Dynamic inclination and borehole trajectory azimuth measuring device while drilling and measuring method

Abstract

The present application relates to the technical fields of vertical drilling and directional drilling, and is a dynamic well inclination and borehole trajectory azimuth measuring device and method while drilling. The former comprises a first non-magnetic short section and a second non-magnetic short section with an axial channel. The present application has a reasonable and compact structure, is convenient to use, and can integrate communication, orientation, and geological parameter measurement data acquisition and processing. It is equipped with two sensors, such as a three-axis gravity acceleration sensor and a three-axis magnetic flux gate sensor, and is an integrated device. It can not only reduce the risk of downhole, but also avoid repeated research and development and reduce the use cost, save the static measurement time, shorten the non-production time of the well team, improve the vertical depth measurement accuracy, and better control the borehole trajectory. The left and right damping energy absorption devices can slow down the vibration and impact and absorb the vibration and impact potential energy on the mechanical structure, greatly reducing the influence of downhole lateral vibration, longitudinal vibration and impact on the sensor.

Description

Technical Field

[0001] This invention relates to the field of vertical drilling and directional drilling technology, and is a device and method for measuring dynamic well inclination and wellbore trajectory orientation while drilling. Background Technology

[0002] Dynamic wellbore inclination and azimuth measurement mainly involves the calculation of three parameters: inclination angle, azimuth angle, and tool face angle. The inclination angle is the angle between the tangent at the current position and the horizontal plane, indicating the degree of inclination of the drilling direction relative to the horizontal plane; the azimuth angle is the angle between the projection of the tangent at the current position onto the horizontal plane and true north, indicating the direction of the drilling movement within the horizontal plane; the tool face angle is the angle between the drilling direction and the reference direction, indicating the drilling direction.

[0003] Vertical drilling systems (VDS) and rotary steerable drilling systems (RSS) primarily rely on triaxial accelerometers to measure wellbore inclination. When the downhole instrument tilts, the components of gravitational acceleration along the X, Y, and Z axes differ. Based on the values ​​of these three components, the corresponding wellbore inclination and tool face can be calculated. However, when the drill string connected to the inclination measurement sub experiences strong vibrations or when the downhole instrument rotates at high speed, the gravitational acceleration components are affected by centrifugal acceleration, causing significant deviations in the wellbore inclination measurement results. Therefore, to ensure the accuracy of inclination measurement, drilling is typically stopped and static measurements are circulated to ensure the inclination measurement sub is in a relatively stable working state. Therefore, dynamic measurement of wellbore inclination is essential.

[0004] Currently, Schlumberger uses a dynamic wellbore inclination measurement method that employs only the Z-axis, utilizing the local actual gravity resultant or static gravity resultant. While this design eliminates most rotational errors, X-axis vibration, Y-axis vibration, and shocks, leaving only Z-axis rotation, vibration, and shocks, shocks can be filtered out with low-pass filters, vibrations with digital filters, and rotations with a confidence function. However, a problem with single-axis wellbore inclination calculation is that the error in small inclination segments cannot be guaranteed.

[0005] The measurement of wellbore trajectory azimuth commonly employs a triaxial fluxgate sensor, which, together with an accelerometer, forms a measurement unit capable of accurately measuring the well inclination angle, tool face angle, and azimuth angle. However, during measurement, it is necessary to calculate the triaxial gravitational acceleration components measured by the triaxial gravity accelerometer. Therefore, when the drill string inclination angle is very small, the actual measurement signal is comparable to or even completely overwhelmed by noise because the gravitational acceleration components in the X and Y axes are very small. Filtering is typically required in both software and hardware to separate the actual measurement signal from the noise.

[0006] Therefore, existing measurement-while-drilling (MWD) instruments are susceptible to external factors such as lateral vibration, longitudinal vibration, impact, temperature drift, and centrifugal force. Among these, impact and lateral or longitudinal vibration mainly originate from drill skipping, rock cutting, and frictional collisions, but the impact duration is short and the frequency is high. The centrifugal acceleration generated by the high-speed rotation of the tool has a significant impact on the X and Y axes of the triaxial gravity acceleration sensor. Temperature drift error, dynamic error, and the superposition of errors also affect the sensor. Summary of the Invention

[0007] This invention provides a device and method for measuring dynamic well inclination and wellbore trajectory orientation while drilling, overcoming the shortcomings of the prior art. It can effectively solve the problem that the sensors in existing drilling measurement instruments are easily affected by lateral vibration, longitudinal vibration and impact.

[0008] One of the technical solutions of the present invention is achieved through the following measures: a dynamic well inclination and well trajectory orientation measurement device for continuous drilling, comprising a first non-magnetic short section and a second non-magnetic short section with an axial channel, the right end of the first non-magnetic short section and the left end of the second non-magnetic short section are fixedly installed together, and an end face slip ring is provided between the first non-magnetic short section and the second non-magnetic short section.

[0009] The right inner side of the first non-magnetic short section is provided with a left limiting inner ring platform, and the right inner side of the second non-magnetic short section is provided with a right limiting inner ring platform. The second non-magnetic short section, corresponding to the left side of the right limiting inner ring platform, is provided with a measuring probe assembly. The left end of the measuring probe assembly is located inside the first non-magnetic short section and its left end abuts against the right end of the left limiting inner ring platform.

[0010] The measuring probe assembly includes a left valve head, a triaxial fluxgate sensor, a short section of the fluxgate sensor peripheral circuit module, a short section of the first data acquisition and processing module, a short section of the modulation and demodulation module, a short section of the data storage and second data acquisition and processing module, a short section of the acceleration sensor peripheral circuit module, a triaxial gravity acceleration sensor, and a right valve head. Both the left and right valve heads are streamlined.

[0011] The left end face of the left valve head abuts against the right end of the left limiting inner ring platform, and the outer diameter of the left valve head is adapted to the inner diameter of the first non-magnetic short section; the middle of the left valve head has a cavity with an opening to the right, and a three-axis fluxgate sensor is installed in the cavity of the left valve head. A left vibration damping and energy absorption device that can reduce and absorb vibration and impact is installed between the outer side of the three-axis fluxgate sensor and the inner side wall of the left valve head.

[0012] The right end face of the right valve head abuts against the left end of the right limiting inner ring platform, and the outer diameter of the right valve head is adapted to the inner diameter of the second non-magnetic short section; the middle of the right valve head has a cavity with an opening to the left, and a triaxial gravity acceleration sensor is installed in the cavity of the right valve head. A right vibration damping and energy absorption device that can reduce and absorb vibration and impact is installed between the outer side of the triaxial gravity acceleration sensor and the inner side wall of the right valve head.

[0013] From left to right, the middle of the right end of the left valve head and the middle of the left end of the right valve head are connected in series with a fluxgate sensor peripheral circuit module, a fluxgate sensor peripheral circuit module, a first data acquisition and processing module, a modulation and demodulation module, a data storage and second data acquisition and processing module, and an acceleration sensor peripheral circuit module.

[0014] The first data acquisition and processing module subsection and the data storage subsection, corresponding to the second data acquisition and processing module subsection, acquire data from the three-axis fluxgate sensor and the three-axis gravity acceleration sensor in real time. Based on this data, attitude measurement data is calculated, encoded, and stored in the data storage module of the second data acquisition and processing module subsection. Simultaneously, the encoded attitude measurement data is transmitted in real time to the modem module subsection. The modem module subsection transmits the attitude measurement data to the downhole information interaction module, signal upload module, pulse generation module, and communication processing module of the vertical drilling system or rotary steering system, completing the uploading of wellbore trajectory data. The attitude measurement data includes inclination angle, azimuth angle, and tool face angle.

[0015] The following are further optimizations and / or improvements to the above-mentioned technical solution:

[0016] The aforementioned left vibration damping and energy absorption device may include a left vibration damping housing, a left vibration damping and energy absorption sleeve, and a left elastic vibration damping part. The left vibration damping housing is fixedly installed on the inner side of the right part to the left end of the left valve head cavity. The left vibration damping housing is a housing with an opening to the right and a blind end on the left. A left vibration damping and energy absorption sleeve with an axial through hole is fixedly installed on the inner side of the right end to the left part of the left vibration damping housing. The inner side of the left vibration damping and energy absorption sleeve is fixedly installed together with the outer side of the three-axis fluxgate sensor. A left elastic vibration damping part is provided between the left end of the three-axis fluxgate sensor and the inner side of the blind end of the left vibration damping housing.

[0017] The right vibration damping and energy absorption device may include a right vibration damping housing, a right vibration damping and energy absorption sleeve, and a right elastic vibration damping part. The right vibration damping housing is fixedly installed on the inner side of the left to right end of the right valve head cavity. The right vibration damping housing is a housing with an opening to the left and a blind end on the right. The right vibration damping sleeve with an axial through hole is fixedly installed on the inner side of the right end to the right part of the right vibration damping housing. The inner side of the right vibration damping and energy absorption sleeve is fixedly installed together with the outer side of the triaxial gravity acceleration sensor. A right elastic vibration damping part is provided between the right end of the triaxial gravity acceleration sensor and the inner side of the blind end of the right vibration damping housing.

[0018] The right end of the aforementioned left elastic damping part and the left end of the left damping energy absorption sleeve can be fixedly installed together, and the outer diameter of the left elastic damping part is compatible with the inner diameter of the left damping shell. The left end of the right elastic damping part and the right end of the right damping energy absorption sleeve can be fixedly installed together, and the outer diameter of the right elastic damping part is compatible with the inner diameter of the right damping shell. Both the left and right elastic damping parts can be elastic damping rods. The upper half of the elastic damping rod can be provided with several outward-facing and semi-circular upper damping energy absorption grooves on the outer side. The lower half of the elastic damping rod can be provided with several outward-facing and semi-circular lower damping energy absorption grooves on the outer side. The lower damping energy absorption grooves and the upper damping energy absorption grooves are staggered along the axial direction.

[0019] The aforementioned left valve head may include a left valve body, a left support ring, and a left conical valve head. A left conical valve head with a smaller left side and a larger right side is fixedly installed on the left end of the left valve body. A left support ring is provided on the outer side of the left valve body corresponding to the right side of the left conical valve head. The right end of the left support ring is located to the left of the right end of the left valve body. Several first anti-erosion grooves with openings facing left are evenly distributed along the circumference on the left end face of the left support ring. Several second anti-erosion grooves with openings facing right are evenly distributed along the circumference on the right end face of the left support ring. A magnetic fluxgate sensor mounting hole with an opening facing right is provided in the middle of the right end face of the left valve body. The inner side of the magnetic fluxgate mounting hole is fixedly installed together with the outer side of the left vibration damping and energy absorption device. The outer side of the right end of the left valve body is connected to the inner side of the left end of the short section of the peripheral circuit module of the magnetic fluxgate sensor by a thread.

[0020] The aforementioned right valve head may include a right valve body, a right support ring, and a right conical valve head. A right conical valve head with a left-larger and right-smaller shape is fixedly installed on the right end of the right valve body. A right support ring is provided on the outer side of the right valve body corresponding to the left side of the right conical valve head. The left end of the right support ring is located to the right of the left end of the right valve body. Several third anti-erosion grooves with openings to the right are evenly distributed along the circumference on the right end face of the right support ring. Several fourth anti-erosion grooves with openings to the left are evenly distributed along the circumference on the left end face of the right support ring. An acceleration sensor mounting hole with an opening to the left is provided in the middle of the left end face of the right valve body. The inner side of the acceleration sensor mounting hole is fixedly installed together with the outer side of the right vibration damping and energy absorption device. The outer side of the left end of the right valve body is connected to the inner side of the right end of the short section of the peripheral circuit module of the acceleration sensor by a thread.

[0021] The left support ring may have a fluxgate sensor data reading and testing port in the middle, with its inner end connected to the inner side of the left side of the fluxgate sensor mounting hole. At least one first sealing ring may be provided between the outer side of the left support ring and the inner side of the first non-magnetic short section at the positions corresponding to the left and right sides of the fluxgate sensor data reading and testing port. The right support ring may have an acceleration sensor data reading and testing port in the middle, with its inner end connected to the inner side of the right side of the acceleration sensor mounting hole. At least one second sealing ring may be provided between the outer side of the right support ring at the positions corresponding to the left and right sides of the acceleration sensor data reading and testing port.

[0022] Both the left and right valve heads mentioned above can be coated with a wear-resistant and erosion-resistant coating on their outer sides.

[0023] The aforementioned measuring probe assembly may also include a downhole instrument power supply module section. A downhole instrument power supply module section is provided between the modulation and demodulation module section and the data storage and second data acquisition and processing module section. The downhole instrument power supply module section is used to supply power to the fluxgate sensor peripheral circuit module section, the first data acquisition and processing module section, the data storage and second data acquisition and processing module section, and the accelerometer peripheral circuit module section.

[0024] The above may also include a probe centralizer, wherein a probe centralizer that can be fitted inside the second non-magnetic section is fixedly installed between the downhole instrument power supply module subsection and the data storage and second data acquisition and processing module subsection.

[0025] The above may also include a guide tube, a third sealing ring, and a fourth sealing ring. The inner side of the left side of the second non-magnetic short section has an inner ring groove. The right end of the inner ring groove is located to the right of the modem module short section. A guide tube, which can be fitted onto the outside of the modem module short section, is located within the inner ring groove. The left end of the guide tube is located to the left of the modem module short section, and the right end of the guide tube abuts against the right side wall of the inner ring groove. Several fifth anti-erosion grooves with openings to the left are evenly distributed along the circumference on the left end face of the guide tube, and several sixth anti-erosion grooves with openings to the right are evenly distributed along the circumference on the right end face of the guide tube. The middle of the modem module short section has a data reading and instrument function testing port that runs through both the inside and outside. At least one third sealing ring is provided between the inner side of the guide tube at the left and right positions of the data reading and instrument function test port and the outer side of the modulation / demodulation module short section; the guide tube at the corresponding data reading and instrument function test port position is provided with a through-hole for the data reading harness and instrument function test harness, and the second non-magnetic short section at the corresponding data reading harness and instrument function test harness through-hole position is provided with an instrument test port; at least one fourth sealing ring is provided between the outer side of the guide tube at the left and right positions of the corresponding data reading harness and instrument function test harness through-hole position and the inner side of the second non-magnetic short section.

[0026] The second technical solution of the present invention is achieved through the following measures: a measurement method for a dynamic wellbore inclination and wellbore trajectory azimuth measurement device that operates continuously while drilling, comprising:

[0027] State equations and observation equations for the triaxial gravity acceleration sensor and the triaxial fluxgate sensor are established respectively, with discrete sampling time t. a The state equations and observation equations of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor are discretized.

[0028] Using a Kalman filter, based on the state vectors and covariance matrices of the triaxial gravity accelerometer and the triaxial fluxgate sensor at time k, respectively, the prior estimates and prior estimate covariance matrices of the state vectors of the triaxial gravity accelerometer and the triaxial fluxgate sensor at time k+1 are obtained.

[0029] Based on the output data of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1, the Kalman filter observations of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k are obtained respectively.

[0030] Determine the Kalman gain of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k, and iteratively update the state vector and covariance matrix of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1.

[0031] Based on the state vectors of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1, the relatively accurate triaxial components of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1 are determined respectively. Temperature correction is then applied to determine the optimal estimated values ​​of the triaxial components of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1.

[0032] Calculate the well inclination angle α at time k. k Tool face angle θ k Azimuth β k ;

[0033]

[0034] in, These are the optimal estimates of the x-axis, y-axis, and z-axis components of the triaxial gravity acceleration sensor at time k+1. The optimal estimates of the x-axis, y-axis, and z-axis components of the triaxial fluxgate sensor at time k+1 are given.

[0035] The following are further optimizations and / or improvements to the above-mentioned technical solution:

[0036] The above-mentioned temperature correction, determining the optimal estimates of the triaxial components of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1, may include:

[0037] Based on the relatively accurate triaxial components of the triaxial gravitational acceleration sensor at time k+1, a series of least squares fittings were performed at different temperatures, and the optimal estimated value of the triaxial components of the triaxial gravitational acceleration sensor at time k+1 was determined based on the fitted polynomial function.

[0038]

[0039] in, This is the temperature correction factor. These are the x-axis, y-axis, and z-axis components of a relatively accurate triaxial gravity acceleration sensor at time k+1. The optimal estimates of the x-axis, y-axis, and z-axis components of the triaxial gravity acceleration sensor at time k+1 are:

[0040] Based on the relatively accurate triaxial components of the triaxial fluxgate sensor at time k+1, a series of least squares fittings at different temperatures are performed, and the optimal estimated value of the triaxial components of the triaxial fluxgate sensor at time k+1 is determined based on the fitted polynomial function.

[0041]

[0042] in, This is the temperature correction factor. These represent the x-axis, y-axis, and z-axis components of a relatively accurate three-axis fluxgate sensor at time k+1. The optimal estimates of the x-axis, y-axis, and z-axis components of the triaxial fluxgate sensor at time k+1 are given.

[0043] The above-mentioned use of a Kalman filter to obtain prior estimates and prior estimate covariance matrices of the state vectors of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1, based on the state vectors and covariance matrices of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k, respectively, may include:

[0044] Initialize the Kalman filter parameters, which include the state vector of the three-axis gravity accelerometer, the state vector of the three-axis fluxgate sensor, the state transition matrix of the three-axis gravity accelerometer, the state transition matrix of the three-axis fluxgate sensor, the control matrix of the three-axis gravity accelerometer, the control matrix of the three-axis fluxgate sensor, the covariance matrix of the three-axis gravity acceleration sensor, the covariance matrix of the three-axis fluxgate sensor, the state noise matrix of the three-axis gravity accelerometer, the state noise matrix of the three-axis fluxgate sensor, the observation noise matrix of the three-axis gravity accelerometer, and the observation noise matrix of the three-axis fluxgate sensor.

[0045] Calculate the prior estimate and prior estimate covariance matrix of the state vector of the triaxial gravity accelerometer at time k+1;

[0046]

[0047] Where k is the sampling time, For the prior estimation of the state vector of the triaxial gravity accelerometer, g k This is the state vector of the triaxial accelerometer. This is the state transition matrix of a triaxial gravity accelerometer. The control matrix for the three-axis gravity accelerometer. Q is the control input matrix for the triaxial accelerometer. g This is the state noise matrix of a triaxial gravity acceleration sensor. This is the covariance matrix of a triaxial gravity acceleration sensor. This is the covariance matrix of a triaxial gravity acceleration sensor;

[0048] Calculate the prior estimate and prior estimate covariance matrix of the state vector of the triaxial fluxgate sensor at time k+1;

[0049]

[0050] Where k is the sampling time, H is the prior estimate of the state vector of a three-axis fluxgate sensor. k This represents the state vector of the three-axis fluxgate sensor. This is the state transition matrix of a three-axis fluxgate sensor. The control matrix for a three-axis fluxgate sensor. Q is the control input matrix for the three-axis fluxgate sensor. H This is the state noise matrix of a triaxial fluxgate sensor. Let be the covariance matrix of the three-axis fluxgate sensor. Let be the covariance matrix of the three-axis fluxgate sensor.

[0051] This invention features a rational and compact structure, making it easy to use. It integrates communication, orientation, and geological parameter measurement data acquisition and processing into a single unit. Equipped with two types of sensors—a triaxial gravity acceleration sensor and a triaxial fluxgate sensor—it is an integrated device that not only reduces downhole risks but also avoids redundant research and development, lowers operating costs, eliminates static measurement time, shortens non-productive time for well teams, improves vertical depth measurement accuracy, and better controls wellbore trajectory. The left and right vibration damping and energy absorption devices can mitigate vibration and impact, and absorb vibration and impact potential energy through mechanical structure, significantly reducing the impact of downhole lateral vibration, longitudinal vibration, and impact on the sensors. During later maintenance, disassembly is simple and operation is convenient, following a standardized process that effectively reduces maintenance time and ensures high product stability.

[0052] This invention enables temperature correction of measurements from a triaxial gravity acceleration sensor and a triaxial fluxgate sensor. The obtained temperature correction coefficient is used to correct the measurements, overcoming the influence of temperature drift. Based on the measurement models of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor under rotation and vibration conditions, Kalman filtering is applied to the measurement data. The Kalman filtering algorithm filters out system noise and sensor measurement noise, continuously approximating the true measurement values. This overcomes the influence of temperature, vibration, and rotation, enabling dynamic well inclination, tool face, and azimuth measurements. Attached Figure Description

[0053] Appendix Figure 1 This is a schematic diagram of the main sectional view of Embodiments 1-9 of the present invention.

[0054] Appendix Figure 2 For the appendix Figure 1 A partial cross-sectional view of the right valve head.

[0055] Appendix Figure 3 For the appendix Figure 1 Cross-sectional structural schematic diagram of the vibration damping and energy absorption device in the middle right.

[0056] Appendix Figure 4 This is a structural block diagram of the measuring device in embodiments 1-9 of the present invention.

[0057] Appendix Figure 5 This is a flowchart illustrating the measurement method of Embodiment 10 of the present invention.

[0058] The codes in the attached diagram are as follows: 1 for axial channel, 2 for first non-magnetic short section, 3 for second non-magnetic short section, 4 for end face slip ring, 5 for left limiting inner ring platform, 6 for right limiting inner ring platform, 7 for fluxgate sensor peripheral circuit module short section, 8 for first data acquisition and processing module short section, 9 for modulation and demodulation module short section, 10 for data storage and second data acquisition and processing module short section, 11 for accelerometer peripheral circuit module short section, 12 for triaxial gravity accelerometer, 13 for right vibration damping housing, 14 for right vibration damping energy absorption sleeve, 15 for right elastic vibration damping part, 16 for upper vibration damping energy absorption groove, 17 for lower vibration damping energy absorption groove, and 18 for right... Valve body, 19 is right support ring, 20 is right conical valve head, 21 is third anti-erosion groove, 22 is fourth anti-erosion groove, 23 is accelerometer sensor mounting hole, 24 is first sealing ring, 25 is accelerometer sensor data reading and testing port, 26 is second sealing ring, 27 is guide tube, 28 is third sealing ring, 29 is fourth sealing ring, 30 is inner ring groove, 31 is fifth anti-erosion groove, 32 is sixth anti-erosion groove, 33 is data reading and instrument function testing port, 34 is data reading harness and instrument function testing harness through hole, 35 is probe tube centralizer, 36 is downhole instrument power supply module short section, 37 is instrument testing port. Detailed Implementation

[0059] The present invention is not limited to the following embodiments, and the specific implementation can be determined according to the technical solution of the present invention and the actual situation.

[0060] In this invention, for ease of description, the description of the relative positions of the components is based on the appendix to the specification. Figure 1 The layout is described using a diagrammatic method, such as front, back, top, bottom, left, right, etc. The positional relationships are determined based on the layout direction of the attached diagram in the instruction manual.

[0061] The present invention will be further described below with reference to embodiments and accompanying drawings:

[0062] Example 1: As shown in the attached document Figure 1-4 As shown, the dynamic wellbore inclination and wellbore trajectory orientation measurement device for continuous drilling includes a first non-magnetic short section 2 and a second non-magnetic short section 3 with an axial channel 1. The right end of the first non-magnetic short section 2 and the left end of the second non-magnetic short section 3 are fixedly installed together, and an end face slip ring 4 is provided between the first non-magnetic short section 2 and the second non-magnetic short section 3.

[0063] In the above technical solution, both the first non-magnetic short section 2 and the second non-magnetic short section 3 can be non-magnetic drill collar short sections, and both can be made of non-magnetic materials in the prior art, possessing high tensile and high compressive strength characteristics. The end face slip ring 4 is a prior art device, also known as a disc slip ring, disc collector ring, or disc conductive slip ring. It is an electrical rotary connection device specifically designed for rotary systems with limited height. The end face slip ring 4 includes a rotor, stator, and insulating support, etc., and is used for the transmission of electrical energy and carrier signals between the vertical drilling system or rotary steering system, consistent with the standard M30 bus communication transmission protocol. This invention can power the circuits in the measuring probe assembly through the turbine generator of the vertical drilling system or rotary steering system.

[0064] Depending on the requirements, the inner left side of the first non-magnetic short section 2 and the outer right side of the second non-magnetic short section 3 can both be provided with connecting threads, and the connecting threads are compatible with the threads of the vertical drilling system or rotary steering system to facilitate docking. In this embodiment, the connecting threads can be tubing threads. The first non-magnetic short section 2 and the second non-magnetic short section 3 can be detachably installed via threads, or a non-detachable installation such as an interference fit can be selected. A sealing gasket can also be provided between the first non-magnetic short section 2 and the second non-magnetic short section 3 to prevent drilling fluid from seeping into the invention and affecting the measurement effect of the sensor.

[0065] The right inner side of the first non-magnetic short section 2 is provided with a left limiting inner ring platform 5, and the right inner side of the second non-magnetic short section 3 is provided with a right limiting inner ring platform 6. The second non-magnetic short section 3, corresponding to the left side of the right limiting inner ring platform 6, is provided with a measuring probe assembly. The left end of the measuring probe assembly is located inside the first non-magnetic short section 2 and its left end abuts against the right end of the left limiting inner ring platform 5.

[0066] In the above technical solution, the left limiting inner ring platform 5 and the right limiting inner ring platform 6 are used to measure the installation limit of the probe assembly.

[0067] The measuring probe assembly includes a left valve head, a triaxial fluxgate sensor, fluxgate sensor peripheral circuit module section 7, first data acquisition and processing module section 8, modulation and demodulation module section 9, data storage and second data acquisition and processing module section 10, acceleration sensor peripheral circuit module section 11, triaxial gravity acceleration sensor section 12, and a right valve head. Both the left and right valve heads are streamlined.

[0068] In the above technical solution, both the left and right valve heads are made of non-magnetic materials. The streamlined left and right valve heads have better erosion resistance and can effectively prevent the formation of eddies that hinder fluid flow during drilling fluid circulation. The axis of the measuring probe assembly coincides with the axis of the first non-magnetic short section 2 and the second non-magnetic short section 3, that is, they are coaxial.

[0069] Depending on the requirements, the measuring probe assembly may also be equipped with an angular rate gyroscope to measure the rotational angular velocity of the drill bit.

[0070] The left end face of the left valve head abuts against the right end of the left limiting inner ring platform 5, and the outer diameter of the left valve head is adapted to the inner diameter of the first non-magnetic short section 2; the middle of the left valve head has a cavity with an opening to the right, and a three-axis fluxgate sensor is installed in the cavity of the left valve head. A left vibration damping and energy absorption device that can reduce and absorb vibration and impact is installed between the outer side of the three-axis fluxgate sensor and the inner side wall of the left valve head.

[0071] The right end face of the right valve head abuts against the left end of the right limiting inner ring platform 6, and the outer diameter of the right valve head is adapted to the inner diameter of the second non-magnetic short section 3; the middle part of the right valve head has a cavity with an opening to the left, and a triaxial gravity acceleration sensor 12 is installed in the cavity of the right valve head. A right vibration damping and energy absorption device that can reduce and absorb vibration and impact is installed between the outer side of the triaxial gravity acceleration sensor 12 and the inner side wall of the right valve head.

[0072] In this application, the drill string carrier coordinate system (xyz coordinate system) can be obtained through a geographic coordinate system (NED coordinate system). The attitude measurement sensor is composed of a triaxial gravity accelerometer and a triaxial fluxgate sensor. The installation direction of the triaxial gravity accelerometer and the triaxial fluxgate sensor is the xyz direction of the drill string's xyz coordinate axis, where the x-axis is the axial direction of the drill string, the y-axis is the radial direction of the drill string, and the z-axis is the tangential direction of the drill string. The xyz axes of the drill string together form a right-handed rectangular coordinate system, such as... Figure 1 A schematic diagram of the coordinate system of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor is given.

[0073] In this application, the wellbore inclination angle α refers to the angle between the central axis of a point in the well and the vertical line of the Earth, ranging from -90° to 90°. The wellbore inclination angle α indicates the slope of the wellbore trajectory. Different wellbore inclinations cause changes in the components of gravity along the well axis and vertically. Therefore, this change can be used to calculate the wellbore inclination angle α by calculating the gravitational acceleration components gx, gy, and gz in the x, y, and z directions. The tool face angle θ is the angle between the tool face angle and the borehole height edge and the z-axis, calculated using accelerometer output data gx and gy in the x and y axes, ranging from 0° to 360°. The azimuth angle β is the magnetic north azimuth angle, calculated using accelerometer output data gx, gy, and gz in the x, y, and z axes and fluxgate output data Hx, Hy, and Hz. When the azimuth angle β is 0°, the horizontal projection of the instrument axis points to magnetic north, ranging from 0° to 360°.

[0074] In the above technical solution, the left vibration damping and energy absorption device and the right vibration damping and energy absorption device can be implemented by rubber vibration damping sleeve, polyurethane vibration damping sleeve, sponge vibration damping shell, foam vibration damping shell, buffer compression spring, EVA vibration damping structure or ACF artificial cartilage material vibration damping structure, which are mounted on the outside of the sensor. In this way, the vibration and impact are reduced and the vibration and impact potential energy is absorbed in the mechanical structure, which greatly reduces the impact of downhole lateral vibration, longitudinal vibration and impact on the sensor.

[0075] From left to right, the middle of the right end of the left valve head and the middle of the left end of the right valve head are connected in series with the following components: fluxgate sensor peripheral circuit module 7, fluxgate sensor peripheral circuit module 7, first data acquisition and processing module 8, modulation and demodulation module 9, data storage and second data acquisition and processing module 10, and acceleration sensor peripheral circuit module 11.

[0076] In the above technical solution, the fluxgate sensor peripheral circuit module 7 is provided in the fluxgate sensor peripheral circuit module section 7, and the accelerometer sensor peripheral circuit module 11 is provided in the accelerometer sensor peripheral circuit module section 11. Both the fluxgate sensor peripheral circuit and the accelerometer sensor peripheral circuit use low-pass filter circuits to suppress interference from high-frequency environmental noise and ensure the accuracy of sensor measurement data.

[0077] The first data acquisition and processing module is located in section 8, and the data storage module and the second data acquisition and processing module are located in section 10, respectively. Both the first data acquisition and processing module and the second data acquisition and processing module embed algorithms to improve the accuracy of dynamic well inclination and azimuth measurement.

[0078] The first data acquisition and processing module section 8 and the data storage and second data acquisition and processing module section 10 can correspondingly acquire data from the three-axis fluxgate sensor and the three-axis gravity acceleration sensor 12 in real time, and calculate attitude measurement data based on the data from the three-axis fluxgate sensor and the three-axis gravity acceleration sensor 12. After encoding the attitude measurement data, it is stored in the data storage module of the data storage and second data acquisition and processing module section 10. At the same time, the encoded attitude measurement data is transmitted to the modulation and demodulation module section 9 in real time. The modulation and demodulation module section 9 transmits the attitude measurement data to the downhole information interaction module, signal upload module, pulse generation module and communication processing module of the vertical drilling system or rotary steering system to complete the uploading of wellbore trajectory data. Among them, the attitude measurement data includes well inclination angle, azimuth angle and tool face angle.

[0079] In the above technical solution, the modulation and demodulation module 9 is equipped with a modulation and demodulation module. The modulation and demodulation module can transmit attitude measurement data such as well inclination angle, azimuth angle and tool face angle to the downhole information interaction module, signal upload module, pulse generation module and communication processing module of the vertical drilling system or rotary steering system through the M30 bus communication protocol, and complete the process of uploading wellbore trajectory data.

[0080] Depending on the requirements, this invention can be a functional short section with a length of 1m to 2m, capable of being connected to a vertical drilling system or rotary steering system; when the inclination measurement components of the vertical drilling system or rotary steering system fail, this invention can be configured according to... Figure 4 The structural block diagram shown transmits attitude measurement data, such as well inclination, tool face, and azimuth, through the end-face slip ring 4 to the downhole information interaction module, signal upload module, pulse generation module, and communication processing module of the vertical drilling system or rotary steering system. This data is transmitted to the surface along with mud pulse signals. Furthermore, the attitude measurement data can be transmitted to the guiding mechanism of the vertical drilling system or rotary steering system via the end-face slip ring 4, ensuring reliable downhole operation of the drilling tools. In addition, the wellbore trajectory parameters measured by this invention can be compared with those measured by the vertical drilling system or rotary steering system, ensuring accurate and reliable measurement results. Its reliability and service costs are equivalent to conventional MWD, and it provides drilling teams with triaxial vibration detection and early warning functions.

[0081] This invention features a rational and compact structure, making it easy to use. It integrates communication, orientation, and geological parameter measurement data acquisition and processing into a single unit. Equipped with two types of sensors—a triaxial gravity acceleration sensor 12 and a triaxial fluxgate sensor—it is an integrated device that not only reduces downhole risks but also avoids redundant research and development, lowers operating costs, eliminates static measurement time, shortens non-productive time for well teams, improves vertical depth measurement accuracy, and better controls wellbore trajectory. The left and right vibration damping and energy absorption devices can mitigate vibration and impact, and absorb vibration and impact potential energy through mechanical structure, significantly reducing the impact of downhole lateral vibration, longitudinal vibration, and impact on the sensors. During later maintenance, disassembly is simple and operation is convenient, following a standardized process that effectively reduces maintenance time and ensures high product stability.

[0082] The above-mentioned dynamic wellbore inclination and wellbore trajectory azimuth measurement device can be further optimized and / or improved according to actual needs:

[0083] Example 2: As shown in the attached document Figure 2-3As shown, the left vibration damping and energy absorption device includes a left vibration damping housing, a left vibration damping and energy absorption sleeve, and a left elastic vibration damping part. The left vibration damping housing is fixedly installed on the inner side of the right part to the left end of the left valve head cavity. The left vibration damping housing is a housing with an opening to the right and a blind end on the left. The left vibration damping and energy absorption sleeve with an axial through hole is fixedly installed on the inner side of the right end to the left part of the left vibration damping housing. The inner side of the left vibration damping and energy absorption sleeve is fixedly installed together with the outer side of the triaxial fluxgate sensor. A left elastic vibration damping part is provided between the left end of the triaxial fluxgate sensor and the inner side of the blind end of the left vibration damping housing.

[0084] The right vibration damping and energy absorption device includes a right vibration damping housing 13, a right vibration damping and energy absorption sleeve 14, and a right elastic vibration damping part 15. The right vibration damping housing 13 is fixedly installed on the inner side of the left to right end of the right valve head cavity. The right vibration damping housing 13 is a housing with an opening to the left and a blind end on the right. The right vibration damping and energy absorption sleeve 14 with an axial through hole is fixedly installed on the inner side of the right end to the right part of the right vibration damping housing. The inner side of the right vibration damping and energy absorption sleeve 14 is fixedly installed together with the outer side of the triaxial gravity acceleration sensor 12. The right elastic vibration damping part 15 is provided between the right end of the triaxial gravity acceleration sensor 12 and the inner side of the blind end of the right vibration damping housing 13.

[0085] In the above technical solution, the left and right vibration damping housings 13 facilitate the installation of the left and right vibration damping energy absorption devices. The left and right vibration damping housings 13 are made of non-magnetic materials. The left and right elastic vibration damping parts 15 can be vibration damping buffer fillers composed of elastic materials; the left and right elastic vibration damping parts 15 can also be elastic buffer support structures with several radial vibration damping buffer grooves spaced apart on the outer side.

[0086] According to the requirements, the shape of the inner side of the left vibration damping and energy absorbing sleeve is adapted to the shape of the triaxial fluxgate sensor; the shape of the inner side of the right vibration damping and energy absorbing sleeve 14 is adapted to the shape of the triaxial gravity acceleration sensor 12.

[0087] Example 3: As shown in the attached document Figure 2-3 As shown, the right end of the left elastic damping part is fixedly installed together with the left end of the left damping energy absorption sleeve, and the outer diameter of the left elastic damping part is adapted to the inner diameter of the left damping shell. The left end of the right elastic damping part 15 is fixedly installed together with the right end of the right damping energy absorption sleeve 14, and the outer diameter of the right elastic damping part 15 is adapted to the inner diameter of the right damping shell 13. Both the left elastic damping part and the right elastic damping part 15 are elastic damping rods. The upper half of the elastic damping rod has several outward-facing and semi-circular upper damping energy absorption grooves 16 on the outer side. The lower half of the elastic damping rod has several outward-facing and semi-circular lower damping energy absorption grooves 17 on the outer side. The lower damping energy absorption grooves 17 and the upper damping energy absorption grooves 16 are staggered along the axial direction.

[0088] With this design, the reasonable slotting on the elastic damping rod can effectively disrupt the rigid structure of the object and reduce its natural frequency, thereby achieving the purpose of vibration reduction and noise reduction. When the drill vibrates, the vibration damping and energy absorption grooves distributed axially and the upper vibration damping and energy absorption groove 16 can also deform. This is the main mechanism for vibration damping and buffering, which better reduces lateral vibration, longitudinal vibration and impact.

[0089] Depending on the requirements, the left elastic damping part and the left damping energy absorbing sleeve, and the right elastic damping part 15 and the right damping energy absorbing sleeve 14 can be fixedly installed by integral molding or bonding.

[0090] Example 4: As shown in the appendix Figure 1-3 As shown, the left valve head includes a left valve body, a left support ring, and a left conical valve head. A left conical valve head with a smaller left side and a larger right side is fixedly installed on the left end of the left valve body. A left support ring is provided on the outer side of the left valve body corresponding to the right side of the left conical valve head. The right end of the left support ring is located to the left of the right end of the left valve body. Several first anti-erosion grooves with openings to the left are evenly distributed along the circumference on the left end face of the left support ring. Several second anti-erosion grooves with openings to the right are evenly distributed along the circumference on the right end face of the left support ring. A magnetic fluxgate sensor mounting hole with an opening to the right is provided in the middle of the right end face of the left valve body. The inner side of the magnetic fluxgate mounting hole is fixedly installed together with the outer side of the left vibration damping and energy absorption device. The outer side of the right end of the left valve body is connected to the inner side of the left end of the magnetic fluxgate sensor peripheral circuit module short section 7 by a thread.

[0091] The right valve head includes a right valve body 18, a right support ring 19, and a right conical valve head 20. The right valve body 18 has a right conical valve head 20 that is larger on the left and smaller on the right. The right valve body 18 has a right support ring 19 on the outside corresponding to the left side of the right conical valve head 20. The left end of the right support ring 19 is located to the right of the left end of the right valve body 18. The right end face of the right support ring 19 has several third anti-erosion grooves 21 with openings to the right evenly distributed along the circumference. The left end face of the right support ring 19 has several fourth anti-erosion grooves 22 with openings to the left evenly distributed along the circumference. The left end face of the right valve body 18 has an acceleration sensor mounting hole 23 with an opening to the left in the middle. The inside of the acceleration sensor mounting hole 23 is fixedly installed with the outside of the right vibration damping and energy absorption device. The outside of the left end of the right valve body 18 is connected to the inside of the right end of the acceleration sensor peripheral circuit module short section 11 by a thread.

[0092] With this configuration, the structure allows the left and right valve bodies 18 to form a streamlined shape, better resisting the erosion of drilling fluid; the left and right support rings 19 ensure that the measuring probe assembly is in the center position.

[0093] Depending on the requirements, the inner side of the fluxgate mounting hole and the outer side of the left vibration damping and energy absorption device, and the inner side of the acceleration sensor mounting hole 23 and the outer side of the right vibration damping and energy absorption device can be fixedly installed by interference fit, or by using a retaining spring, or by using AB glue. This effectively prevents the left and right vibration damping and energy absorption devices from moving within the valve head, and allows them to better mitigate vibration and impact. The left valve body, left support ring, and left conical valve head can be integrally formed, welded, or screwed together; the right valve body 18, right support ring 19, and right conical valve head 20 can also be integrally formed, welded, or screwed together.

[0094] Example 5: As shown in the attached document Figure 1-2 As shown, the middle of the left support ring is provided with a fluxgate sensor data reading and testing port whose inner end is connected to the inner side of the left part of the fluxgate sensor mounting hole. At least one first sealing ring 24 is provided between the outer side of the left support ring and the inner side of the first non-magnetic short section 2 at the positions corresponding to the left and right sides of the fluxgate sensor data reading and testing port. The middle of the right support ring 19 is provided with an acceleration sensor data reading and testing port 25 whose inner end is connected to the inner side of the right part of the acceleration sensor mounting hole 23. At least one second sealing ring 26 is provided on the outer side of the right support ring 19 at the positions corresponding to the left and right sides of the acceleration sensor data reading and testing port 25.

[0095] With this configuration, the first sealing ring 24 and the second sealing ring 26 can effectively prevent the measuring probe from moving or shaking within the first non-magnetic short section 2 and the second non-magnetic short section 3. They can also effectively prevent drilling fluid from seeping into the measuring probe assembly from the fluxgate sensor data reading and testing port and the accelerometer data reading and testing port 25, thus preventing damage to the circuit modules within the measuring probe assembly.

[0096] The fluxgate sensor data reading and testing port and the accelerometer data reading and testing port 25 make it easier to quickly read the sensor data when testing this invention.

[0097] Example 6: Both the left and right valve heads are coated with a wear-resistant and erosion-resistant coating.

[0098] With this configuration, the wear-resistant and erosion-resistant coating can inhibit erosion during high-volume drilling fluid circulation.

[0099] Example 7: As attached Figure 4As shown, the measuring probe assembly also includes a downhole instrument power supply module section 36. The downhole instrument power supply module section 36 is located between the modulation and demodulation module section 9 and the data storage and second data acquisition and processing module section 10. The downhole instrument power supply module section 36 is used to supply power to the fluxgate sensor peripheral circuit module section 7, the first data acquisition and processing module section 8, the data storage and second data acquisition and processing module section 10, and the accelerometer peripheral circuit module section 11.

[0100] Example 8: As attached Figure 1 As shown, it also includes a probe centralizer 35. The probe centralizer 35, which can be fitted inside the second non-magnetic section 3, is fixedly installed between the downhole instrument power supply module section 36 and the data storage and second data acquisition and processing module section 10.

[0101] With this configuration, the probe aligner 35 can effectively ensure that the measuring probe assembly is centered, and avoid the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor deviating from the axis, thus affecting the accuracy of the measurement results.

[0102] Example 9: As attached Figure 1 As shown, it also includes a guide tube 27, a third sealing ring 28, and a fourth sealing ring 29. The inner left side of the second non-magnetic sub-section 3 has an inner ring groove 30. The right end of the inner ring groove 30 is located to the right of the modem module sub-section 9. A guide tube 27, which can be fitted onto the outside of the modem module sub-section 9, is located inside the inner ring groove 30. The left end of the guide tube 27 is located to the left of the modem module sub-section 9, and the right end of the guide tube 27 abuts against the right side wall of the inner ring groove 30. Several fifth anti-erosion grooves 31 with openings to the left are evenly distributed along the circumference on the left end face of the guide tube 27, and several sixth anti-erosion grooves 32 with openings to the right are evenly distributed along the circumference on the right end face of the guide tube 27. The modem module sub-section 9 has a data reading and instrument function testing system that connects the inside and outside. At least one third sealing ring 28 is provided between the inner side of the guide tube 27 at the left and right positions of the data reading and instrument function test port 33 and the outer side of the modulation and demodulation module subsection 9, respectively; the guide tube 27 at the position of the data reading and instrument function test port 33 is provided with a data reading harness and instrument function test harness through hole 34 that runs through the inside and outside; the second non-magnetic subsection 3 at the position of the data reading harness and instrument function test harness through hole 34 is provided with an instrument test port 37 that runs through the inside and outside; at least one fourth sealing ring 29 is provided between the outer side of the guide tube 27 at the left and right positions of the data reading harness and instrument function test harness through hole 34 and the inner side of the second non-magnetic subsection 3, respectively.

[0103] With this configuration, the right end of the guide tube 27 abuts against the right side wall of the inner annular groove 30. After installation, the guide tube 27, along with the third sealing ring 28 and the fourth sealing ring 29, effectively isolate the drilling fluid, preventing it from entering the data reading and instrument function test port 33. The data reading and instrument function test port 33, the internally and externally connected data reading harness and instrument function test harness through-hole 34, and the instrument test port 37 are used to test the circuit functions of each module of the invention and to read memory data, so that surface engineers can judge the downhole operating status of the tool and provide a basis for subsequent tool maintenance measures. In addition, the guide tube 27 also serves as a guide and support for the measuring probe assembly, preventing deformation of the measuring probe assembly.

[0104] Example 10: As attached Figure 5 As shown, the measurement method of the dynamic wellbore inclination and wellbore trajectory azimuth measurement device while drilling includes:

[0105] S1, establish the state equations and observation equations for the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor respectively, using the discrete sampling time t. a The state equations and observation equations of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor are discretized.

[0106] In the above technical solution, considering drill string rotation and axial and lateral vibrations, the triaxial gravity acceleration sensor 12 measures the triaxial component g. x g y g z It will be related to radial centrifugal acceleration a r lateral random vibration acceleration a s Tangential torsional acceleration a τ axial random vibration acceleration a z The noise is superimposed.

[0107] Assuming the angular velocity ω of the drill string rotation is a function of time t, based on the radial component a of the acceleration of the transverse random vibration... x , Tangential component a of transverse random vibration acceleration y axial random vibration acceleration a z and radial centrifugal acceleration a r Tangential torsional acceleration a τ The calculation formula yields the following results:

[0108]

[0109] Where r is the outer diameter of the sensor body, and ω is the angular velocity, which is related to the rotational speed.

[0110] Based on the above formulas, the state equation and observation equation of the triaxial gravity acceleration sensor 12 can be established:

[0111]

[0112] Where k is the sampling time, E is the state transition matrix, the identity matrix, and T -1 Let H be the observation matrix, v k Let B be the observation noise matrix, and let u be the control matrix. k The control input matrix is ​​defined as follows: B is the control matrix, and u is the control input matrix. k The ones are respectively:

[0113]

[0114] The state equation and observation equation of the triaxial gravity acceleration sensor 12 are discretely sampled over time t. a After discretization, the discretized state equation and observation equation are as follows:

[0115]

[0116] The change in angular velocity Δω in the discretized control matrix can be determined based on the tool face angle θ(k+1) at time k+1, the tool face angle θ(k) at time k, and the discrete sampling time t. a Therefore, the expression for control matrix B is:

[0117]

[0118] Similarly, the state equations and observation equations of the three-axis fluxgate sensor are also established according to the above approach;

[0119]

[0120] Where k is the sampling time, E is the state transition matrix, the identity matrix, and T -1 Let H be the observation matrix, v k Let B be the observation noise matrix, and let u be the control matrix. k To control the input matrix.

[0121] The state equation and observation equation of the three-axis fluxgate sensor are discretely sampled over time t. a After discretization, the discretized state equation and observation equation are as follows:

[0122]

[0123] S2. Using a Kalman filter, based on the state vectors and covariance matrices of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor at time k, respectively, the prior estimates and prior estimate covariance matrices of the state vectors of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor at time k+1 are obtained.

[0124] In the above technical solution, the time update equation of the Kalman filter in the prior art is:

[0125]

[0126] The state update equation for the Kalman filter is:

[0127]

[0128] Therefore, based on the above equations, the Kalman filter time update equations and Kalman filter state update equations for the triaxial gravity accelerometer and the triaxial fluxgate sensor can be obtained.

[0129] Initialize the Kalman filter parameters, which include the state vector g of the triaxial gravity accelerometer. k The state vector H of the three-axis fluxgate sensor k State transition matrix of a three-axis gravity accelerometer State transition matrix of a three-axis fluxgate sensor Control matrix of the three-axis gravity accelerometer Control matrix of a three-axis fluxgate sensor Covariance matrix of triaxial gravity acceleration sensor 12 Covariance matrix of a three-axis fluxgate sensor The state noise matrix Q of the three-axis gravity acceleration sensor 12 g The state noise matrix Q of the three-axis fluxgate sensor H The observation noise matrix R of the triaxial gravity acceleration sensor 12 g The observation noise matrix R of the three-axis fluxgate sensor H .

[0130] The Kalman filter parameters for the initial state are as follows:

[0131]

[0132] Where g0 is the initial state vector of the triaxial gravity accelerometer and H0 is the initial state vector of the triaxial fluxgate sensor.

[0133]

[0134] in, Here is the state transition matrix for the triaxial gravity accelerometer in its initial state. This is the state transition matrix of the triaxial fluxgate sensor in its initial state.

[0135]

[0136] in, The control matrix for the three-axis gravity accelerometer. This is the control matrix for a three-axis fluxgate sensor.

[0137]

[0138] Among them, the covariance matrix of the triaxial gravity acceleration sensor 12 Covariance matrix of a three-axis fluxgate sensor

[0139]

[0140] Among them, Q g The state noise matrix of the triaxial gravity acceleration sensor 12 is Q. H R is the state noise matrix of the three-axis fluxgate sensor. g R is the observation noise matrix of the triaxial gravity acceleration sensor 12. H This is the observation noise matrix of the three-axis fluxgate sensor.

[0141] Based on the prior estimate of the state vector in the Kalman filter time update equation The state vector g of the triaxial gravity accelerometer at time k k The state vector H of the three-axis fluxgate sensor k State transition matrix of a three-axis gravity accelerometer State transition matrix of a three-axis fluxgate sensor Control matrix of the three-axis gravity accelerometer Control matrix of three-axis fluxgate sensor Calculate the prior estimate of the state vector of the triaxial gravity accelerometer at time k+1. Prior estimation of the state vector of a three-axis fluxgate sensor

[0142] Based on the prior estimate of the covariance matrix in the Kalman filter time update equation The state transition matrix A of the triaxial gravity accelerometer at time k. g k The state transition matrix A of the three-axis fluxgate sensor H k The covariance matrix of the triaxial gravity acceleration sensor 12 Covariance matrix of a three-axis fluxgate sensor The state noise matrix Q of the three-axis gravity acceleration sensor 12 g The state noise matrix Q of the three-axis fluxgate sensor HThe covariance matrix of the triaxial gravity acceleration sensor 12 at time k+1 was calculated. Covariance matrix of a three-axis fluxgate sensor

[0143] S3, based on the output data of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor at time k+1, respectively, obtain the Kalman filter observations of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor at time k.

[0144] In the above technical solution, based on the observation equation Z of the triaxial gravity acceleration sensor 12 g (k)=T -1 ·g(k)+v g (k), the observation equation Z of the three-axis fluxgate sensor H (k)=T -1 ·H(k)+v H Given the output data g(k+1) of the triaxial gravity acceleration sensor 12 and the output data H(k+1) of the triaxial fluxgate sensor at time k+1, calculate the Kalman filtered observation Z of the triaxial gravity acceleration sensor 12 at time k. g (k) and the Kalman filter observation Z of the triaxial fluxgate sensor H (k).

[0145] S4. Determine the Kalman gain of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor at time k, and iteratively update the state vector of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor at time k+1, as well as the covariance matrix of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor.

[0146] In the above technical solution, according to the Kalman gain formula in the Kalman filter state update equation: The Kalman gain of the triaxial gravity acceleration sensor 12 at time k can then be determined. Kalman gain of a three-axis fluxgate sensor

[0147] According to the posterior estimation formula of the state vector in the Kalman filter state update equation: Iteratively update the state vector g of the triaxial gravity accelerometer 12 at time k+1. k+1 The state vector H of the three-axis fluxgate sensor k+1 .

[0148] Based on the estimated covariance matrix of the posterior in the state update equation of the Kalman filter: Iteratively update the covariance matrix of the triaxial gravity acceleration sensor 12 at time k+1. Covariance matrix of a three-axis fluxgate sensor

[0149] S5. Based on the state vectors of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor at time k+1, respectively, determine the relatively accurate triaxial components of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor at time k+1, and perform temperature corrections respectively to determine the optimal estimated values ​​of the triaxial components of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor at time k+1.

[0150] In the above technical solution, the x, y, and z axes of the triaxial gravity accelerometer need to be determined through a coordinate transformation process, which is represented by a matrix T:

[0151]

[0152] In the formula: a1, a2, and a3 are the angles of coordinate transformation and rotation of the three axes of geographic coordinates, respectively.

[0153] The components of gravitational acceleration g along the three axes after transformation x g y and g z The value is:

[0154]

[0155] The triaxial components g of the triaxial gravity acceleration sensor 12 can be obtained from the state vector of the triaxial gravity acceleration sensor 12 using the above formula. x g y and g z The principle and method for acquiring the three-axis components of the three-axis fluxgate sensor are the same.

[0156] Under high-temperature conditions, the voltage signals output by the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor may drift, affecting the accuracy of the attitude measurement data of this invention. To solve this problem, high-temperature correction is required, that is, the measurement data is corrected according to the temperature characteristics of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor.

[0157] Temperature calibration can eliminate temperature drift and ensure that the instrument can operate across the entire temperature range. The correction formula can be:

[0158] kt=a0+a1t+a2t2+a3t3

[0159] bt = a4 + a5t + a6t² + a7t³

[0160] Where a0 to a7 are correction coefficients, representing the corrected AD values ​​of the sensor measurement data; t is the independent variable in the polynomial regression, used to characterize temperature; kt is the scaling factor; and bt represents the zero-bias parameter. The same applies to accelerometers and fluxgates in the x, y, and z axes.

[0161] Once the temperature correction of the sensor is completed, the optimal estimate of the three-axis components of the triaxial gravity acceleration sensor 12 at time k+1 can be determined. Optimal estimates of the three-axis components of a three-axis fluxgate sensor

[0162] S6, Calculate the well inclination angle α at time k. k Tool face angle θ k Azimuth β k ;

[0163]

[0164] in, These are the optimal estimates of the x-axis, y-axis, and z-axis components of the triaxial gravity accelerometer at time k+1. The optimal estimates of the x-axis, y-axis, and z-axis components of the triaxial fluxgate sensor at time k+1 are given.

[0165] The measurement method of the above-mentioned dynamic wellbore inclination and wellbore trajectory azimuth measurement device that is used for continuous drilling can be further optimized and / or improved according to actual needs:

[0166] Example 11: The temperature correction, determining the optimal estimates of the triaxial components of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor at time k+1, includes:

[0167] S51. Based on the relatively accurate triaxial components of the triaxial gravity acceleration sensor 12 at time k+1, perform a series of least squares fittings at different temperatures, and determine the optimal estimated value of the triaxial components of the triaxial gravity acceleration sensor 12 at time k+1 based on the fitted polynomial function.

[0168]

[0169] in, This is the temperature correction factor. These are the x-axis, y-axis, and z-axis components of the triaxial gravity acceleration sensor 12 at time k+1, which are relatively accurate. The optimal estimates are the x-axis, y-axis, and z-axis components of the triaxial gravity acceleration sensor 12 at time k+1.

[0170] S52. Based on the relatively accurate triaxial components of the triaxial fluxgate sensor at time k+1, perform a series of least squares fittings at different temperatures, and determine the optimal estimated value of the triaxial components of the triaxial fluxgate sensor at time k+1 based on the fitted polynomial function.

[0171]

[0172] in, This is the temperature correction factor. These represent the x-axis, y-axis, and z-axis components of a relatively accurate three-axis fluxgate sensor at time k+1. The optimal estimates of the x-axis, y-axis, and z-axis components of the triaxial fluxgate sensor at time k+1 are given.

[0173] In the above technical solution, without considering the influence of temperature, the measured values ​​of each sensor at a fixed temperature can be represented by a polynomial function:

[0174]

[0175] The polynomial function described above can approximate to arbitrary precision. Let matrix Y represent the true value of the physical quantity measured by the sensor, matrix A represent the coefficients of the polynomial function, and matrix X represent the sensor's measurement output matrix. The polynomial function can then be rewritten in matrix form:

[0176] A = (a0 a1 a2…a) N-1 a N )

[0177]

[0178]

[0179] After considering the effect of temperature, the coefficient 'a' in the original polynomial function i This can be viewed as a function with temperature t as the independent variable. This function can also be approximated by polynomial fitting, and the form after polynomial fitting approximation is:

[0180]

[0181] Substituting the temperature coefficient function into the original polynomial function yields the following result:

[0182]

[0183] The polynomial coefficients a were obtained by fitting the polynomials using the least squares method at a series of different temperatures. i (t). Due to a iIf (t) is an M-degree polynomial, finding all coefficients requires at least M+1 fitting operations. Similarly, using the least squares method, based on the calculated a... i (t) Fit b ji At least N+1 least squares fitting operations are required. At least M+N+2 least squares fitting operations are needed between the two iterations to obtain all the coefficients b. ji Once the coefficients are determined, temperature correction can be performed.

[0184] The calculated coefficient b ji Arranged into a matrix B:

[0185]

[0186] Define an auxiliary matrix F:

[0187]

[0188] The temperature-corrected measurement results of each sensor are as follows:

[0189] Y = B·F

[0190] Based on this correction process, the more accurate triaxial component results of the triaxial gravity accelerometer at time k+1 will be obtained. Results of the three-axis magnetic field components of the three-axis fluxgate sensor Substituting the fitted polynomial function, we can obtain the optimal estimation results of the three-axis components of the triaxial gravity accelerometer at time k+1. And the optimal estimation results of the three-axis magnetic field components of the three-axis fluxgate sensor.

[0191] Example 12: Using a Kalman filter, based on the state vectors and covariance matrices of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor at time k+1, respectively, the prior estimates and prior estimate covariance matrices of the state vectors of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor are obtained, including:

[0192] S21, Initialize the Kalman filter parameters, which include the state vector of the three-axis gravity accelerometer, the state vector of the three-axis fluxgate sensor, the state transition matrix of the three-axis gravity accelerometer, the state transition matrix of the three-axis fluxgate sensor, the control matrix of the three-axis gravity accelerometer, the control matrix of the three-axis fluxgate sensor, the covariance matrix of the three-axis gravity acceleration sensor 12, the covariance matrix of the three-axis fluxgate sensor, the state noise matrix of the three-axis gravity acceleration sensor 12, the state noise matrix of the three-axis fluxgate sensor, the observation noise matrix of the three-axis gravity acceleration sensor 12, and the observation noise matrix of the three-axis fluxgate sensor.

[0193] S22, calculate the prior estimate and prior estimate covariance matrix of the state vector of the triaxial gravity acceleration sensor 12 at time k+1;

[0194]

[0195] Where k is the sampling time, For the prior estimation of the state vector of the triaxial gravity accelerometer, g k This is the state vector of the triaxial accelerometer. This is the state transition matrix of a triaxial gravity accelerometer. The control matrix for the three-axis gravity accelerometer. Q is the control input matrix for the triaxial accelerometer. g This is the state noise matrix of the triaxial gravity acceleration sensor 12. This is the covariance matrix of the triaxial gravity acceleration sensor 12. This is the covariance matrix of the triaxial gravity acceleration sensor 12.

[0196] S23, calculate the prior estimate and prior estimate covariance matrix of the state vector of the triaxial fluxgate sensor at time k+1;

[0197]

[0198] Where k is the sampling time, H is the prior estimate of the state vector of a three-axis fluxgate sensor. k This represents the state vector of the three-axis fluxgate sensor. This is the state transition matrix of a three-axis fluxgate sensor. The control matrix for a three-axis fluxgate sensor. Q is the control input matrix for the three-axis fluxgate sensor. H This is the state noise matrix of a triaxial fluxgate sensor. Let be the covariance matrix of the three-axis fluxgate sensor. Let be the covariance matrix of the three-axis fluxgate sensor.

[0199] Through the above technical solution, the present invention can perform temperature correction on the measured values ​​of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor, and use the obtained temperature correction coefficient to correct the measured values ​​of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor to overcome the influence of temperature drift. According to the measurement models of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor under rotation and vibration conditions, Kalman filtering is performed on the measurement data of the triaxial gravity acceleration sensor 12 and the triaxial fluxgate sensor. The Kalman filtering algorithm is used to filter out system noise and sensor measurement noise, so that the measurement results continuously approach the true measurement values, thereby overcoming the influence of temperature, vibration and rotation, and realizing the measurement of dynamic well inclination, tool face and azimuth.

[0200] The above technical features constitute various embodiments of the present invention, which have strong adaptability and implementation effect. Unnecessary technical features can be added or removed according to actual needs to meet the needs of different situations.

Claims

1. A device for measuring dynamic well inclination and wellbore trajectory azimuth while drilling, characterized in that... It includes a first non-magnetic short section and a second non-magnetic short section with an axial channel. The right end of the first non-magnetic short section and the left end of the second non-magnetic short section are fixedly installed together. An end face slip ring is provided between the first non-magnetic short section and the second non-magnetic short section. The right inner side of the first non-magnetic short section is provided with a left limiting inner ring platform, and the right inner side of the second non-magnetic short section is provided with a right limiting inner ring platform. The second non-magnetic short section, corresponding to the left side of the right limiting inner ring platform, is provided with a measuring probe assembly. The left end of the measuring probe assembly is located inside the first non-magnetic short section and its left end abuts against the right end of the left limiting inner ring platform. The measuring probe assembly includes a left valve head, a triaxial fluxgate sensor, a short section of the fluxgate sensor peripheral circuit module, a short section of the first data acquisition and processing module, a short section of the modulation and demodulation module, a short section of the data storage and second data acquisition and processing module, a short section of the acceleration sensor peripheral circuit module, a triaxial gravity acceleration sensor, and a right valve head. Both the left and right valve heads are streamlined. The left end face of the left valve head abuts against the right end of the left limiting inner ring platform, and the outer diameter of the left valve head is adapted to the inner diameter of the first non-magnetic short section; the middle of the left valve head has a cavity with an opening to the right, and a three-axis fluxgate sensor is installed in the cavity of the left valve head. A left vibration damping and energy absorption device that can reduce and absorb vibration and impact is installed between the outer side of the three-axis fluxgate sensor and the inner side wall of the left valve head. The right end face of the right valve head abuts against the left end of the right limiting inner ring platform, and the outer diameter of the right valve head is adapted to the inner diameter of the second non-magnetic short section; the middle of the right valve head has a cavity with an opening to the left, and a triaxial gravity acceleration sensor is installed in the cavity of the right valve head. A right vibration damping and energy absorption device that can reduce and absorb vibration and impact is installed between the outer side of the triaxial gravity acceleration sensor and the inner side wall of the right valve head. From left to right, the middle of the right end of the left valve head and the middle of the left end of the right valve head are connected in series with a fluxgate sensor peripheral circuit module, a fluxgate sensor peripheral circuit module, a first data acquisition and processing module, a modulation and demodulation module, a data storage and second data acquisition and processing module, and an acceleration sensor peripheral circuit module. The first data acquisition and processing module subsection and the data storage subsection, corresponding to the second data acquisition and processing module subsection, acquire data from the three-axis fluxgate sensor and the three-axis gravity acceleration sensor in real time. Based on this data, attitude measurement data is calculated, encoded, and stored in the data storage module of the second data acquisition and processing module subsection. Simultaneously, the encoded attitude measurement data is transmitted in real time to the modem module subsection. The modem module subsection transmits the attitude measurement data to the downhole information interaction module, signal upload module, pulse generation module, and communication processing module of the vertical drilling system or rotary steering system, completing the uploading of wellbore trajectory data. The attitude measurement data includes inclination angle, azimuth angle, and tool face angle.

2. The dynamic wellbore inclination and wellbore trajectory azimuth measurement device for continuous drilling as described in claim 1, characterized in that, The left vibration damping and energy absorption device includes a left vibration damping housing, a left vibration damping and energy absorption sleeve, and a left elastic vibration damping part. The left vibration damping housing is fixedly installed on the inner side of the right part to the left end of the left valve head cavity. The left vibration damping housing is a housing with an opening to the right and a blind end on the left. The left vibration damping and energy absorption sleeve with an axial through hole is fixedly installed on the inner side of the right end to the left part of the left vibration damping housing. The inner side of the left vibration damping and energy absorption sleeve is fixedly installed together with the outer side of the triaxial fluxgate sensor. A left elastic vibration damping part is provided between the left end of the triaxial fluxgate sensor and the inner side of the blind end of the left vibration damping housing. The right vibration damping and energy absorption device includes a right vibration damping housing, a right vibration damping and energy absorption sleeve, and a right elastic vibration damping part. The right vibration damping housing is fixedly installed on the inner side of the left and right ends of the right valve head cavity. The right vibration damping housing is a housing with an opening to the left and a blind end on the right. The right vibration damping and energy absorption sleeve with an axial through hole is fixedly installed on the inner side of the right end and right part of the right vibration damping housing. The inner side of the right vibration damping and energy absorption sleeve is fixedly installed together with the outer side of the triaxial gravity acceleration sensor. A right elastic vibration damping part is provided between the right end of the triaxial gravity acceleration sensor and the inner side of the blind end of the right vibration damping housing.

3. The dynamic wellbore inclination and wellbore trajectory azimuth measurement device for continuous drilling as described in claim 2, characterized in that, The right end of the left elastic damping part is fixedly installed together with the left end of the left damping energy absorbing sleeve, and the outer diameter of the left elastic damping part is matched with the inner diameter of the left damping shell. The left end of the right elastic damping part is fixedly installed together with the right end of the right damping energy absorbing sleeve, and the outer diameter of the right elastic damping part is matched with the inner diameter of the right damping shell. Both the left and right elastic damping parts are elastic damping rods. The upper half of the elastic damping rod has several outward-facing, semi-circular upper damping energy absorbing grooves on the outer side. The lower half of the elastic damping rod has several outward-facing, semi-circular lower damping energy absorbing grooves on the outer side. The lower damping energy absorbing grooves and the upper damping energy absorbing grooves are staggered along the axial direction.

4. The dynamic wellbore inclination and wellbore trajectory azimuth measurement device for continuous drilling as described in claim 1, 2, or 3, characterized in that, The left valve head includes a left valve body, a left support ring, and a left conical valve head. A left conical valve head with a smaller left side and a larger right side is fixedly installed on the left end of the left valve body. A left support ring is provided on the outer side of the left valve body corresponding to the right side of the left conical valve head. The right end of the left support ring is located to the left of the right end of the left valve body. Several first anti-erosion grooves with openings to the left are evenly distributed along the circumference on the left end face of the left support ring. Several second anti-erosion grooves with openings to the right are evenly distributed along the circumference on the right end face of the left support ring. A magnetic fluxgate sensor mounting hole with an opening to the right is provided in the middle of the right end face of the left valve body. The inner side of the magnetic fluxgate mounting hole is fixedly installed together with the outer side of the left vibration damping and energy absorption device. The outer side of the right end of the left valve body is connected to the inner side of the left end of the short section of the peripheral circuit module of the magnetic fluxgate sensor by a thread. The right valve head includes a right valve body, a right support ring, and a right conical valve head. A right conical valve head with a left-larger and right-smaller shape is fixedly installed on the right end of the right valve body. A right support ring is provided on the outer side of the right valve body corresponding to the left side of the right conical valve head. The left end of the right support ring is located to the right of the left end of the right valve body. Several third anti-erosion grooves with openings to the right are evenly distributed along the circumference on the right end face of the right support ring. Several fourth anti-erosion grooves with openings to the left are evenly distributed along the circumference on the left end face of the right support ring. An acceleration sensor mounting hole with an opening to the left is provided in the middle of the left end face of the right valve body. The inner side of the acceleration sensor mounting hole is fixedly installed together with the outer side of the right vibration damping and energy absorption device. The outer side of the left end of the right valve body is connected to the inner side of the right end of the short section of the peripheral circuit module of the acceleration sensor by threads. Or / and, the middle of the left support ring is provided with a fluxgate sensor data reading and testing port whose inner end is connected to the inner side of the left part of the fluxgate sensor mounting hole. At least one first sealing ring is provided between the outer side of the left support ring and the inner side of the first non-magnetic short section at the positions corresponding to the left and right sides of the fluxgate sensor data reading and testing port; the middle of the right support ring is provided with an acceleration sensor data reading and testing port whose inner end is connected to the inner side of the right part of the acceleration sensor mounting hole. At least one second sealing ring is provided on the outer side of the right support ring at the positions corresponding to the left and right sides of the acceleration sensor data reading and testing port. Or / and, both the left and right valve heads are provided with wear-resistant and erosion-resistant coatings on their outer sides.

5. The dynamic wellbore inclination and wellbore trajectory azimuth measurement device for continuous drilling as described in claim 1, 2, or 3, characterized in that, The measurement probe assembly also includes a downhole instrument power supply module section. The downhole instrument power supply module section is located between the modulation and demodulation module section and the data storage and second data acquisition and processing module section. The downhole instrument power supply module section is used to supply power to the fluxgate sensor peripheral circuit module section, the first data acquisition and processing module section, the data storage and second data acquisition and processing module section, and the accelerometer peripheral circuit module section. Or / and, also includes a probe centralizer, wherein a probe centralizer is fixedly installed between the downhole instrument power supply module subsection and the data storage and the second data acquisition and processing module subsection, and can be fitted inside the second non-magnetic subsection.

6. The dynamic wellbore inclination and wellbore trajectory azimuth measurement device for continuous drilling as described in claim 4, characterized in that, The measurement probe assembly also includes a downhole instrument power supply module section. The downhole instrument power supply module section is located between the modulation and demodulation module section and the data storage and second data acquisition and processing module section. The downhole instrument power supply module section is used to supply power to the fluxgate sensor peripheral circuit module section, the first data acquisition and processing module section, the data storage and second data acquisition and processing module section, and the accelerometer peripheral circuit module section. Or / and, also includes a probe centralizer, wherein a probe centralizer is fixedly installed between the downhole instrument power supply module subsection and the data storage and the second data acquisition and processing module subsection, and can be fitted inside the second non-magnetic subsection.

7. The dynamic wellbore inclination and wellbore trajectory azimuth measurement device for continuous drilling as described in any one of claims 1 to 6, characterized in that, It also includes a flow guide tube, a third sealing ring, and a fourth sealing ring. The inner left side of the second non-magnetic short section has an inner ring groove, the right end of which is located to the right of the modem module short section. A flow guide tube, which can be fitted onto the outside of the modem module short section, is located within the inner ring groove. The left end of the flow guide tube is located to the left of the modem module short section, and the right end of the flow guide tube abuts against the right side wall of the inner ring groove. Several fifth anti-erosion grooves with openings to the left are evenly distributed along the circumference on the left end face of the flow guide tube, and several sixth anti-erosion grooves with openings to the right are evenly distributed along the circumference on the right end face of the flow guide tube. The middle of the modem module short section has a data reading and instrument function test port that runs through both the inside and outside, corresponding to... At least one third sealing ring is provided between the inner side of the guide tube at the left and right positions of the data reading and instrument function test port and the outer side of the modulation and demodulation module short section; the guide tube at the corresponding data reading and instrument function test port positions is provided with through holes for data reading harnesses and instrument function test harnesses that are connected internally and externally; the second non-magnetic short section at the corresponding data reading harness and instrument function test harness through holes is provided with through holes for instrument tests that are connected internally and externally; at least one fourth sealing ring is provided between the outer side of the guide tube at the corresponding data reading harness and instrument function test harness through holes and the inner side of the second non-magnetic short section.

8. A measurement method using the dynamic wellbore inclination and wellbore trajectory azimuth measurement device as described in any one of claims 1 to 7, characterized in that, include: The state equation and the observation equation of the three-axis gravity acceleration sensor and the three-axis magnetic flux gate sensor are respectively established with discrete sampling time t a The state equation and the observation equation of the three-axis gravity acceleration sensor and the three-axis magnetic flux gate sensor are discretized. Using a Kalman filter, based on the state vectors and covariance matrices of the triaxial gravity accelerometer and the triaxial fluxgate sensor at time k, respectively, the prior estimates and prior estimate covariance matrices of the state vectors of the triaxial gravity accelerometer and the triaxial fluxgate sensor at time k+1 are obtained. Based on the output data of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1, the Kalman filter observations of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k are obtained respectively. Determine the Kalman gain of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k, and iteratively update the state vector and covariance matrix of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1. Based on the state vectors of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1, the relatively accurate triaxial components of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1 are determined respectively. Temperature correction is then applied to determine the optimal estimated values ​​of the triaxial components of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1. Calculate the well inclination angle α at time k. k Tool face angle θ k Azimuth β k ; in, These are the optimal estimates of the x-axis, y-axis, and z-axis components of the triaxial gravity acceleration sensor at time k+1. The optimal estimates of the x-axis, y-axis, and z-axis components of the triaxial fluxgate sensor at time k+1 are given.

9. The method for measuring dynamic well inclination and wellbore trajectory azimuth while drilling as described in claim 8, characterized in that, The process of performing temperature correction and determining the optimal estimates of the triaxial components of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1 includes: Based on the relatively accurate triaxial components of the triaxial gravitational acceleration sensor at time k+1, a series of least squares fittings were performed at different temperatures, and the optimal estimated value of the triaxial components of the triaxial gravitational acceleration sensor at time k+1 was determined based on the fitted polynomial function. in, This is the temperature correction factor. These are the x-axis, y-axis, and z-axis components of a relatively accurate triaxial gravity acceleration sensor at time k+1. The optimal estimates of the x-axis, y-axis, and z-axis components of the triaxial gravity acceleration sensor at time k+1 are: Based on the relatively accurate triaxial components of the triaxial fluxgate sensor at time k+1, a series of least squares fittings at different temperatures are performed, and the optimal estimated value of the triaxial components of the triaxial fluxgate sensor at time k+1 is determined based on the fitted polynomial function. in, This is the temperature correction factor. These represent the x-axis, y-axis, and z-axis components of a relatively accurate three-axis fluxgate sensor at time k+1. The optimal estimates of the x-axis, y-axis, and z-axis components of the triaxial fluxgate sensor at time k+1 are given.

10. The method for measuring dynamic well inclination and wellbore trajectory azimuth while drilling, as described in claim 8 or 9, is characterized in that... The method utilizes a Kalman filter to obtain prior estimates and prior estimate covariance matrices of the state vectors of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k+1, based on the state vectors and covariance matrices of the triaxial gravity acceleration sensor and the triaxial fluxgate sensor at time k, respectively. Initialize the Kalman filter parameters, which include the state vector of the three-axis gravity accelerometer, the state vector of the three-axis fluxgate sensor, the state transition matrix of the three-axis gravity accelerometer, the state transition matrix of the three-axis fluxgate sensor, the control matrix of the three-axis gravity accelerometer, the control matrix of the three-axis fluxgate sensor, the covariance matrix of the three-axis gravity acceleration sensor, the covariance matrix of the three-axis fluxgate sensor, the state noise matrix of the three-axis gravity accelerometer, the state noise matrix of the three-axis fluxgate sensor, the observation noise matrix of the three-axis gravity accelerometer, and the observation noise matrix of the three-axis fluxgate sensor. Calculate the prior estimate and prior estimate covariance matrix of the state vector of the triaxial gravity accelerometer at time k+1; Where k is the sampling time, For the prior estimation of the state vector of the triaxial gravity accelerometer, g k This is the state vector of the triaxial accelerometer. This is the state transition matrix of a triaxial gravity accelerometer. The control matrix for the three-axis gravity accelerometer. Q is the control input matrix for the triaxial accelerometer. g This is the state noise matrix of a triaxial gravity acceleration sensor. This is the covariance matrix of a triaxial gravity acceleration sensor. This is the covariance matrix of a triaxial gravity acceleration sensor; Calculate the prior estimate and prior estimate covariance matrix of the state vector of the triaxial fluxgate sensor at time k+1; Where k is the sampling time, H is the prior estimate of the state vector of a three-axis fluxgate sensor. k This represents the state vector of the three-axis fluxgate sensor. This is the state transition matrix of a three-axis fluxgate sensor. The control matrix for a three-axis fluxgate sensor. Q is the control input matrix for the three-axis fluxgate sensor. H This is the state noise matrix of a triaxial fluxgate sensor. Let be the covariance matrix of the three-axis fluxgate sensor. Let be the covariance matrix of the three-axis fluxgate sensor.

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