defined as the deviation of the Y-axis from the ideal orthogonal position, the gravity component calculation of the X-axis after correction is usually no longer included separately. Item (considered) The error has been accounted for on the Y-axis.

[0049] Repeat the above procedure periodically or during work, and compare the results of this measurement. Compared with the last laboratory calibration If the difference exceeds the threshold, it indicates that the sensor mounting structure may have undergone physical deformation or loosening due to strong vibration, providing a critical early warning for system maintenance.

[0050] As an optional embodiment, at least two directions include a second axial direction and a third axial direction; acquiring the output signals of the accelerometer in at least two directions includes: in response to the rotation of the target device about the first axis, acquiring a first output signal of the accelerometer in the second axial direction and a second output signal in the third axial direction; wherein the second axis and the third axis are both located in a plane perpendicular to the first axis.

[0051] Specifically, the first axis is the rotation axis of the target equipment, which in measurement while drilling typically corresponds to the axis of the drill collar, i.e., the Z-axis direction after the accelerometer is installed. The second and third axes are two axes located in a plane perpendicular to the rotation axis, i.e., the X-axis and Y-axis directions after the accelerometer is installed. When the equipment rotates around the Z-axis, the output signals of the X-axis (second axis) and the Y-axis (third axis) are acquired simultaneously.

[0052] As an optional embodiment, before determining the signal phase difference between at least two directions, the method further includes: acquiring dynamic output values ​​of the accelerometer in at least two directions while the target device is rotating about a first axis; and acquiring static output values ​​of the accelerometer in at least two directions while the target device is stationary; and determining the installation error of the accelerometer in at least two directions based on the dynamic output values ​​and the static output values.

[0053] As an optional embodiment, the installation error includes a first installation error parameter and a second installation error parameter; the method of this application embodiment further includes: determining a second installation error parameter of the target device in the second axis direction based on the first installation error parameter of the target device in the first axis direction.

[0054] refer to Figure 4This is a schematic diagram of another installation error of the accelerometer's Y-axis and Z-axis provided in the embodiments of this application.

[0055] In one optional implementation, to improve the systematic nature of the error calibration and the accuracy of the final rotational speed calculation, the installation error parameter can be further divided into a first installation error parameter and a second installation error parameter. The process of determining the installation error parameter of the accelerometer on the target device specifically includes the following two stages.

[0056] First, determine the first installation error parameter of the accelerometer in the first axial direction.

[0057] In this embodiment, the first axis corresponds to the rotation axis direction of the target device (e.g., the axis of the drill collar in a drilling instrument, i.e., the Z-axis direction). The first installation error parameter includes at least a first installation tilt angle (denoted as γ, representing the angle between the accelerometer sensing axis and the theoretical axis) and a first eccentric radius (denoted as...). , which represents the distance of the accelerometer center from the axis of rotation. This parameter is usually determined during the commissioning phase by controlling the target device to rotate at a constant speed around the first axis, adjusting it in a specific orientation, collecting accelerometer output data, and solving a system of equations based on a physical model.

[0058] Secondly, based on the first installation error parameter, the second installation error parameter of the accelerometer in the second axial direction is determined.

[0059] The second axis is a direction orthogonal or approximately orthogonal to the first axis (e.g., the Y-axis or X-axis). The second installation error parameter may include a second installation tilt angle (denoted as...). ) and second eccentric radius (denoted as ). Given the first installation error parameters (especially...) Given the conditions of gravitational acceleration G, the target device can be initially determined based on the accelerometer output while it is stationary. Then, while the target equipment is rotating at a constant speed, the known rotational angular velocity is considered. Further calculations are performed by dynamically outputting data. .

[0060] As an optional embodiment, the dynamic output values ​​include a minimum axial output value, a maximum axial output value, and a constant axial output value. When the target device rotates around a first axis, acquiring the dynamic output values ​​of the accelerometer in at least two directions includes: controlling the target device to rotate uniformly around the first axis; adjusting the orientation of the target device and acquiring the axial output sequence of the accelerometer; traversing the axial output sequence to determine the maximum axial output value of the accelerometer; adjusting the target device to a first orientation; in response to the rotation of the target device around the first axis, acquiring the minimum axial output value of the accelerometer in the first orientation; adjusting the target device to a second orientation; in response to the rotation of the target device around the first axis, acquiring the constant axial output value of the accelerometer in the second orientation; wherein, the first orientation is the orientation of the target device when the accelerometer output is at its maximum axial value; the second orientation is the orientation of the target device when the axial output of the accelerometer is constant; and based on the dynamic output values, determining a first mounting tilt angle and a first eccentric radius of the accelerometer in the first axial direction.

[0061] The core of this embodiment is that during the laboratory debugging phase, by controlling the target equipment to rotate at a constant speed and adjusting different orientations, three key data points (maximum value, minimum value, and constant value) are collected. Then, these data are used to establish a system of equations to solve for the installation tilt angle and eccentricity radius.

[0062] Specifically, when the Z-axis makes an angle with the direction of gravity... At that time, the reading of the Z-axis accelerometer is (ignoring the initial phase):

[0063] in, Indicates the magnitude of gravitational acceleration. This indicates the installation error angle (i.e., the first installation tilt angle) of the Z-axis accelerometer. This represents the angular velocity of the target device rotating around the Z-axis. This indicates the eccentricity radius (i.e., the first eccentricity radius) of the Z-axis accelerometer installation.

[0064] Adjust the orientation of the drill collar to maximize the Z-axis reading, which is G. Then, control the rotation of the target device, by acquiring... The period of change of the curve can be obtained. And record Minimum value: .

[0065] Keeping the rotation speed constant, slowly adjust the orientation of the drill collar until the Z-axis reading stabilizes without fluctuation. And record Value:

[0066] in, This indicates the minimum axial output value of the accelerometer in the direction of the first axis. This indicates the constant axial output value of the accelerometer in the direction of the first axis. Indicates the magnitude of gravitational acceleration. This represents the angular velocity of the target device's rotation. This indicates the installation error angle of the Z-axis accelerometer. This indicates the eccentricity radius of the Z-axis accelerometer installation.

[0067] Furthermore, according to and It can be obtained and .

[0068] As an optional embodiment, determining the first mounting tilt angle and the first eccentric radius of the accelerometer in the direction of the first axis based on the dynamic output value includes: determining the angular velocity of the target device rotating uniformly around the first axis; constructing a system of simultaneous equations with the first mounting tilt angle and the first eccentric radius as unknowns based on the dynamic output value; and solving the system of simultaneous equations to obtain the first mounting tilt angle and the first eccentric radius. The system of simultaneous equations is as follows:

[0069] in, This indicates the minimum axial output value of the accelerometer in the direction of the first axis. This indicates the constant axial output value of the accelerometer in the direction of the first axis. Indicates the magnitude of gravitational acceleration. This represents the angular velocity of the target device's rotation. This indicates the installation error angle of the Z-axis accelerometer. This indicates the eccentricity radius of the Z-axis accelerometer installation.

[0070] It should be noted that, due to the aforementioned measurement errors The process takes place during the target equipment commissioning phase in a laboratory setting. Therefore, it is unnecessary to consider speed variations caused by resistance. Consequently, the speed can be obtained by averaging multiple measurements. The curve's period of change is obtained. However, in the actual operating conditions of the target equipment, the rotational speed cannot be kept constant, making it difficult to obtain the value from the periodic changes of a single measurement signal. The accurate value.

[0071] As an optional embodiment, the second installation error parameter includes a second installation tilt angle and a second eccentric radius; determining the second installation error parameter of the target device in the second axial direction based on the first installation error parameter of the target device in the first axial direction includes: acquiring the static output value of the accelerometer when the target device is in a static state; determining the second installation tilt angle of the accelerometer in the second axial direction based on the static output value and the first installation tilt angle; acquiring the dynamic output value of the accelerometer in the second axial direction in response to the rotation of the target device about the first axis; and determining the second eccentric radius in the second axial direction based on the second installation tilt angle, angular velocity, and dynamic output value.

[0072] Specifically, when the Z-axis makes an angle θ with the direction of gravity, the reading of the Y-axis accelerometer is (ignoring the initial phase):

[0073] in, Indicates the magnitude of gravitational acceleration. This indicates the installation error angle (i.e., the second installation tilt angle) of the Y-axis accelerometer. This represents the angular velocity of the target device rotating around the Z-axis. This indicates the eccentricity radius (i.e., the second eccentricity radius) of the Z-axis accelerometer installation.

[0074] Without rotating the target device, based on G and Given the known first installation tilt angle, we can obtain... (Second installation tilt angle).

[0075] exist Given a fixed (second installation tilt angle), the target equipment is kept rotating at a constant speed. Based on the aforementioned quantitative analysis of the Z-axis, the following can be obtained: (The angular velocity of the target device rotating around the Z-axis), thus allowing us to obtain... (Second eccentricity radius).

[0076] Furthermore, X-axis error The measurement of the (third mounting tilt angle) is the same as that of the Y-axis; similarly, the X-axis... The measurement of the (third eccentric radius) is the same as that of the Y-axis.

[0077] In summary, the installation of the XYZ triaxial accelerometer has the following errors: Z-axis error The Z-axis is not parallel to the drill collar axis; there is a fixed included angle. And the accelerometer installation eccentricity distance is .

[0078] Y-axis error The Y-axis has a fixed angle. And the accelerometer installation eccentricity distance is .

[0079] X-axis error Similar to the Y-axis, it has a fixed included angle. And the accelerometer installation eccentricity distance is .

[0080] Cross error There is a non-orthogonal error between the X-axis and Y-axis, which manifests as a 90° deviation in the phase difference between the two axis signals.

[0081] In practical work, when the target equipment (drill collar) is rotating, the three motion equations given in the model are determined by simultaneously solving the rotational speed using numerical methods (such as the least squares method):

[0082]

[0083]

[0084] It is possible to solve for three unknowns simultaneously within a single sampling moment or a short time window: rotational angular velocity. The Z-axis forms an angle θ with the direction of gravity, and there is also gravitational acceleration. .

[0085] Data based on the Y-axis when the drill collar is not rotating. Yes, we can obtain G, based on the Z-axis data. Yes, θ can be obtained.

[0086] As an optional embodiment, determining the signal phase difference between at least two directions includes: determining a first signal component in the output signal based on installation error; wherein the first signal component is generated based on the rotational motion of the target device; separating the first signal component from the output signal to obtain a second signal component; and performing cross-correlation analysis on the second signal component to obtain the signal phase difference.

[0087] based on It can be known that the error The measurement will not be affected; therefore, regarding only the rotational speed of the target device being measured, there is no need to consider the error. Measurements are taken; however, for accurately determining triaxial gravitational acceleration and thus accurately understanding the attitude of the target equipment, only by considering the error... Only by taking measurements can the accurate gravitational component in the Y-axis direction be determined.

[0088] First, using the calibrated installation error parameters (such as eccentricity) and angle error ) and estimated real-time rotational speed The constant centrifugal acceleration component (first signal component) generated by eccentric rotation in the output signal is calculated. This component is then subtracted from the original signal to separate the periodically varying component (second signal component) mainly composed of gravity projection. This separation is crucial, as it eliminates the DC offset interference caused by centrifugal acceleration, allowing for accurate phase difference locking during subsequent cross-correlation analysis of the pure gravity signals along the two axes. Ultimately, through comparison A 90° phase difference from the ideal orthogonal phase allows us to determine the actual non-orthogonal error between the two axes. This embodiment transforms the theoretical error model into operable signal processing steps, ensuring reliable online monitoring and calibration of cross-error even under actual operating conditions of high speed and variable speed.

[0089] As an optional embodiment, cross-correlation analysis is performed on the second signal component to obtain the signal phase difference, including: Determine the cross-correlation function of the second signal component, and determine the signal phase difference based on the cross-correlation function; The cross-correlation function is expressed as:

[0090] in, Represents the cross-correlation function. and This represents the second signal component, i.e. The reading curve is for the Y-axis. This is the reading curve for the X-axis.

[0091] As an optional embodiment, based on the signal phase difference and a preset reference phase difference, non-orthogonal errors in at least two directions are determined, including: Determine the difference between the signal phase difference and the preset reference phase difference, and use the difference as a non-orthogonal error in at least two directions.

[0092] The signal phase difference between the X and Y axes can be obtained through the above calculations. :

[0093] Since the X-axis and Y-axis have the same properties, the Y-axis is relative to the X-axis. It's actually relative to the Y-axis, the X-axis... Therefore, the X-axis error No need for repeated calibration.

[0094] Specifically, the actual phase difference between the X-axis and Y-axis gravity signals is obtained through cross-correlation analysis. Then, a simple subtraction is performed between this and the system's ideal orthogonal reference (90° or π / 2 radians), and the resulting difference ( This is defined as the non-orthogonal error angle between two axes. This calculation is mathematically simple and direct, and its physical meaning is clear, quantifying the angular deviation between the actual mounting axis of the sensor and the ideal orthogonal coordinate system.

[0095] As an optional embodiment, the installation error is corrected based on the non-orthogonal error, including: In response to a non-orthogonal error exceeding a preset threshold, a prompt message is generated to indicate the accelerometer's installation status; The installation error is corrected based on the prompt information.

[0096] Specifically, this embodiment defines an intelligent correction and maintenance response mechanism based on this error. Its core is not real-time software correction of the original data, but rather the introduction of a judgment and early warning mechanism. The system will calculate the current non-orthogonal error... The error is compared to a pre-set threshold that characterizes the stability tolerance of the installation structure. If the error exceeds the threshold, it indicates that the installation condition may have changed significantly due to vibration or impact, exceeding the range of pure software compensation. At this time, the system will generate a prompt message, which can serve as a maintenance alarm requiring manual inspection, re-tightening, or factory calibration. Therefore, "calibration" here actually means triggering and guiding subsequent physical maintenance or systematic recalibration processes to ensure the long-term reliability and data trustworthiness of the entire measurement system.

[0097] It should be noted that this application, based on the installation error characteristics of the accelerometer, determines the error during the commissioning phase, thus directly eliminating the influence of the error during application. For example, when the drill collar is not rotating: The Z-axis accelerometer reading is However, the actual value of the gravitational component along the Z-axis is:

[0098] The Y-axis accelerometer reading is However, the actual value of the gravitational component along the Y-axis is:

[0099] The X-axis accelerometer reading is However, the true value of the gravitational component along the Y-axis is (with the error factor) If the Y-axis is used, then the X-axis is considered as the error. (0):

[0100] As the drill collar rotates, the rotational angular velocity... The Z-axis forms an angle θ with the direction of gravity, and there is also gravitational acceleration. The true value of the gravitational component along the Z-axis can be obtained; since the X and Y axes are in a rotating state, the angle θ between the Z-axis and the direction of gravity, as well as the gravitational acceleration, can be obtained. The true maximum and minimum values ​​of the gravitational components along the X and Y axes, as well as their values ​​under any rotational phase, are obtained.

[0101] It should be noted that this application is based on the correction of accelerometer installation error, and then directly uses the accelerometer measurement results to estimate the rotational speed. This is not a conventional approach, because in the past, the eccentric installation of the accelerometer was considered a source of error and should be eliminated as much as possible, rather than used to measure the rotational speed.

[0102] The technical solution provided in this application first responds to the rotational motion of a target device equipped with an accelerometer around a first axis, acquiring the output signals of the accelerometer in at least two directions. Then, based on the output signals and the installation errors of the accelerometer in at least two directions, the signal phase difference between the at least two directions is determined. Further, based on the signal phase difference and a preset reference phase difference, the non-orthogonal error in the at least two directions is determined. Finally, the installation error is corrected based on the non-orthogonal error. This application achieves high-precision, low-cost rotational speed measurement using a triaxial accelerometer by systematically calibrating and compensating for installation errors during the commissioning phase. It also possesses self-monitoring of installation status and adaptive capabilities for operating conditions, solving the problems of low accuracy and poor reliability of traditional methods in complex environments, and realizing integrated calculation of rotational speed, attitude, and gravitational acceleration.

[0103] Corresponding to the above embodiments, the present invention also proposes a correction system for accelerometer installation errors.

[0104] refer to Figure 5 This is a schematic diagram of an accelerometer installation error correction system provided in an embodiment of this application.

[0105] like Figure 5 As shown, the accelerometer installation error correction system of this embodiment includes: The output signal determination module 501 is configured to: in response to the rotational movement of the target device on which the accelerometer is mounted about a first axis, acquire the output signals of the accelerometer in at least two directions; wherein the extension direction of the first axis is the axial direction of the target device; The phase difference determination module 502 is configured to determine the signal phase difference between at least two directions based on the output signal and the installation error of the accelerometer in at least two directions; The error determination module 503 is configured to: determine non-orthogonal errors in at least two directions based on the signal phase difference and a preset reference phase difference; Error correction module 504 corrects installation errors based on non-orthogonal errors.

[0106] Optionally, at least two directions include the second axis direction and the third axis direction; The output signal determination module 501 is also configured as follows: In response to the rotation of the target device about the first axis, the accelerometer acquires a first output signal in the direction of the second axis and a second output signal in the direction of the third axis. The second and third axes are both located in a plane perpendicular to the first axis.

[0107] Optionally, the output signal determination module 501 is also configured to: While the target device rotates about a first axis, acquire dynamic output values ​​of the accelerometer in at least two directions; and, When the target device is stationary, acquire the static output values ​​of the accelerometer in at least two directions; Based on the dynamic and static output values, the installation error of the accelerometer in at least two directions is determined.

[0108] Optionally, the installation error includes a first installation error parameter and a second installation error parameter; The output signal determination module 501 is also configured as follows: Based on the first installation error parameter of the target device in the first axial direction, the second installation error parameter of the target device in the second axial direction is determined.

[0109] Optionally, the first installation error parameters include a first installation tilt angle and a first eccentric radius; the dynamic output values ​​include a minimum axial output value, a maximum axial output value, and a constant axial output value. The output signal determination module 501 is also configured as follows: Control the target device to rotate at a constant speed around the first axis, adjust the orientation of the target device and obtain the axial output sequence of the accelerometer, traverse the axial output sequence, and determine the maximum axial output value of the accelerometer; Adjust the target device to a first orientation, and in response to the rotation of the target device about the first axis, obtain the minimum axial output value of the accelerometer in the first orientation; Adjust the target device to a second orientation; in response to the rotation of the target device about the first axis, obtain a constant axial output value of the accelerometer in the second orientation; Wherein, the first orientation is the orientation of the target device when the accelerometer output is at its maximum axial value; the second orientation is the orientation of the target device when the axial output of the accelerometer is constant. Based on the dynamic output value, the first installation tilt angle and the first eccentric radius of the accelerometer in the first axial direction are determined.

[0110] Optionally, the output signal determination module 501 is also configured to: Determine the angular velocity of the target device rotating uniformly around the first axis; Based on the dynamic output value, a system of simultaneous equations is constructed with the first installation tilt angle and the first eccentric radius as unknowns; Solve the system of simultaneous equations to obtain the first installation tilt angle and the first eccentricity radius; The system of simultaneous equations is as follows:

[0111] in, This indicates the minimum axial output value of the accelerometer in the direction of the first axis. This indicates the constant axial output value of the accelerometer in the direction of the first axis. Indicates the magnitude of gravitational acceleration. This represents the angular velocity of the target device's rotation. This indicates the installation error angle of the Z-axis accelerometer. This indicates the eccentricity radius of the Z-axis accelerometer installation.

[0112] Optionally, the second installation error parameters include the second installation tilt angle and the second eccentricity radius; The output signal determination module 501 is also configured as follows: When the target device is in a static state, the static output value of the accelerometer is acquired; Based on the static output value and the first mounting tilt angle, the second mounting tilt angle of the accelerometer in the direction of the second axis is determined; In response to the rotation of the target device about the first axis, the dynamic output value of the accelerometer in the direction of the second axis is acquired; Based on the second installation tilt angle, the angular velocity, and the dynamic output value, the second eccentric radius in the direction of the second axis is determined.

[0113] Optionally, the phase difference determination module 502 is also configured to: Based on the installation error, a first signal component in the output signal is determined; wherein, the first signal component is generated based on the rotational motion of the target device; Separate the first signal component from the output signal to obtain the second signal component; Cross-correlation analysis was performed on the second signal component to obtain the signal phase difference.

[0114] Optionally, the phase difference determination module 502 is also configured to: Determine the cross-correlation function of the second signal component, and determine the signal phase difference based on the cross-correlation function; The cross-correlation function is expressed as:

[0115] in, Represents the cross-correlation function. and This represents the second signal component.

[0116] Optionally, the error determination module 503 is also configured to: Determine the difference between the signal phase difference and the preset reference phase difference, and use the difference as a non-orthogonal error in at least two directions.

[0117] Optionally, the error correction module 504 is also configured to: In response to a non-orthogonal error exceeding a preset threshold, a prompt message is generated to indicate the accelerometer's installation status; The installation error is corrected based on the prompt information.

[0118] It should be noted that the method of this embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this embodiment, and the multiple devices will interact with each other to complete the above method.

[0119] It should be noted that the above description describes some embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0120] refer to Figure 6The diagram below is a block diagram of an electronic device according to some embodiments of the present invention. It illustrates a more specific hardware structure of an electronic device provided in this application embodiment. The device may include: a processor 610, a memory 620, an input / output interface 630, a communication interface 640, and a bus 650. The processor 610, memory 620, input / output interface 630, and communication interface 640 are internally connected to each other via the bus 650.

[0121] The processor 610 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0122] The memory 620 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 620 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 620 and is called and executed by the processor 610.

[0123] The input / output interface 630 is used to connect input / output modules to enable information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0124] The communication interface 640 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0125] Bus 650 includes a pathway for transmitting information between various components of the device, such as processor 610, memory 620, input / output interface 630, and communication interface 640.

[0126] It should be noted that although the above-described device only shows the processor 610, memory 620, input / output interface 630, communication interface 640, and bus 650, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0127] The electronic device described above is used to implement the corresponding correction method based on accelerometer installation error in any of the foregoing embodiments, and has the beneficial effects of the corresponding correction method embodiment based on accelerometer installation error, which will not be repeated here.

[0128] Based on the same concept, corresponding to the accelerometer installation error correction method provided in any of the above embodiments, this application also provides a computer-readable storage medium storing a program or instructions, which, when executed by a processor, implements the accelerometer installation error correction method as described in the first aspect.

[0129] The aforementioned computer-readable storage media can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0130] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the corresponding correction method based on accelerometer installation error in any of the foregoing embodiments, and have the beneficial effects of the corresponding correction method embodiment based on accelerometer installation error, which will not be repeated here.

[0131] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0132] From the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of computer software products plus necessary general-purpose hardware platforms, and of course, they can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes several instructions to cause the terminal or network-side device to execute the methods described in the various embodiments of this application.

[0133] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other implementations under the guidance of this application without departing from the spirit and scope of the claims. All of these implementations are within the protection scope of this application.

Claims

1. A method for correcting accelerometer installation errors, characterized in that, include: In response to the rotational movement of a target device equipped with an accelerometer about a first axis, the output signals of the accelerometer in at least two directions are acquired; wherein the extension direction of the first axis is the axial direction of the target device; Based on the output signal and the installation error of the accelerometer in at least two directions, the signal phase difference between the at least two directions is determined; Based on the signal phase difference and the preset reference phase difference, the non-orthogonal errors in at least two directions are determined; The installation error is corrected based on the non-orthogonal error.

2. The method according to claim 1, characterized in that, The at least two directions include the second axial direction and the third axial direction; The acquisition of the accelerometer's output signals in at least two directions includes: In response to the rotation of the target device about the first axis, the accelerometer acquires a first output signal in the direction of the second axis and a second output signal in the direction of the third axis. Both the second and third axes are located in a plane perpendicular to the first axis.

3. The method according to claim 1, characterized in that, Before determining the signal phase difference between the at least two directions, the method further includes: While the target device rotates about the first axis, the dynamic output values ​​of the accelerometer in at least two directions are acquired; and, When the target device is stationary, the static output values ​​of the accelerometer in at least two directions are acquired; Based on the dynamic output value and the static output value, the installation error of the accelerometer in at least two directions is determined.

4. The method according to claim 3, characterized in that, The installation error includes a first installation error parameter and a second installation error parameter; The method further includes: Based on the first installation error parameter of the target device in the first axial direction, the second installation error parameter of the target device in the second axial direction is determined.

5. The method according to claim 4, characterized in that, The first installation error parameters include the first installation tilt angle and the first eccentric radius; the dynamic output values ​​include the minimum axial output value, the maximum axial output value, and the constant axial output value. The step of acquiring the dynamic output values ​​of the accelerometer in at least two directions when the target device rotates around the first axis includes: Control the target device to rotate at a constant speed around the first axis, adjust the orientation of the target device and obtain the axial output sequence of the accelerometer, traverse the axial output sequence, and determine the maximum axial output value of the accelerometer; Adjust the target device to a first orientation, and in response to the rotation of the target device about the first axis, obtain the minimum axial output value of the accelerometer in the first orientation; Adjust the target device to a second orientation; in response to the rotation of the target device about the first axis, obtain a constant axial output value of the accelerometer in the second orientation; Wherein, the first orientation is the orientation of the target device when the accelerometer output is at its maximum axial value; the second orientation is the orientation of the target device when the axial output of the accelerometer is constant. Based on the dynamic output value, the first installation tilt angle and the first eccentric radius of the accelerometer in the first axial direction are determined.

6. The method according to claim 5, characterized in that, Determining the first mounting angle and first eccentric radius of the accelerometer in the first axial direction based on the dynamic output value includes: Determine the angular velocity at which the target device rotates uniformly around the first axis; Based on the dynamic output value, a system of simultaneous equations is constructed with the first installation tilt angle and the first eccentric radius as unknowns; Solving the system of equations yields the first installation tilt angle and the first eccentric radius; The simultaneous equations are as follows: in, This indicates the minimum axial output value of the accelerometer in the direction of the first axis. This indicates the constant axial output value of the accelerometer in the direction of the first axis. Indicates the magnitude of gravitational acceleration. This represents the angular velocity of the target device's rotation. This indicates the installation error angle of the Z-axis accelerometer. This indicates the eccentricity radius of the Z-axis accelerometer installation.

7. The method according to claim 6, characterized in that, The second installation error parameters include the second installation tilt angle and the second eccentric radius; Determining the second installation error parameter of the target device in the second axial direction based on the first installation error parameter of the target device in the first axial direction includes: When the target device is in a static state, acquire the static output value of the accelerometer; Based on the static output value and the first mounting tilt angle, the second mounting tilt angle of the accelerometer in the direction of the second axis is determined; In response to the rotation of the target device about the first axis, the dynamic output value of the accelerometer in the direction of the second axis is acquired; Based on the second installation tilt angle, the angular velocity, and the dynamic output value, the second eccentric radius in the direction of the second axis is determined.

8. The method according to claim 1, characterized in that, Determining the signal phase difference between the at least two directions includes: Based on the installation error, a first signal component in the output signal is determined; wherein, the first signal component is generated based on the rotational motion of the target device; The first signal component is separated from the output signal to obtain the second signal component; The signal phase difference is obtained by performing cross-correlation analysis on the second signal component.

9. The method according to claim 8, characterized in that, The step of performing cross-correlation analysis on the second signal component to obtain the signal phase difference includes: Determine the cross-correlation function of the second signal component, and determine the signal phase difference based on the cross-correlation function; The cross-correlation function is expressed as: in, Represents the cross-correlation function. and This represents the second signal component.

10. The method according to claim 1, characterized in that, The determination of the non-orthogonal errors in at least two directions based on the signal phase difference and a preset reference phase difference includes: The difference between the signal phase difference and the preset reference phase difference is determined, and the difference is used as the non-orthogonal error in the at least two directions.

11. The method according to claim 1, characterized in that, The correction of the installation error based on the non-orthogonal error includes: In response to the non-orthogonal error exceeding a preset threshold, a prompt message is generated to indicate the installation status of the accelerometer; The installation error is corrected based on the prompt information.

12. An accelerometer installation error correction system, characterized in that, include: The output signal determination module is configured to: in response to the rotational movement of a target device on which an accelerometer is mounted about a first axis, acquire the output signals of the accelerometer in at least two directions; wherein the extension direction of the first axis is the axial direction of the target device; The phase difference determination module is configured to: determine the signal phase difference between the at least two directions based on the output signal and the installation error of the accelerometer in the at least two directions; The error determination module is configured to: determine the non-orthogonal error in at least two directions based on the signal phase difference and a preset reference phase difference; The error correction module corrects the installation error based on the non-orthogonal error.

13. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the program to implement the method of claims 1-11.

14. A computer-readable storage medium, characterized in that, The medium stores computer instructions for causing the computer to perform the method described in claims 1-11.

Images