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CN102536207B - Gyro inclinometer attitude measurement solving method applicable to measurement of low well deviation angle - Google Patents

Gyro inclinometer attitude measurement solving method applicable to measurement of low well deviation angleDownload PDF

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CN102536207B
CN102536207BCN201110454317.9ACN201110454317ACN102536207BCN 102536207 BCN102536207 BCN 102536207BCN 201110454317 ACN201110454317 ACN 201110454317ACN 102536207 BCN102536207 BCN 102536207B
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attitude
gyrolevel
measurement
hole
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张晓明
龙达峰
李�杰
刘俊
崔星
刘喆
黄建林
尚剑宇
范玉宝
李永慧
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North University of China
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Abstract

Translated fromChinese

本发明涉及陀螺测斜仪姿态提取技术，具体是一种适用于小角度井斜角测量的陀螺测斜仪姿态测量解算方法。本发明解决了现有陀螺测斜仪在小井斜角测量时因姿态提取方法导致方位角和横滚角测量精度差的问题。适用于小角度井斜角测量的陀螺测斜仪姿态测量解算方法，该方法是采用如下步骤实现的：1）组成陀螺测斜仪；2）求取姿态变换矩阵；3）提取俯仰角；4）若俯仰角是小角度井斜角，解算出横滚角；5）若俯仰角是大角度井斜角，则按大井斜状态完成解算。本发明所述的适用于小角度井斜角测量的陀螺测斜仪姿态测量解算方法彻底解决了现有陀螺测斜仪在小井斜角测量时因姿态提取方法导致方位角和横滚角测量精度差的问题。

Figure 201110454317

The invention relates to a gyro inclinometer attitude extraction technology, in particular to a gyro inclinometer attitude measurement and resolution method suitable for small-angle well inclination measurement. The invention solves the problem of poor measurement accuracy of the azimuth angle and roll angle caused by the posture extraction method of the existing gyro inclinometer when measuring the inclination angle of the small well. A gyro inclinometer attitude measurement solution method suitable for small-angle well inclination measurement. This method is realized by the following steps: 1) Composing the gyro inclinometer; 2) Obtaining the attitude transformation matrix; 3) Extracting the pitch angle; 4) If the pitch angle is a small-angle well inclination angle, the roll angle is calculated; 5) If the pitch angle is a large-angle well inclination angle, the calculation is completed according to the state of a large well inclination. The gyro inclinometer attitude measurement solution method suitable for small-angle well inclination angle measurement according to the present invention completely solves the azimuth angle and roll angle measurement caused by the attitude extraction method of the existing gyro inclinometer in the small well inclination angle measurement The problem of poor precision.

Figure 201110454317

Description

Translated fromChinese
适用于小角度井斜角测量的陀螺测斜仪姿态测量解算方法A gyro inclinometer attitude measurement solution method suitable for small-angle well inclination measurement

技术领域technical field

本发明涉及陀螺测斜仪姿态提取技术，具体是一种适用于小角度井斜角测量的陀螺测斜仪姿态测量解算方法。The invention relates to a gyro inclinometer attitude extraction technology, in particular to a gyro inclinometer attitude measurement and resolution method suitable for small-angle well inclination measurement.

背景技术Background technique

陀螺测斜仪主要用于油田生产、矿产勘探中的钻井轨迹测量，其通过加速度计测量钻孔俯仰角和横滚角，利用陀螺仪测量钻孔方位角，由此确定钻孔姿态，便于工程作业人员及时调整钻头，以避免因钻孔盲目性而造成事故，并为井下找孔、旧井及老井的二次开发带来了极大的便利。现有陀螺测斜仪在测量钻孔的大角度井斜角时（井斜角，定义为测斜仪纵轴线与井眼轴线之间的夹角, 井斜角与俯仰角是互为余角关系，它反映井眼的倾斜程度），测量精度通常比较高，但在测量小角度井斜角时，普遍存在方位角和横滚角测量精度差的问题。究其原因，除了有惯性器件本身精度，还有是姿态提取方法的存在的问题。如采用目前所用的姿态角提取方法，在小井斜角测井时，方位角和横滚角的提取计算公式中分子分母都将同时趋于零，使得方位角和横滚角的计算变得不确定，这种情况在测井越接近垂直状态时变得愈发严重，甚至无法正确分辨方位角和横滚角。基于此，有必要发明一种全新的陀螺测斜仪姿态提取方法，以解决现有陀螺测斜仪在小井斜角测量时因姿态提取方法导致方位角和横滚角测量精度差的问题。The gyro inclinometer is mainly used for drilling trajectory measurement in oilfield production and mineral exploration. It measures the pitch angle and roll angle of the drilling hole through the accelerometer, and uses the gyroscope to measure the azimuth angle of the drilling hole, thereby determining the drilling attitude, which is convenient for engineering. Operators adjust the drill bit in time to avoid accidents caused by blind drilling, and bring great convenience to underground hole finding, old wells and secondary development of old wells. When the existing gyro inclinometer measures the large-angle inclination of the borehole (the inclination angle is defined as the angle between the longitudinal axis of the inclinometer and the borehole axis, the inclination angle and the pitch angle are complementary angles to each other. relationship, which reflects the degree of inclination of the wellbore), the measurement accuracy is usually relatively high, but when measuring small-angle inclination angles, there is generally a problem of poor measurement accuracy of azimuth and roll angles. The reason is not only the accuracy of the inertial device itself, but also the problem of the attitude extraction method. If the currently used attitude angle extraction method is used, the numerator and denominator in the calculation formulas for the extraction of azimuth angle and roll angle will both tend to zero at the same time during the logging of small well inclination angle, which makes the calculation of azimuth angle and roll angle difficult. It is determined that this situation becomes more and more serious when the logging is closer to the vertical state, and even the azimuth and roll angles cannot be correctly distinguished. Based on this, it is necessary to invent a new attitude extraction method for gyro inclinometers to solve the problem of poor measurement accuracy of azimuth and roll angles caused by attitude extraction methods for existing gyro inclinometers when measuring small well inclination angles.

发明内容Contents of the invention

本发明为了解决现有陀螺测斜仪在小井斜角测量时因姿态提取方法导致方位角和横滚角测量精度差的问题，提供了一种适用于小角度井斜角测量的陀螺测斜仪姿态测量解算方法。The present invention provides a gyro inclinometer suitable for small-angle well inclination measurement in order to solve the problem of poor measurement accuracy of azimuth and roll angle caused by the attitude extraction method of the existing gyro inclinometer when measuring small well inclination Attitude measurement solution method.

本发明是采用如下技术方案实现的：适用于小角度井斜角测量的陀螺测斜仪姿态测量解算方法，该方法是采用如下步骤实现的：1）采用三轴陀螺仪、三轴加速度计和相应的电子线路组成陀螺测斜仪，并确定陀螺测斜仪的载体坐标系和导航坐标系；2）选取陀螺测斜仪的工作方式，并根据陀螺测斜仪的工作方式选取相应的姿态变换矩阵求解方法，求取姿态变换矩阵；3）通过求取的姿态变换矩阵提取陀螺测斜仪的姿态所对应的俯仰角，根据俯仰角和井斜角之间的关系计算出井斜角，并判断井斜角是否为小角度井斜角；4）若井斜角是小角度井斜角，则利用安装在陀螺测斜仪纵轴方向的陀螺仪作为辅助测量解算出陀螺测斜仪的姿态所对应的横滚角，并利用陀螺测斜仪的姿态所对应的方位角和横滚角之间的关系提取方位角，以此完成陀螺测斜仪的三个姿态角的解算；若井斜角是大角度井斜角，则按大井斜状态完成陀螺测斜仪的三个姿态角的解算。The present invention is realized by adopting the following technical scheme: a gyro inclinometer attitude measurement and solution method suitable for small-angle well inclination measurement, the method is realized by the following steps: 1) using a three-axis gyroscope and a three-axis accelerometer Form the gyro inclinometer with the corresponding electronic circuit, and determine the carrier coordinate system and navigation coordinate system of the gyro inclinometer; 2) Select the working mode of the gyro inclinometer, and select the corresponding attitude according to the working mode of the gyro inclinometer The transformation matrix solution method is to obtain the attitude transformation matrix; 3) the pitch angle corresponding to the attitude of the gyro inclinometer is extracted through the obtained attitude transformation matrix, and the well inclination angle is calculated according to the relationship between the pitch angle and the well inclination angle, and Determine whether the well inclination is a small-angle well inclination; 4) If the well inclination is a small-angle well inclination, use the gyroscope installed in the longitudinal direction of the gyro inclinometer as an auxiliary measurement to calculate the attitude of the gyro inclinometer. The corresponding roll angle, and use the relationship between the azimuth angle and the roll angle corresponding to the attitude of the gyro inclinometer to extract the azimuth angle, so as to complete the calculation of the three attitude angles of the gyro inclinometer; if the inclination angle If it is a large well inclination angle, the calculation of the three attitude angles of the gyro inclinometer is completed according to the large well inclination state.

所述步骤1）中，陀螺测斜仪的三轴陀螺仪用来敏感各轴向角速率分量，三轴加速度计用来敏感各轴向加速度，通过三轴陀螺仪和三轴加速度计的输出值来解算陀螺测斜仪的姿态（即钻井的姿态）。在表示陀螺测斜仪的姿态时，陀螺测斜仪采用北东地                                                地理坐标系为导航坐标系，用

Figure 480271DEST_PATH_IMAGE002
表示。陀螺测斜仪载体坐标系三轴分别指向载体的前部、右部和下部，用
Figure 920480DEST_PATH_IMAGE003
表示。其中
Figure 521226DEST_PATH_IMAGE004
、
Figure 797617DEST_PATH_IMAGE005
、
Figure 204328DEST_PATH_IMAGE006
为三轴加速度计和三轴陀螺仪的敏感轴方向。导航坐标系到陀螺测斜仪载体坐标系的变换矩阵可通过如下坐标系三次旋转得到，即：In the step 1), the three-axis gyroscope of the gyro inclinometer is used to sense the angular rate components of each axis, and the three-axis accelerometer is used to sense the acceleration of each axis, and the output of the three-axis gyroscope and the three-axis accelerometer value to solve the attitude of the gyro inclinometer (that is, the attitude of drilling). When expressing the attitude of the gyro inclinometer, the gyro inclinometer adopts the The geographic coordinate system is the navigation coordinate system, using
Figure 480271DEST_PATH_IMAGE002
express. The three axes of the carrier coordinate system of the gyro inclinometer point to the front, right and bottom of the carrier respectively.
Figure 920480DEST_PATH_IMAGE003
express. in
Figure 521226DEST_PATH_IMAGE004
,
Figure 797617DEST_PATH_IMAGE005
,
Figure 204328DEST_PATH_IMAGE006
is the sensitive axis direction of the three-axis accelerometer and three-axis gyroscope. The transformation matrix from the navigation coordinate system to the gyro inclinometer carrier coordinate system can be obtained by three rotations of the following coordinate system, namely:

Figure 702305DEST_PATH_IMAGE007
 ；
Figure 702305DEST_PATH_IMAGE007
;

上式中：

Figure 522887DEST_PATH_IMAGE002
为导航坐标系，
Figure 801422DEST_PATH_IMAGE008
、为坐标系变换过程中间坐标系，为陀螺测斜仪载体坐标系，为方位角，
Figure 26681DEST_PATH_IMAGE012
为俯仰角，
Figure 24462DEST_PATH_IMAGE013
为横滚角，则导航坐标系到陀螺测斜仪载体坐标系的变换矩阵为：In the above formula:
Figure 522887DEST_PATH_IMAGE002
is the navigation coordinate system,
Figure 801422DEST_PATH_IMAGE008
, is the intermediate coordinate system in the coordinate system transformation process, is the carrier coordinate system of the gyro inclinometer, is the azimuth angle,
Figure 26681DEST_PATH_IMAGE012
is the pitch angle,
Figure 24462DEST_PATH_IMAGE013
is the roll angle, then the transformation matrix from the navigation coordinate system to the gyro inclinometer carrier coordinate system is:

Figure 293769DEST_PATH_IMAGE014
  （1）。
Figure 293769DEST_PATH_IMAGE014
(1).

所述步骤2）中，陀螺测斜仪的工作方式可选取静态测量方式或随钻测量方式；当陀螺测斜仪的工作方式选取静态测量方式时，姿态变换矩阵求解方法采用kalman滤波初始对准方法；当陀螺测斜仪的工作方式选取随钻测量方式时，姿态变换矩阵求解方法采用kalman滤波初始对准方法和四子样等效旋转矢量算法。陀螺测斜仪载体坐标系到导航坐标系的姿态变换矩阵定义为：In the above step 2), the working mode of the gyro inclinometer can be selected as the static measurement mode or the measurement mode while drilling; when the working mode of the gyro inclinometer is selected as the static measurement mode, the attitude transformation matrix solution method adopts kalman filter initial alignment Method: When the working mode of the gyro inclinometer is the measurement while drilling mode, the attitude transformation matrix solution method adopts the kalman filter initial alignment method and the four-sample equivalent rotation vector algorithm. The attitude transformation matrix from the carrier coordinate system of the gyro inclinometer to the navigation coordinate system is defined as:

Figure 407218DEST_PATH_IMAGE015
                                           （2）；
Figure 407218DEST_PATH_IMAGE015
(2);

又因为

Figure 145498DEST_PATH_IMAGE016
，则：also because
Figure 145498DEST_PATH_IMAGE016
,but:

Figure 432123DEST_PATH_IMAGE017
 （3）；
Figure 432123DEST_PATH_IMAGE017
(3);

比较式（2）和式（3）所表达的矩阵元素之间的关系可推导得到姿态角提取公式为：Comparing the relationship between the matrix elements expressed in formula (2) and formula (3), the attitude angle extraction formula can be deduced as:

      

Figure 759199DEST_PATH_IMAGE018
                                        （4）；
Figure 759199DEST_PATH_IMAGE018
(4);

式（1）-（4）中：

Figure 369783DEST_PATH_IMAGE012
为俯仰角，
Figure 579048DEST_PATH_IMAGE011
为方位角，
Figure 607046DEST_PATH_IMAGE013
为横滚角。In formula (1)-(4):
Figure 369783DEST_PATH_IMAGE012
is the pitch angle,
Figure 579048DEST_PATH_IMAGE011
is the azimuth angle,
Figure 607046DEST_PATH_IMAGE013
is the roll angle.

所述步骤3）中，根据式（4）提取俯仰角，井斜角与俯仰角互余。In the step 3), the pitch angle is extracted according to formula (4), and the inclination angle and the pitch angle are complementary.

所述步骤4）中，在小角度井斜角时，若利用式（4）提取陀螺测斜仪的姿态角，方位角

Figure 601678DEST_PATH_IMAGE011
和横滚角
Figure 119247DEST_PATH_IMAGE013
会出现较大的提取误差，方位角
Figure 19070DEST_PATH_IMAGE011
和横滚角
Figure 896765DEST_PATH_IMAGE013
的姿态提取公式中
Figure 932854DEST_PATH_IMAGE019
，、
Figure 742864DEST_PATH_IMAGE021
、
Figure 925715DEST_PATH_IMAGE022
和
Figure 144207DEST_PATH_IMAGE023
也将同时趋于0，使得方位角和横滚角
Figure 864612DEST_PATH_IMAGE013
的计算变得不确定，甚至根本无法正确分辨和。In the step 4), if the attitude angle and azimuth angle of the gyro inclinometer are extracted by formula (4) when the well inclination angle is small
Figure 601678DEST_PATH_IMAGE011
and roll angle
Figure 119247DEST_PATH_IMAGE013
There will be a large extraction error, the azimuth angle
Figure 19070DEST_PATH_IMAGE011
and roll angle
Figure 896765DEST_PATH_IMAGE013
In the attitude extraction formula of
Figure 932854DEST_PATH_IMAGE019
, ,
Figure 742864DEST_PATH_IMAGE021
,
Figure 925715DEST_PATH_IMAGE022
and
Figure 144207DEST_PATH_IMAGE023
will also tend to 0 at the same time, making the azimuth and roll angle
Figure 864612DEST_PATH_IMAGE013
The calculation of becomes uncertain, and it is even impossible to correctly distinguish and .

由式（2）和（3）所表达的矩阵元素之间的关系可推导得到：The relationship between matrix elements expressed by formulas (2) and (3) can be derived as follows:

Figure 626528DEST_PATH_IMAGE024
                           （5）；
Figure 626528DEST_PATH_IMAGE024
(5);

因此由式（5）可得到方位角

Figure 722660DEST_PATH_IMAGE011
和横滚角
Figure 496581DEST_PATH_IMAGE013
之间的另一种表示：Therefore, the azimuth angle can be obtained from formula (5)
Figure 722660DEST_PATH_IMAGE011
and roll angle
Figure 496581DEST_PATH_IMAGE013
Another representation between:

Figure 627348DEST_PATH_IMAGE025
                                 （6）；
Figure 627348DEST_PATH_IMAGE025
(6);

当测井垂直（即井斜角为0）时，俯仰角

Figure 77790DEST_PATH_IMAGE026
，式（3）退化为：When the logging is vertical (that is, the inclination angle is 0), the pitch angle
Figure 77790DEST_PATH_IMAGE026
, formula (3) degenerates into:

Figure 395639DEST_PATH_IMAGE027
                            （7）；
Figure 395639DEST_PATH_IMAGE027
(7);

此时，由式（7）不能解算得到方位角

Figure 973251DEST_PATH_IMAGE011
和横滚角，只能解算出
Figure 81332DEST_PATH_IMAGE028
的值。因此在提取陀螺测斜仪的姿态角时，先通过辅助测量方法先确定方位角
Figure 886477DEST_PATH_IMAGE011
和横滚角
Figure 2201DEST_PATH_IMAGE013
其中之一，再由式（6）计算出另一个姿态角值。At this time, the azimuth angle cannot be obtained by formula (7)
Figure 973251DEST_PATH_IMAGE011
and roll angle , can only be solved for
Figure 81332DEST_PATH_IMAGE028
value. Therefore, when extracting the attitude angle of the gyro inclinometer, first determine the azimuth angle through the auxiliary measurement method
Figure 886477DEST_PATH_IMAGE011
and roll angle
Figure 2201DEST_PATH_IMAGE013
One of them, and then calculate another attitude angle value by formula (6).

所述辅助测量方法具体如下：The auxiliary measurement method is specifically as follows:

陀螺测斜仪的方位角

Figure 156495DEST_PATH_IMAGE011
、俯仰角
Figure 637155DEST_PATH_IMAGE012
和横滚角
Figure 257492DEST_PATH_IMAGE013
的随时间的变化率与陀螺测斜仪载体坐标系相对于导航坐标系转动的角速度分量
Figure 849010DEST_PATH_IMAGE029
、和
Figure 273487DEST_PATH_IMAGE031
之间的关系式如下：Azimuth of gyro inclinometer
Figure 156495DEST_PATH_IMAGE011
,Pitch angle
Figure 637155DEST_PATH_IMAGE012
and roll angle
Figure 257492DEST_PATH_IMAGE013
The rate of change over time and the angular velocity component of the gyro inclinometer carrier coordinate system relative to the navigation coordinate system
Figure 849010DEST_PATH_IMAGE029
, and
Figure 273487DEST_PATH_IMAGE031
The relationship between them is as follows:

  （8）； (8);

角速度分量

Figure 510750DEST_PATH_IMAGE033
的另一种表达方式如下：angular velocity component
Figure 510750DEST_PATH_IMAGE033
Another way of expressing is as follows:

Figure 636707DEST_PATH_IMAGE034
                              （9）；
Figure 636707DEST_PATH_IMAGE034
(9);

当陀螺测斜仪选取静态测量方式时，为零。当陀螺测斜仪选取随钻测量方式时，因为钻进的速度很慢，可以近似为零处理。在井斜角接近垂直测井（即井斜角是小角度井斜角）时，式（3）退化为式（7），代入式（9）可整理为：When the gyro inclinometer selects the static measurement mode, to zero. When the gyro inclinometer selects the measurement method while drilling, because the drilling speed is very slow, can be approximated to zero processing. When the well inclination is close to vertical logging (that is, the well inclination is a small angle well inclination), formula (3) degenerates into formula (7), and substituting into formula (9) can be organized as:

 

Figure 800469DEST_PATH_IMAGE036
                         （10）；
Figure 800469DEST_PATH_IMAGE036
(10);

由式（8）和式（10）之间所表达的关系可推导得到：From the relationship expressed between formula (8) and formula (10), it can be deduced that:

                              （11）； (11);

当方位角的变化率

Figure 525028DEST_PATH_IMAGE038
很小时，由式（11）可近似得到下式：When the rate of change of the azimuth
Figure 525028DEST_PATH_IMAGE038
When is very small, the following formula can be approximated by formula (11):

Figure 279358DEST_PATH_IMAGE039
                                      （12）；
Figure 279358DEST_PATH_IMAGE039
(12);

式（5）-（12）中：

Figure 596463DEST_PATH_IMAGE012
为俯仰角，
Figure 119848DEST_PATH_IMAGE011
为方位角，
Figure 346430DEST_PATH_IMAGE013
为横滚角，
Figure 588056DEST_PATH_IMAGE040
为地球自转速率，
Figure 941808DEST_PATH_IMAGE041
为地球自转速率在导航系下的角速度分量，
Figure 382016DEST_PATH_IMAGE042
为当地地球纬度，
Figure 982762DEST_PATH_IMAGE043
 为陀螺测斜仪载体坐标系相对于导航坐标系转动的角速度分量，
Figure 757689DEST_PATH_IMAGE044
、和为陀螺测斜仪载体坐标系相对于惯性坐标系在载体系下的各轴向角速度分量，
Figure 168445DEST_PATH_IMAGE047
为导航坐标系相对于惯性坐标系转动的在载体系下的角速度分量。In formula (5)-(12):
Figure 596463DEST_PATH_IMAGE012
is the pitch angle,
Figure 119848DEST_PATH_IMAGE011
is the azimuth angle,
Figure 346430DEST_PATH_IMAGE013
is the roll angle,
Figure 588056DEST_PATH_IMAGE040
is the Earth's rotation rate,
Figure 941808DEST_PATH_IMAGE041
is the angular velocity component of the earth’s rotation rate in the navigation system,
Figure 382016DEST_PATH_IMAGE042
is the local Earth latitude,
Figure 982762DEST_PATH_IMAGE043
is the angular velocity component of the rotation of the gyro inclinometer carrier coordinate system relative to the navigation coordinate system,
Figure 757689DEST_PATH_IMAGE044
, and are the angular velocity components of each axis of the carrier coordinate system of the gyro inclinometer relative to the inertial coordinate system under the carrier system,
Figure 168445DEST_PATH_IMAGE047
is the angular velocity component under the carrier system that the navigation coordinate system rotates relative to the inertial coordinate system.

无论陀螺测斜仪选取何种工作方式，俯仰角

Figure 932132DEST_PATH_IMAGE012
均按照式（4）提取，其提取的误差主要取决于姿态变换矩阵
Figure 814638DEST_PATH_IMAGE048
的准确度。若井斜角是小角度井斜角，则利用安装在陀螺测斜仪纵轴方向的陀螺仪
Figure 229438DEST_PATH_IMAGE049
的输出并按照式（12）积分解算出横滚角
Figure 474782DEST_PATH_IMAGE013
，积分计算以上一次大井斜角所解算的横滚角
Figure 912717DEST_PATH_IMAGE013
作为积分初值，以减小误差的累积，然后按照式（6）提取方位角
Figure 661230DEST_PATH_IMAGE011
。若井斜角是大角度井斜角，则按照式（4）提取方位角
Figure 868220DEST_PATH_IMAGE011
和横滚角。Regardless of the working mode of the gyro inclinometer, the pitch angle
Figure 932132DEST_PATH_IMAGE012
are extracted according to formula (4), and the extracted error mainly depends on the attitude transformation matrix
Figure 814638DEST_PATH_IMAGE048
the accuracy. If the well inclination is a small angle well inclination, use the gyroscope installed in the direction of the longitudinal axis of the gyro inclinometer
Figure 229438DEST_PATH_IMAGE049
output and calculate the roll angle according to the integral solution of formula (12)
Figure 474782DEST_PATH_IMAGE013
, integrally calculates the roll angle calculated by the last large well inclination angle
Figure 912717DEST_PATH_IMAGE013
As the initial value of the integral to reduce the accumulation of errors, and then extract the azimuth according to formula (6)
Figure 661230DEST_PATH_IMAGE011
. If the well inclination is a large angle well inclination, then extract the azimuth according to formula (4)
Figure 868220DEST_PATH_IMAGE011
and roll angle .

本发明所述的适用于小角度井斜角测量的陀螺测斜仪姿态测量解算方法基于全新的提取原理，保证了当井斜角接近垂直测井时，能够精确计算出陀螺测斜仪的姿态所对应的方位角和横滚角。由此，本发明所述的适用于小角度井斜角测量的陀螺测斜仪姿态测量解算方法彻底解决了现有陀螺测斜仪在小井斜角测量时因姿态提取方法导致方位角和横滚角测量精度差的问题，适用于油田生产、矿产勘探中的钻井轨迹测量。The gyro inclinometer attitude measurement solution method suitable for small-angle well inclination measurement described in the present invention is based on a new extraction principle, which ensures that when the well inclination is close to vertical logging, the gyro inclinometer can be accurately calculated The azimuth and roll angles corresponding to the attitude. Thus, the gyro inclinometer attitude measurement solution method suitable for small-angle well inclination measurement according to the present invention completely solves the problem of azimuth and lateral angles caused by the attitude extraction method of the existing gyro inclinometer when measuring small well inclination angles. The problem of poor roll angle measurement accuracy is suitable for drilling trajectory measurement in oil field production and mineral exploration.

附图说明Description of drawings

图1是本发明的三轴陀螺仪和加速度计的安装方式示意图。Fig. 1 is a schematic diagram of the installation method of the three-axis gyroscope and accelerometer of the present invention.

图中：

Figure 719950DEST_PATH_IMAGE050
、
Figure 6575DEST_PATH_IMAGE051
、
Figure 333651DEST_PATH_IMAGE052
为三轴陀螺仪各轴输出，、
Figure 76534DEST_PATH_IMAGE054
、为三轴加速度计各轴输出， 
Figure 161481DEST_PATH_IMAGE004
、
Figure 616733DEST_PATH_IMAGE005
、
Figure 313294DEST_PATH_IMAGE006
为三轴加速度计和三轴陀螺仪的敏感轴方向。In the picture:
Figure 719950DEST_PATH_IMAGE050
,
Figure 6575DEST_PATH_IMAGE051
,
Figure 333651DEST_PATH_IMAGE052
is the output of each axis of the three-axis gyroscope, ,
Figure 76534DEST_PATH_IMAGE054
, is the output of each axis of the three-axis accelerometer,
Figure 161481DEST_PATH_IMAGE004
,
Figure 616733DEST_PATH_IMAGE005
,
Figure 313294DEST_PATH_IMAGE006
is the sensitive axis direction of the three-axis accelerometer and three-axis gyroscope.

具体实施方式Detailed ways

适用于小角度井斜角测量的陀螺测斜仪姿态测量解算方法，该方法是采用如下步骤实现的：A gyro inclinometer attitude measurement solution method suitable for small-angle well inclination measurement, the method is realized by the following steps:

1）采用三轴陀螺仪、三轴加速度计和相应的电子线路组成陀螺测斜仪，并确定陀螺测斜仪的载体坐标系和导航坐标系；1) Use a three-axis gyroscope, a three-axis accelerometer and corresponding electronic circuits to form a gyro inclinometer, and determine the carrier coordinate system and navigation coordinate system of the gyro inclinometer;

2）选取陀螺测斜仪的工作方式，并根据陀螺测斜仪的工作方式选取相应的姿态变换矩阵求解方法，求取姿态变换矩阵；2) Select the working mode of the gyro inclinometer, and select the corresponding attitude transformation matrix solution method according to the working mode of the gyro inclinometer, and obtain the attitude transformation matrix;

3）通过求取的姿态变换矩阵提取陀螺测斜仪的姿态所对应的俯仰角，根据俯仰角和井斜角之间的关系计算出井斜角，并判断井斜角是否为小角度井斜角；3) Extract the pitch angle corresponding to the attitude of the gyro inclinometer through the obtained attitude transformation matrix, calculate the well inclination angle according to the relationship between the pitch angle and the well inclination angle, and judge whether the well inclination angle is a small angle well inclination angle ;

4）若井斜角是小角度井斜角，则利用安装在陀螺测斜仪纵轴方向的陀螺仪作为辅助测量解算出陀螺测斜仪的姿态所对应的横滚角，并利用陀螺测斜仪的姿态所对应的方位角和横滚角之间的关系提取方位角，以此完成陀螺测斜仪的三个姿态角的解算；若井斜角是大角度井斜角，则按大井斜状态完成陀螺测斜仪的三个姿态角的解算；4) If the well inclination angle is a small angle well inclination angle, use the gyroscope installed in the longitudinal axis direction of the gyro inclinometer as an auxiliary measurement solution to calculate the roll angle corresponding to the attitude of the gyro inclinometer, and use the gyro inclinometer to The relationship between the azimuth angle and the roll angle corresponding to the attitude of the gyro inclinometer is used to extract the azimuth angle, so as to complete the calculation of the three attitude angles of the gyro inclinometer; Complete the calculation of the three attitude angles of the gyro inclinometer;

所述步骤1）中，陀螺测斜仪采用北东地

Figure 879405DEST_PATH_IMAGE001
地理坐标系为导航坐标系；In the step 1), the gyro inclinometer adopts the North East ground
Figure 879405DEST_PATH_IMAGE001
The geographic coordinate system is the navigation coordinate system;

所述步骤2）中，陀螺测斜仪的工作方式可选取静态测量方式或随钻测量方式；当陀螺测斜仪的工作方式选取静态测量方式时，姿态变换矩阵求解方法采用kalman滤波初始对准方法；当陀螺测斜仪的工作方式选取随钻测量方式时，姿态变换矩阵求解方法采用kalman滤波初始对准方法和四子样等效旋转矢量算法；姿态变换矩阵为：In the above step 2), the working mode of the gyro inclinometer can be selected as the static measurement mode or the measurement mode while drilling; when the working mode of the gyro inclinometer is selected as the static measurement mode, the attitude transformation matrix solution method adopts kalman filter initial alignment Method; when the working mode of the gyro inclinometer is the measurement-while-drilling method, the attitude transformation matrix solution method adopts the kalman filter initial alignment method and the four-sample equivalent rotation vector algorithm; the attitude transformation matrix is:

Figure 495587DEST_PATH_IMAGE017
 ；
Figure 495587DEST_PATH_IMAGE017
;

上式中：

Figure 121740DEST_PATH_IMAGE012
为俯仰角，
Figure 305597DEST_PATH_IMAGE011
为方位角，为横滚角；In the above formula:
Figure 121740DEST_PATH_IMAGE012
is the pitch angle,
Figure 305597DEST_PATH_IMAGE011
is the azimuth angle, is the roll angle;

所述步骤3）中，俯仰角的提取公式如下：

Figure 644623DEST_PATH_IMAGE056
；式中：
Figure 441677DEST_PATH_IMAGE012
为俯仰角，
Figure 112830DEST_PATH_IMAGE057
为
Figure 332328DEST_PATH_IMAGE058
；根据俯仰角和井斜角的互余关系计算出井斜角；In the step 3), the pitch angle extraction formula is as follows:
Figure 644623DEST_PATH_IMAGE056
; where:
Figure 441677DEST_PATH_IMAGE012
is the pitch angle,
Figure 112830DEST_PATH_IMAGE057
for
Figure 332328DEST_PATH_IMAGE058
;Calculate the well inclination angle according to the complementary relationship between the pitch angle and the well inclination angle;

所述步骤4）中，若井斜角是小角度井斜角，横滚角的积分解算公式如下：In the step 4), if the well inclination is a small angle well inclination, the integral solution formula of the roll angle is as follows:

Figure 343009DEST_PATH_IMAGE039
；
Figure 343009DEST_PATH_IMAGE039
;

上式中：

Figure 373282DEST_PATH_IMAGE059
为横滚角的变化率，为陀螺测斜仪载体坐标系相对于惯性系转动的角速率分量（即陀螺
Figure 994067DEST_PATH_IMAGE060
的测量值），
Figure 859255DEST_PATH_IMAGE061
为地球自转速率，
Figure 60429DEST_PATH_IMAGE042
为地球纬度，积分计算以上一次大井斜角所解算的横滚角
Figure 643858DEST_PATH_IMAGE013
作为积分初值；In the above formula:
Figure 373282DEST_PATH_IMAGE059
is the rate of change of the roll angle, is the angular rate component of the rotation of the gyro inclinometer carrier coordinate system relative to the inertial system (that is, the gyro
Figure 994067DEST_PATH_IMAGE060
measured value),
Figure 859255DEST_PATH_IMAGE061
is the Earth's rotation rate,
Figure 60429DEST_PATH_IMAGE042
It is the latitude of the earth, and the roll angle calculated by the last large well inclination angle is calculated integrally
Figure 643858DEST_PATH_IMAGE013
as the initial value of the integral;

方位角的提取公式如下：The azimuth extraction formula is as follows:

Figure 473667DEST_PATH_IMAGE062
；
Figure 473667DEST_PATH_IMAGE062
;

上式中：

Figure 193361DEST_PATH_IMAGE063
为方位角，
Figure 565436DEST_PATH_IMAGE064
为横滚角，
Figure 449210DEST_PATH_IMAGE065
为，
Figure 404714DEST_PATH_IMAGE067
为
Figure 885373DEST_PATH_IMAGE068
，
Figure 754978DEST_PATH_IMAGE069
为，
Figure 103100DEST_PATH_IMAGE071
为
Figure 20240DEST_PATH_IMAGE072
；In the above formula:
Figure 193361DEST_PATH_IMAGE063
is the azimuth angle,
Figure 565436DEST_PATH_IMAGE064
is the roll angle,
Figure 449210DEST_PATH_IMAGE065
for ,
Figure 404714DEST_PATH_IMAGE067
for
Figure 885373DEST_PATH_IMAGE068
,
Figure 754978DEST_PATH_IMAGE069
for ,
Figure 103100DEST_PATH_IMAGE071
for
Figure 20240DEST_PATH_IMAGE072
;

若井斜角是大角度井斜角，方位角和横滚角的提取公式如下：If the well inclination is a high-angle well inclination, the extraction formulas of azimuth and roll angle are as follows:

Figure 613027DEST_PATH_IMAGE073
；
Figure 613027DEST_PATH_IMAGE073
;

上式中，为方位角，为横滚角，

Figure 21902DEST_PATH_IMAGE074
为
Figure 288935DEST_PATH_IMAGE075
，为，
Figure 25444DEST_PATH_IMAGE020
为
Figure 842090DEST_PATH_IMAGE077
，
Figure 579102DEST_PATH_IMAGE078
为。In the above formula, is the azimuth angle, is the roll angle,
Figure 21902DEST_PATH_IMAGE074
for
Figure 288935DEST_PATH_IMAGE075
, for ,
Figure 25444DEST_PATH_IMAGE020
for
Figure 842090DEST_PATH_IMAGE077
,
Figure 579102DEST_PATH_IMAGE078
for .

Claims (1)

1. be applicable to the gyrolevel attitude measurement calculation method that low-angle hole angle is measured, it is characterized in that: the method is to adopt following steps to realize:
1) adopt three-axis gyroscope, three axis accelerometer and corresponding electronic circuit to form gyrolevel, and the carrier coordinate system of definite gyrolevel and navigation coordinate system;
2) choose the working method of gyrolevel, and choose corresponding posture changing Matrix Solving method according to the working method of gyrolevel, ask for posture changing matrix;
3) by the posture changing matrix of asking for, extract the corresponding angle of pitch of attitude of gyrolevel, according to the relation between the angle of pitch and hole angle, calculate hole angle, and judge whether hole angle is low-angle hole angle;
4) if hole angle is low-angle hole angle, utilize the gyroscope that is arranged on gyrolevel y direction as subsidiary, to calculate the corresponding roll angle of attitude of gyrolevel, and the relation between the corresponding azimuth of the attitude of utilizing gyrolevel and roll angle extracts azimuth, with this, complete the resolving of three attitude angle of gyrolevel; If hole angle is high angle hole oblique angle, by large hole deviation state, complete the resolving of three attitude angle of gyrolevel;
In described step 1), gyrolevel adopts east northeast ground
Figure 694454DEST_PATH_IMAGE001
geographical coordinate is navigation coordinate system;
Described step 2), in, the working method of gyrolevel is chosen static measurement mode or measurement while drilling mode; When the working method of gyrolevel is chosen static measurement mode, posture changing Matrix Solving method adopts kalman filtering Initial Alignment Method; When the working method of gyrolevel is chosen measurement while drilling mode, posture changing Matrix Solving method adopts kalman filtering Initial Alignment Method and four increment equivalent rotating vector algorithm; Posture changing matrix is:
Figure 549278DEST_PATH_IMAGE002
；
In above formula:
Figure 329015DEST_PATH_IMAGE003
for the angle of pitch,for azimuth,
Figure 413963DEST_PATH_IMAGE005
for roll angle;
In described step 3), the extraction formula of the angle of pitch is as follows:; In formula:
Figure 441142DEST_PATH_IMAGE003
for the angle of pitch,
Figure 577725DEST_PATH_IMAGE007
for
Figure 246604DEST_PATH_IMAGE008
; According to the mutually remaining relation of the angle of pitch and hole angle, calculate hole angle;
In described step 4), if hole angle is low-angle hole angle, the integration solution formula of roll angle is as follows:
Figure 177651DEST_PATH_IMAGE009
；
In above formula:
Figure 869663DEST_PATH_IMAGE010
for the rate of change of roll angle,
Figure 541428DEST_PATH_IMAGE011
for the angular speed component of gyrolevel carrier coordinate system with respect to inertial system rotation,
Figure 64814DEST_PATH_IMAGE012
for earth rate,
Figure 432341DEST_PATH_IMAGE013
for terrestrial latitude,
Figure 611650DEST_PATH_IMAGE011
for the angular velocity component of gyrolevel carrier coordinate system with respect to geographic coordinate system rotation; Integral and calculating is with roll angle that last high deviation angle was resolved
Figure 886773DEST_PATH_IMAGE005
as initial value for integral;
Azimuthal extraction formula is as follows:
Figure 467927DEST_PATH_IMAGE014
；
In above formula:
Figure 740777DEST_PATH_IMAGE004
for azimuth,
Figure 469698DEST_PATH_IMAGE005
for roll angle,
Figure 486196DEST_PATH_IMAGE015
for
Figure 921856DEST_PATH_IMAGE016
,
Figure 693503DEST_PATH_IMAGE017
for
Figure 581825DEST_PATH_IMAGE018
,
Figure 416662DEST_PATH_IMAGE019
for
Figure 706829DEST_PATH_IMAGE020
,
Figure 587060DEST_PATH_IMAGE021
for; If hole angle is high angle hole oblique angle, the extraction formula of azimuth and roll angle is as follows:
Figure 383295DEST_PATH_IMAGE023
；
In above formula,
Figure 793548DEST_PATH_IMAGE004
for azimuth,
Figure 844680DEST_PATH_IMAGE005
for roll angle,
Figure 769911DEST_PATH_IMAGE024
for,
Figure 931082DEST_PATH_IMAGE026
for
Figure 215433DEST_PATH_IMAGE027
,
Figure 562713DEST_PATH_IMAGE028
for
Figure 528395DEST_PATH_IMAGE029
,
Figure 647661DEST_PATH_IMAGE030
for
Figure 837334DEST_PATH_IMAGE031
.
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