CN1888386A - Strapdown inertial combine measurement controller adapted to whole-optical fiber digital slope level - Google Patents

Abstract

Translated fromChinese

本发明公开了一种适用于全光纤数字测斜仪的捷联惯性组合测量控制装置，是用于对油井、气井井眼轨迹测量的，尤其适用于全光纤数字测斜仪的常规有线测量(WL)和随钻测量(MWD)。控制装置采用捷联惯性导航原理，利用光纤陀螺和抗震加速度计组成的主导航系统，在不同工作环境和测量精度要求时，分别利用测井缆绳缆长、磁通门传感器以及零速度几个外部信息，结合kalman滤波对主惯导系统进行系统误差估计和修正，从而限制了惯导系统的误差发散，组成一部高精度组合惯性测量仪器。多个外部信息与主惯导系统按不同测量要求组合使用，使仪器具有精度高、测速快、可靠性高、使用范围广的优点。

The invention discloses a strapdown inertial combined measurement control device suitable for an all-fiber digital inclinometer, which is used for measuring the trajectory of oil wells and gas wells, and is especially suitable for conventional wired measurement of an all-fiber digital inclinometer ( WL) and measurement while drilling (MWD). The control device adopts the principle of strapdown inertial navigation, and uses the main navigation system composed of fiber optic gyroscope and anti-seismic accelerometer. When the working environment and measurement accuracy requirements are different, the length of the logging cable, the fluxgate sensor and the zero speed are used respectively. Information, combined with kalman filtering to estimate and correct the system error of the main inertial navigation system, thereby limiting the error divergence of the inertial navigation system, and forming a high-precision combined inertial measurement instrument. Multiple external information and the main inertial navigation system are used in combination according to different measurement requirements, so that the instrument has the advantages of high precision, fast measurement speed, high reliability and wide application range.

Description

Translated fromChinese

适用于全光纤数字测斜仪的捷联惯性组合测量控制装置Strapdown Inertial Combination Measurement Control Device Applicable to All-fiber Digital Inclinometer

技术领域technical field

本发明涉及一种提高全光纤数字测斜仪测量精度的信息处理控制装置，更特别地说，是指一种利用外部多传感器采集的传感信息与光纤陀螺采集的惯性信息进行信息融合处理，该捷联惯性组合测量控制装置能够有效地提高全光纤数字测斜仪长时间工作的测量精度。The present invention relates to an information processing control device for improving the measurement accuracy of an all-fiber digital inclinometer, more particularly, it refers to an information fusion process using sensing information collected by external multi-sensors and inertial information collected by an optical fiber gyroscope, The strapdown inertial combination measurement control device can effectively improve the measurement accuracy of the all-fiber digital inclinometer working for a long time.

背景技术Background technique

随着石油资源的贫化，开采的难度越来越大。在石油钻采的过程中，迫切需要能够精确测量井眼轨迹参数的高精度测斜仪器为工业部门提供可靠的设计、开发信息。尤其是对于超深井，当发生深的高压地层井喷事件时，需要根据精确的井眼轨迹钻减压井来终止井喷。此外，现代钻采技术的发展，使随钻测量(MWD)成为现实，理想测斜仪是能在钻头钻进的过程中实时监测和显示钻头的位置，以便于操作人员及时调整钻头，使其按预先设计轨迹达到目标靶区。这都需要有高精度的井眼轨迹测量仪器。With the depletion of oil resources, it is more and more difficult to extract. In the process of oil drilling, there is an urgent need for high-precision inclinometers that can accurately measure wellbore trajectory parameters to provide reliable design and development information for industrial departments. Especially for ultra-deep wells, when blowout events occur in deep high-pressure formations, it is necessary to drill relief wells according to precise well trajectory to terminate the blowout. In addition, the development of modern drilling technology has made measurement while drilling (MWD) a reality. The ideal inclinometer can monitor and display the position of the drill bit in real time during the drilling process, so that the operator can adjust the drill bit in time to make it Reach the target target area according to the pre-designed trajectory. All of these require high-precision borehole trajectory measurement instruments.

目前，在石油工业领域使用的此类测斜仪器主要是由磁通门传感器或机械陀螺作为角速度传感器与加速度计结合，测量井眼的方位角和井斜角。磁通门式测斜仪具有结构简单、价格低、性能稳定的优点，但其无法实现对有磁性干扰的被测油井进行的井眼轨迹测量；而机械陀螺式测斜仪可弥补这一缺憾，但机械陀螺内部固有的转动机构使其存在着结构复杂、易损坏、抗振性差、漂移大等缺陷。At present, such inclinometers used in the petroleum industry mainly use fluxgate sensors or mechanical gyroscopes as angular velocity sensors combined with accelerometers to measure the azimuth and inclination of boreholes. The fluxgate inclinometer has the advantages of simple structure, low price and stable performance, but it cannot realize the wellbore trajectory measurement of the measured oil well with magnetic interference; the mechanical gyro inclinometer can make up for this shortcoming , but the inherent rotation mechanism inside the mechanical gyroscope makes it have defects such as complex structure, easy damage, poor vibration resistance, and large drift.

全光纤数字测斜仪是一种基于光纤陀螺捷联惯性测量原理的井眼轨迹测量仪器，由于光纤陀螺和加速度计组成的惯性测量误差会随时间的增长而增大，导致了测斜仪在长时间工作环境下的测量精度较低，难以满足石油测井实际使用时长时间的高精度测量要求。根据惯性测量模式在短时间具有高精度的优点并结合石油、天然气测井作业的实际工作环境和工作条件，本发明专利申请提出了一种适用于全光纤数字测斜仪的捷联惯性组合测量控制装置。The all-fiber digital inclinometer is a borehole trajectory measurement instrument based on the principle of fiber optic gyro strapdown inertial measurement. Since the inertial measurement error composed of fiber optic gyro and accelerometer will increase with time, the inclinometer The measurement accuracy in the long-time working environment is low, and it is difficult to meet the long-term high-precision measurement requirements in the actual use of petroleum logging. According to the advantages of high precision in a short time in the inertial measurement mode and combined with the actual working environment and working conditions of oil and natural gas logging operations, the patent application of the present invention proposes a strapdown inertial combination measurement suitable for all-fiber digital inclinometers control device.

发明内容Contents of the invention

本发明是一种适用于全光纤数字测斜仪的捷联惯性组合测量控制装置，该捷联惯性组合测量控制装置，采用磁通门测量信息、有线测井时的缆长信息以及下井探管停止时的零速信息分别与捷联惯性测量输出的下井探管的姿态信息和速度信息进行比较，得到差值信号；然后将所述差值信号作为KALMAN滤波器的观测量进行多种测量信息数据融合获得补偿信号，所述补偿信号用于对捷联惯性测量产生的误差信息进行估计和在线修正，限制捷联惯性测量的误差发散，从而实现了全光纤数字测斜仪长时间工作的高精度测量。The present invention is a strapdown inertial combination measurement control device suitable for all-fiber digital inclinometers. The strapdown inertial combination measurement control device uses fluxgate measurement information, cable length information during wired well logging, and downhole probes. The zero-speed information when stopped is compared with the attitude information and speed information of the downhole probe output by the strapdown inertial measurement to obtain a difference signal; then the difference signal is used as the observation of the KALMAN filter to perform various measurement information The compensation signal is obtained by data fusion, and the compensation signal is used to estimate and correct the error information generated by the strapdown inertial measurement and limit the error divergence of the strapdown inertial measurement. Accuracy measurement.

本发明是一种适用于全光纤数字测斜仪的捷联惯性组合测量控制装置，包括：The invention is a strapdown inertial combination measurement control device suitable for all-fiber digital inclinometers, comprising:

用于存储惯性组合测量任务控制程序的计算机；A computer for storing the IIM mission control program;

用于输入角速度信息的光纤陀螺；Fiber optic gyroscope for inputting angular velocity information;

用于输入比力信息的加速度计；Accelerometer for input of specific force information;

用于输入地磁分量信息的磁通门；A fluxgate for inputting geomagnetic component information;

用于输入零速修正信息的下井探管；Downhole probe for entering zero-speed correction information;

用于输入缆长信息的计数器，计数器安装在光缆绞盘上，光缆的一端连接在光缆绞盘上，另一端固定在下井探管上；还包括：A counter for inputting cable length information, the counter is installed on the optical cable winch, one end of the optical cable is connected to the optical cable winch, and the other end is fixed on the downhole probe; it also includes:

捷联惯性测量、磁测量、光缆运行速度测量、卡尔曼滤波器和信息比较A单元、信息比较B单元、信息比较C单元，Strapdown inertial measurement, magnetic measurement, optical cable running speed measurement, Kalman filter and information comparison A unit, information comparison B unit, information comparison C unit,

所述捷联惯性测量首先接收 A)所述光纤陀螺输出的下井探管机体坐标系O_bX_bY_bZ_b下的角速度信息；和The strapdown inertial measurement first receives A) the angular velocity information under the downhole probe body coordinate system O_b X_b Y_b Z_b output by the fiber optic gyroscope; and

                         B)所述加速度计输出的下井探管机体坐标系O_bX_bY_bZ_b下的比力信息；然后对B) the specific force information under the downhole probe body coordinate system O_b X_b Y_b Z_b of described accelerometer output; Then to

所述角速度信息和所述比力信息采用航迹推算处理后，输出 C)下井探管的速度信息V_x、V_y、V_z；和After the angular velocity information and the specific force information are processed by dead reckoning, output C) the velocity information V_x , V_y , V_z of the downhole probe; and

                                                     D)下井探管姿态信息的方位角ψ、横滚角φ、倾斜角θ；最后                                                                   

将E)所述速度信息V_x、V_y、V_z输出给所述信息比较B单元和所述信息比较C单元；E) outputting the speed information V_x , V_y , V_z to the information comparing unit B and the information comparing unit C;

将F)所述姿态信息输出给信息比较A单元；The attitude information of F) is output to the information comparison unit A;

所述磁通门测量首先接收A)磁通门组件输出的下井探管机体坐标系O_bX_bY_bZ_b下的地磁分量信息；和The fluxgate measurement first receives A) the geomagnetic component information under the downhole probe body coordinate system O_b X_b Y_b Z_b output by the fluxgate assembly; and

                      B)加速度计输出的下井探管机体坐标系O_bX_bY_bZ_b下的比力信息；然后对B) the specific force information under the body coordinate system O_b X_b Y_b Z_b of the downhole probe output by the accelerometer;

所述地磁分量信息和所述比力信息采用磁测量计算，并将计算出的相对于磁北的方位角转换为相对于真北的方位角ψ_c后，输出所述下井探管姿态信息的方位角ψ_c、横滚角φ_c、倾斜角θ_c；最后The geomagnetic component information and the specific force information are calculated by magnetic measurement, and the calculated azimuth relative to magnetic north is converted into an azimuth ψ_c relative to true north, and the azimuth of the downhole probe attitude information is output angle ψ_c , roll angle φ_c , bank angle θ_c ; finally

将C)所述姿态信息输出给信息比较A单元；C) the posture information is output to the information comparison unit A;

所述光缆运行速度测量是采用所述计数器测量得到的光缆长度在单位时间内光缆长度增量得到下井探管运行时在其机体坐标系O_bX_bY_bZ_b下的速度信息；The optical cable running speed measurement is to use the optical cable length measured by the counter to obtain the speed information of the optical cable length increment per unit time under the body coordinate system O_b X_b Y_b Z_b when the downhole probe is running;

所述卡尔曼滤波器接收The Kalman filter receives

A)信息比较A单元输出的姿态差值$Z_{\mathrm{KA}}=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\ψ}}_c\\ \mathrm{\θ}-{\mathrm{\θ}}_c\\ \mathrm{\φ}-{\mathrm{\φ}}_c\end{array}\right],$和A) Information compares the attitude difference output by unit A$Z_{\mathrm{KA}}=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\ψ}}_c\\ \mathrm{\θ}-{\mathrm{\θ}}_c\\ \mathrm{\φ}-{\mathrm{\φ}}_c\end{array}\right],$ and

B)信息比较B单元输出的速度差值$Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$和B) Information compares the speed difference output by unit B$Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_{\mathrm{the\; y}}-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$ and

C)信息比较C单元输出的速度差值$Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right],$C) Information compares the speed difference output by C unit$Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_{\mathrm{the\; y}}-0\\ V_z-0\end{array}\right],$

利用离散型卡尔曼滤波器对接收信息进行数据融合实现对状态变量Using the discrete Kalman filter to perform data fusion on the received information to realize the state variable

X＝[δr_x，δr_y，δr_z，δv_y，δv_z，η_x，η_y，η_z，δf_x，δf_y，δf_z，δω_x，δω_y，δω_z]的进行最优估计，根据估计的状态变量对所述捷联惯性测量进行在线误差补偿，输出补偿后的下井探管姿态信息$\left[\begin{array}{c}{\mathrm{\ψ}}_0\\ {\mathrm{\θ}}_0\\ {\mathrm{\φ}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\η}}_x\\ \mathrm{\θ}-{\mathrm{\η}}_y\\ \mathrm{\φ}-{\mathrm{\η}}_z\end{array}\right]$给所述计算机显示界面；Optimal estimation of X=[δr_x , δr_y , δr_z , δv_y , δv_z , η_x , η_y , η_z , δf_x , δf_y , δf_z , δω_x , δω_y , δω_z ] , perform online error compensation on the strapdown inertial measurement according to the estimated state variable, and output the attitude information of the downhole probe after compensation$\left[\begin{array}{c}{\mathrm{\ψ}}_0\\ {\mathrm{\θ}}_0\\ {\mathrm{\φ}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\η}}_x\\ \mathrm{\θ}-{\mathrm{\η}}_{\mathrm{the\; y}}\\ \mathrm{\φ}-{\mathrm{\η}}_z\end{array}\right]$ displaying an interface to the computer;

所述信息比较A单元，用于完成对所述捷联惯性测量输出的下井探管姿态信息的方位角ψ、横滚角φ、倾斜角θ与所述磁测量输出的下井探管姿态信息的方位角ψ_c、横滚角φ_c、倾斜角θ_c相减输出姿态差值$Z_{\mathrm{KA}}=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\ψ}}_c\\ \mathrm{\θ}-{\mathrm{\θ}}_c\\ \mathrm{\φ}-{\mathrm{\φ}}_c\end{array}\right]$给卡尔曼滤波器；The information comparison A unit is used to complete the azimuth ψ, roll angle φ, and inclination angle θ of the downhole probe attitude information output by the strapdown inertial measurement and the downhole probe attitude information output by the magnetic measurement. Subtract the azimuth ψ_c , roll angle φ_c , and tilt angle θ_c to output the attitude difference$Z_{\mathrm{KA}}=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\ψ}}_c\\ \mathrm{\θ}-{\mathrm{\θ}}_c\\ \mathrm{\φ}-{\mathrm{\φ}}_c\end{array}\right]$ to the Kalman filter;

所述信息比较B单元，用于完成对所述捷联惯性测量输出的下井探管的速度信息V_x、V_y、V_z与所述光缆运动速度测量输出的速度信息V_xc、V_yc、V_zc相减输出速度差值$Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$给卡尔曼滤波器；The information comparison unit B is used to complete the speed information V_x , V_y , V z of the downhole probe output by the strapdown inertial measurement and the speed information V_xc , V_yc , V_z output by the optical cable movement speed measurement. V_zc subtraction output speed difference$Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_{\mathrm{the\; y}}-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$ to the Kalman filter;

所述信息比较C单元，用于完成对所述捷联惯性测量输出的下井探管的速度信息V_x、V_y、V_z与所述下井探管静止量输出的零速度信息相减输出速度差值$Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right]$给卡尔曼滤波器。The information comparison C unit is used to complete the subtraction of the speed information V_x , V_y , V_z of the downhole probe output by the strapdown inertial measurement from the zero speed information output by the static volume of the downhole probe to output the speed difference$Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_{\mathrm{the\; y}}-0\\ V_z-0\end{array}\right]$ to the Kalman filter.

所述的捷联惯性组合测量控制装置，其具有捷联惯性测量+缆长的第一测量工作模式、或者捷联惯性测量+零速修正的第二测量工作模式、或者捷联惯性测量+磁测量的第三测量工作模式、或者捷联惯性测量+缆长+零速修正+磁测量的第四测量工作模式。The strapdown inertial combination measurement control device has a first measurement mode of strapdown inertial measurement + cable length, or a second measurement mode of strapdown inertial measurement + zero speed correction, or a strapdown inertial measurement + magnetic The third measurement working mode of measurement, or the fourth measurement working mode of strapdown inertial measurement + cable length + zero speed correction + magnetic measurement.

本发明捷联惯性组合测量控制装置的优点在于：(1)多种测量模式的灵活切换，操作方便；(2)多种测量模式的使用为测斜仪提供了广阔的使用空间；(3)多传感器组件的同时使用，提高了测斜仪的使用可靠性；(4)对多传感器组件进行信息融合可有效提高测斜仪的测量精度，能够在使用中等精度惯性测量器件(光纤陀螺和加速度计)条件下实现高精度的组合测量系统，降低了测斜仪的加工成本。The advantages of the strapdown inertial combination measurement control device of the present invention are: (1) flexible switching of multiple measurement modes and convenient operation; (2) the use of multiple measurement modes provides a wide use space for the inclinometer; (3) The simultaneous use of multi-sensor components improves the reliability of the inclinometer; (4) information fusion of multi-sensor components can effectively improve the measurement accuracy of the inclinometer, and can be used in the use of medium-precision inertial measurement devices (optical fiber gyroscope and acceleration A high-precision combined measurement system is realized under the condition of meter), which reduces the processing cost of the inclinometer.

附图说明Description of drawings

图1是本发明捷联惯性组合测量控制装置的结构框图。Fig. 1 is a structural block diagram of the strapdown inertial combination measurement control device of the present invention.

图2是信息测量切换为缆长信息与捷联惯性测量系统的结构框图。Fig. 2 is a structural block diagram of switching from information measurement to cable length information and strapdown inertial measurement system.

图3是信息测量切换为下井探管停止时零速信息与捷联惯性测量系统的结构框图。Fig. 3 is a structural block diagram of the zero-speed information and the strapdown inertial measurement system when the information measurement is switched to the stop of the downhole probe.

图4是信息测量切换为磁通门与捷联惯性测量系统的结构框图。Fig. 4 is a structural block diagram of information measurement switched to fluxgate and strapdown inertial measurement system.

图5是捷联惯性组合测量控制装置的主控界面示意图。Fig. 5 is a schematic diagram of the main control interface of the strapdown inertial combination measurement control device.

具体实施方式Detailed ways

下面将结合附图本发明作进一步的详细说明。The present invention will be described in further detail below in conjunction with accompanying drawing.

本发明是一种适用于全光纤数字测斜仪的捷联惯性组合测量控制装置，是对捷联惯性测量输出的姿态信息、速度信息分别与磁测量输出的磁姿态信息、光缆绞盘运动的速度信息和下井探管静止时的零速信息进行信息比较后，并对所述信息比较输出的差值进行卡尔曼滤波处理后，用于估计捷联惯性组合的相关误差并进行修正和补偿。经所述修正和补偿后的捷联惯性测量将输出的姿态信息给计算机进行精确的井眼轨迹绘图及显示。The invention is a strapdown inertial combined measurement control device suitable for all-fiber digital inclinometers, which is used to separate the attitude information and speed information output by strapdown inertial measurement from the magnetic attitude information output by magnetic measurement and the speed of optical cable winch movement. After the information is compared with the zero-speed information when the downhole probe is stationary, and the difference outputted by the information comparison is processed by Kalman filter, it is used to estimate the relevant error of the strapdown inertial combination and perform correction and compensation. The corrected and compensated strapdown inertial measurement sends the output attitude information to the computer for accurate wellbore trajectory drawing and display.

全光纤数字测斜仪由公知计算机、捷联惯性组合测量控制程序、信号采集器、光缆铰盘、井架和下井探管组成，捷联惯性组合测量控制程序存储于计算机的存储器中，信号采集器安装于计算机的主板插槽上，信号采集器与光缆铰盘采用有线连接，光缆铰盘上的光缆一端与下井探管连接，光缆在井架上滑动实现将下井探管放入井眼中。The all-fiber digital inclinometer is composed of a known computer, a strapdown inertial combination measurement control program, a signal collector, an optical cable reamer, a derrick and a downhole probe. The strapdown inertial combination measurement control program is stored in the memory of the computer, and the signal collector Installed on the motherboard slot of the computer, the signal collector and the optical cable reel are connected by wire, and one end of the optical cable on the optical cable reel is connected to the downhole probe, and the optical cable slides on the derrick to put the downhole probe into the wellbore.

参见图1所示，本发明捷联惯性组合测量控制装置包括捷联惯性测量、磁通门测量、光缆运行速度测量、卡尔曼滤波处理、三个信息比较模块(信息比较A、信息比较B和信息比较C)和零速修正模块(下井探管静止时信息)，下面将从各部分能够实现的功能进行说明。Referring to shown in Figure 1, the strapdown inertial combination measurement control device of the present invention comprises strapdown inertial measurement, fluxgate measurement, optical cable running speed measurement, Kalman filter processing, three information comparison modules (information comparison A, information comparison B and Information comparison C) and zero-speed correction module (information when the downhole probe is at rest), the functions that can be realized by each part will be described below.

一、捷联惯性测量1. Strapdown inertial measurement

惯性测量分为平台式惯性测量和捷联式惯性测量，捷联式惯性测量是将陀螺和加速度计直接固连在机体上的一种惯性测量方式。捷联式惯性测量是用数学平台取代平台式惯性测量中的物理平台而进行的一种测量模式。该捷联式惯性测量具有机械结构简单、尺寸小、相对造价较低，但由于陀螺和加速度计直接固连在机体上，导致陀螺和加速度计的输入动态范围较大，则在对使用合适的陀螺和加速度计提出了更高的要求，此外选用数学平台代替物理平台对数据处理用的计算机要求较高。Inertial measurement is divided into platform inertial measurement and strapdown inertial measurement. Strapdown inertial measurement is an inertial measurement method that directly connects the gyroscope and accelerometer to the body. Strapdown inertial measurement is a measurement mode that replaces the physical platform in platform inertial measurement with a mathematical platform. The strapdown inertial measurement has a simple mechanical structure, small size, and relatively low cost. However, since the gyroscope and the accelerometer are directly connected to the body, the input dynamic range of the gyroscope and the accelerometer is relatively large. Gyroscopes and accelerometers put forward higher requirements. In addition, choosing a mathematical platform instead of a physical platform requires a higher computer for data processing.

在本发明中，捷联惯性测量首先接收A)光纤陀螺输出的下井探管机体坐标系O_bX_bY_bZ_b下的角速度信息；和B)加速度计输出的下井探管机体坐标系O_bX_bY_bZ_b下的比力信息；然后对所述角速度信息和所述比力信息采用航迹推算处理后，输出C)下井探管的速度信息V_x、V_y、V_z；和D)下井探管姿态信息的方位角ψ、横滚角φ、倾斜角θ；最后，将E)所述速度信息V_x、V_y、V_z输出给信息比较B单元和信息比较C单元；将F)所述姿态信息输出给信息比较A单元。In the present invention, the strapdown inertial measurement first receives A) the angular velocity information under the downhole probe body coordinate system O_b X_b Y_b Z_b output by the fiber optic gyroscope; and B) the downhole probe body coordinate system O output by the accelerometer The specific force information under_b X_b Y_b Z_b ; then, after the angular velocity information and the specific force information are processed by dead reckoning, output C) the velocity information V_x , V_y , V_z of the downhole probe; and D) the azimuth ψ, roll angle φ, and inclination θ of the downhole probe attitude information; finally, output the velocity information V_x , V_y , and V_z described in E) to the information comparison unit B and the information comparison unit C ; Output F) the posture information to the information comparison A unit.

卡尔曼滤波器输出的所述状态变量X用于在线补偿所述捷联惯性测量的误差，其补偿后的表示下井探管姿态信息的输出为方位角ψ₀、横滚角φ₀、倾斜角θ₀。并将这些姿态信息输出给计算机显示界面(参见图5所示)上绘图显示(井眼轨迹绘制)，以方便操作者实时监测。The state variable X output by the Kalman filter is used to compensate the error of the strapdown inertial measurement online, and the output after the compensation represents the attitude information of the downhole probe is the azimuth ψ₀ , the roll angle φ₀ , the inclination angle θ₀ . And output these posture information to the computer display interface (see Fig. 5) for drawing display (wellbore trajectory drawing), so as to facilitate real-time monitoring by the operator.

垂直井深计算单元用于计算井眼的垂直井深，并将井深参数输出给计算机显示界面显示，以方便操作者实时监测。垂直井深计算单元的井深计算是通过将接收的缆长信息与下井探管倾斜角θ₀的余弦相乘得到被测点的垂直井深。The vertical well depth calculation unit is used to calculate the vertical well depth of the borehole, and output the well depth parameters to the computer display interface for real-time monitoring by the operator. The well depth calculation of the vertical well depth calculation unit is to obtain the vertical well depth of the measured point by multiplying the received cable length information with the cosine of the inclination angle θ₀ of the downhole probe.

二、磁通门测量2. Fluxgate measurement

磁通门现象是一种普遍存在的电磁感应现象，它是利用高导磁材料在传感器线圈系统中的磁饱和特性而测量磁场的仪器，是应用最广泛的弱磁测量仪器之一，其测量范围为10^-12～10^-3T，这种仪器结构简单、体积小、重量轻、功耗低、抗震性好、测量范围宽、灵敏度高、分辨率高、稳定性好、适于测量恒定磁场或缓慢变化的磁场。The fluxgate phenomenon is a ubiquitous electromagnetic induction phenomenon. It is an instrument that uses the magnetic saturation characteristics of high magnetic permeability materials in the sensor coil system to measure the magnetic field. It is one of the most widely used weak magnetic measuring instruments. Its measurement The range is 10^-12 ～10^-3 T. This instrument has simple structure, small size, light weight, low power consumption, good shock resistance, wide measurement range, high sensitivity, high resolution, good stability, and is suitable for measuring constant A magnetic field or a slowly changing magnetic field.

在本发明中，磁通门组件包括三个正交安置的磁通门，即X轴磁通门、Y轴磁通门和Z轴磁通门。In the present invention, the fluxgate assembly includes three fluxgates arranged orthogonally, namely an X-axis fluxgate, a Y-axis fluxgate and a Z-axis fluxgate.

在本发明中，磁通门测量首先接收A)磁通门组件输出的下井探管机体坐标系O_bX_bY_bZ_b下的地磁分量信息；和B)加速度计输出的下井探管机体坐标系O_bX_bY_bZ_b下的比力信息；然后对所述地磁分量信息和所述比力信息采用磁测量计算，并将计算出的相对于磁北的方位角转换为相对于真北的方位角ψ_c后，输出下井探管姿态信息的方位角ψ_c、横滚角φ_c、倾斜角θ_c；最后将C)所述姿态信息输出给信息比较A单元。In the present invention, the fluxgate measurement first receives A) the geomagnetic component information of the downhole probe body coordinate system O_b X_b Y_b Z_b output by the fluxgate assembly; and B) the downhole probe body output by the accelerometer The specific force information under the coordinate system O_b X_b Y_b Z_b ; Then the magnetic measurement calculation is adopted for the geomagnetic component information and the specific force information, and the calculated azimuth relative to the magnetic north is converted into relative to the true After the north azimuth ψ_c , output the azimuth ψ_c , roll angle φ_c , and inclination θ_c of the attitude information of the downhole probe; finally output the attitude information in C) to the information comparison unit A.

三、光缆运行速度3. Optical cable running speed

光缆的一端连接在光缆绞盘上，另一端固定在下井探管上。在本发明中，对下井探管在井中运行的速度可通过计数器测量得到的光缆长度在单位时间内光缆长度增量得到下井探管运行时在其机体坐标系O_bX_bY_bZ_b下的速度信息。One end of the optical cable is connected to the optical cable winch, and the other end is fixed on the downhole probe. In the present invention, the speed of the downhole probe running in the well can be obtained by measuring the length of the optical cable obtained by the counter. The length increment of the optical cable per unit time is obtained when the downhole probe is running under its body coordinate system O_b X_b Y_b Z_b speed information.

全光纤数字测斜仪在测量过程中涉及两个坐标系，一个是当地地理坐标系O_tX_tY_tZ_t，一个是下井探管机体坐标系O_bX_bY_bZ_b。这两个坐标系存在的坐标转换关系为$\left[\begin{array}{c}{x}_b\\ y_b\\ z_b\end{array}\right]=C_t^b\left[\begin{array}{c}{x}_t\\ y_t\\ z_t\end{array}\right],$C_t^b示坐标转换矩阵。通过这个坐标转换矩阵C_t^b可将下井探管机体坐标系O_bX_bY_bZ_b下的光缆运行速度信息转换为当地地理坐标系O_tX_tY_tZ_t下的速度信息V_xc、V_yc、V_zc，所述速度信息V_xc、V_yc、V_zc输出给信息比较B单元进行速度差值比较。The all-fiber digital inclinometer involves two coordinate systems in the measurement process, one is the local geographic coordinate system O_t X_t Y_t Z_t , and the other is the downhole probe body coordinate system O_b X_b Y_b Z_b . The coordinate transformation relationship between these two coordinate systems is$\left[\begin{array}{c}{x}_b\\ {\mathrm{the\; y}}_b\\ z_b\end{array}\right]=C_t^b\left[\begin{array}{c}{x}_t\\ {\mathrm{the\; y}}_t\\ z_t\end{array}\right],$ C_t^b represents the coordinate transformation matrix. Through this coordinate transformation matrix C_t^b , the running speed information of the optical cable in the body coordinate system O_b X_b Y_b Z_b of the downhole probe can be converted into the speed information V_xc in the local geographic coordinate system O_t X_t Y_t Z_t , V_yc , V_zc , the speed information V_xc , V_yc , V_zc are output to the information comparison unit B for speed difference comparison.

下井探管机体坐标系O_bX_bY_bZ_b与当地地理坐标系O_tX_tY_tZ_t之间的转换矩阵为$C_t^b=\left[\begin{array}{ccc}\cos \mathrm{\ψ}\cos \mathrm{\φ}+\sin \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\φ}& -\sin \mathrm{\ψ}\cos \mathrm{\φ}+\cos \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\φ}& -\cos \mathrm{\θ}\sin \mathrm{\θ}\\ \sin \mathrm{\ψ}\cos \mathrm{\θ}& \cos \mathrm{\ψ}\cos \mathrm{\θ}& \sin \mathrm{\θ}\\ \cos \mathrm{\ψ}\sin \mathrm{\θ}-\sin \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\φ}& -\sin \mathrm{\ψ}\sin \mathrm{\φ}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\φ}& \cos \mathrm{\θ}\cos \mathrm{\φ}\end{array}\right],$这个矩阵中的角度分别有下井探管姿态信息的方位角ψ、横滚角φ、倾斜角θ。The transformation matrix between the body coordinate system O_b X_b Y_b Z_b of the downhole probe body and the local geographic coordinate system O_t X_t Y_t Z_t is$C_t^b=\left[\begin{array}{ccc}\cos \mathrm{\ψ}\cos \mathrm{\φ}+\sin \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\φ}& -\sin \mathrm{\ψ}\cos \mathrm{\φ}+\cos \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\φ}& -\cos \mathrm{\θ}\sin \mathrm{\θ}\\ \sin \mathrm{\ψ}\cos \mathrm{\θ}& \cos \mathrm{\ψ}\cos \mathrm{\θ}& \sin \mathrm{\θ}\\ \cos \mathrm{\ψ}\sin \mathrm{\θ}-\sin \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\φ}& -\sin \mathrm{\ψ}\sin \mathrm{\φ}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\φ}& \cos \mathrm{\θ}\cos \mathrm{\φ}\end{array}\right],$ The angles in this matrix include the azimuth ψ, roll angle φ, and inclination angle θ of the downhole probe attitude information.

四、卡尔曼滤波器4. Kalman filter

卡尔曼滤波器接收Kalman filter reception

A)信息比较A单元输出的姿态差值$Z_{\mathrm{KA}}=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\ψ}}_c\\ \mathrm{\θ}-{\mathrm{\θ}}_c\\ \mathrm{\φ}-{\mathrm{\φ}}_c\end{array}\right],$和A) Information compares the attitude difference output by unit A$Z_{\mathrm{KA}}=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\ψ}}_c\\ \mathrm{\θ}-{\mathrm{\θ}}_c\\ \mathrm{\φ}-{\mathrm{\φ}}_c\end{array}\right],$ and

B)信息比较B单元输出的速度差值$Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$和B) Information compares the speed difference output by unit B$Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_{\mathrm{the\; y}}-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$ and

C)信息比较C单元输出的速度差值$Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right],$利用离散型卡尔曼滤波器对接收C) Information compares the speed difference output by C unit$Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_{\mathrm{the\; y}}-0\\ V_z-0\end{array}\right],$ Using a discrete Kalman filter to receive

信息进行数据融合实现对状态变量X＝[δr_x，δr_y，δr_z，δv_x，δv_y，δv_z，η_x，η_y，η_z，δf_x，δf_y，δf_z，δω_x，δω_y，δω_z]的进行最优估计，根据估计的状态变量对所述捷联惯性测量进行在线误差补偿，输出补偿后的下井探管姿态信息$\left[\begin{array}{c}{\mathrm{\ψ}}_0\\ {\mathrm{\θ}}_0\\ {\mathrm{\φ}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\η}}_x\\ \mathrm{\θ}-{\mathrm{\η}}_y\\ \mathrm{\φ}-{\mathrm{\η}}_z\end{array}\right]$给所述计算机显示界面。状态变量X＝[δr_x，δr_y，δr_z，δv_x，δv_y，δv_z，η_x，η_y，η_z，δf_x，δf_y，δf_z，δω_x，δω_y，δω_z]，式中，δr_x表示当地地理坐标系O_tX_tY_tZ_t下的位置误差X轴分量，δr_y表示当地地理坐标系O_tX_tY_tZ_t下的位置误差Y轴分量，δr_z表示当地地理坐标系O_tX_tY_tZ_t下的位置误差Z轴分量，δv_x表示当地地理坐标系O_tX_tY_tZ_t下的速度误差X轴分量，δv_y表示当地地理坐标系O_tX_tY_tZ_t下的速度误差Y轴分量，δv_z表示当地地理坐标系O_tX_tY_tZ_t下的速度误差Z轴分量，η_x表示方位角ψ误差，η_y表示倾斜角θ误差，η_z表示横滚角φ误差，δf_x表示X轴加速度计误差，δf_y表示Y轴加速度计误差，δf_z表示Z轴加速度计误差，δω_x表示X轴光纤陀螺误差，δω_y表示Y轴光纤陀螺误差，δω_z表示Z轴光纤陀螺误差。Data fusion of information realizes state variables X=[δr_x , δr_y , δr_z , δv x , δv_y , δv_z , η_x , η_y , η_z , δf_x , δf_y , δf_z, δω_x , δω_y , δω_z ] are optimally estimated, online error compensation is performed on the strapdown inertial measurement according to the estimated state variable, and the attitude information of the downhole probe after compensation is output$\left[\begin{array}{c}{\mathrm{\ψ}}_0\\ {\mathrm{\θ}}_0\\ {\mathrm{\φ}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\η}}_x\\ \mathrm{\θ}-{\mathrm{\η}}_{\mathrm{the\; y}}\\ \mathrm{\φ}-{\mathrm{\η}}_z\end{array}\right]$ An interface is displayed to the computer. State variable X=[δr_x , δr_y , δr_z , δv_x , δv_y , δv_z , η_x , η_y , η_z , δf_x , δf y , δf_z , δω_x , δω_y, δω_z ] , where δr_x represents the X-axis component of the position error in the local geographic coordinate system O_t X_t Y_t Z_t , δr_y represents the Y-axis component of the position error in the local geographic coordinate system O_t X_t Y_t Z_t , δr_z represents the Z-axis component of the position error in the local geographic coordinate system O_t X_t Y_t Z_t , δv_x represents the X-axis component of the velocity error in the local geographic coordinate system O_t X_{tY t} Z_t , and δv_y represents the local The velocity error Y-axis component in the geographic coordinate system O_t X_t Y_t Z_t , δv_z represents the velocity error Z-axis component in the local geographic coordinate system O_t X_t Y_t Z_t , η_x represents the azimuth ψ error, η_y represents the tilt angle θ error, η_z represents the roll angle φ error, δf_x represents the X-axis accelerometer error, δf_y represents the Y-axis accelerometer error, δf_z represents the Z-axis accelerometer error, δω_x represents the X-axis fiber Gyro error, δω_y represents the error of the Y-axis FOG, and δω_z represents the error of the Z-axis FOG.

本发明中的卡尔曼滤波器的滤波处理采用离散型卡尔曼滤波基本方程，其各状态变量初值均设为零。The filter processing of the Kalman filter in the present invention adopts the discrete Kalman filter basic equation, and the initial values of each state variable are all set to zero.

五、信息比较5. Information comparison

在本发明中，信息比较由信息比较A单元、信息比较B单元和信息比较C单元组成，其中，In the present invention, information comparison is composed of information comparison A unit, information comparison B unit and information comparison C unit, wherein,

信息比较A单元，用于完成对所述捷联惯性测量输出的下井探管姿态信息的方位角ψ、横滚角φ、倾斜角θ与所述磁测量输出的下井探管姿态信息的方位角ψ_c、横滚角φ_c、倾斜角θ_c相减输出姿态差值$Z_{\mathrm{KA}}=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\ψ}}_c\\ \mathrm{\θ}-{\mathrm{\θ}}_c\\ \mathrm{\φ}-{\mathrm{\φ}}_c\end{array}\right]$给卡尔曼滤波器；The information comparison unit A is used to complete the azimuth ψ, roll angle φ, and inclination angle θ of the downhole probe attitude information output by the strapdown inertial measurement and the azimuth angle of the downhole probe attitude information output by the magnetic measurement. ψ_c , roll angle φ_c , and tilt angle θ_c are subtracted to output attitude difference$Z_{\mathrm{KA}}=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\ψ}}_c\\ \mathrm{\θ}-{\mathrm{\θ}}_c\\ \mathrm{\φ}-{\mathrm{\φ}}_c\end{array}\right]$ to the Kalman filter;

信息比较B单元，用于完成对所述捷联惯性测量输出的下井探管的速度信息V_x、V_y、V_z与所述光缆运动速度测量输出的速度信息V_xc、V_yc、V_zc相减输出速度差值$Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$给卡尔曼滤波器；The information comparison unit B is used to complete the speed information V_x , V_y , V_z of the downhole probe output by the strapdown inertial measurement and the speed information V_xc , V_yc , V_zc output by the optical cable movement speed measurement Subtract output speed difference$Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_{\mathrm{the\; y}}-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$ to the Kalman filter;

信息比较C单元，用于完成对所述捷联惯性测量输出的下井探管的速度信息V_x、V_y、V_z与所述下井探管静止量输出的零速度信息相减输出速度差值$Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right]$给卡尔曼滤波器。The information comparison C unit is used to complete the subtraction of the speed information V_x , V_y , V_z of the downhole probe output by the strapdown inertial measurement and the zero speed information output by the static volume of the downhole probe to output the speed difference$Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_{\mathrm{the\; y}}-0\\ V_z-0\end{array}\right]$ to the Kalman filter.

六、零速修正6. Zero speed correction

零速修正是指全光纤数字测斜仪中下井探管处于静止位置时，其速度为零的现象来修正捷联惯性测量输出的速度误差。该“零速修正”通过设置的一按键实现，参见图5所示。采用所述零速修正模式时，下井探管实际的运行速度为零作为输出给信息比较C单元的比较信息。Zero-speed correction refers to the phenomenon that when the downhole probe in the all-fiber digital inclinometer is in a static position, its speed is zero to correct the speed error output by the strapdown inertial measurement. The "zero speed correction" is realized by setting a button, as shown in Fig. 5 . When the zero-speed correction mode is adopted, the actual running speed of the downhole probe is zero as the comparison information output to the information comparison unit C.

本发明捷联惯性组合测量控制装置可以提供四种组合测量工作模式，各个模式通过在图5的界面中按下相应的键实现。其中，The strapdown inertial combined measurement control device of the present invention can provide four combined measurement working modes, and each mode can be realized by pressing a corresponding key in the interface shown in FIG. 5 . in,

模式一：捷联惯性测量+缆长(测量模式中按键设定为①)Mode 1: Strapdown inertial measurement + cable length (set the button to ① in the measurement mode)

该组合测量模式用于常规有线测井的快速连续测量，尤其适用于套管井或有磁性物质干扰的井眼轨迹测量。其结构参见图2所示This combined measurement mode is used for rapid and continuous measurement of conventional wireline logging, especially for cased hole or borehole trajectory measurement with magnetic material interference. Its structure is shown in Figure 2

组合测量所需的信息流程为：第一路信息，捷联惯性测量首先接收A)光纤陀螺输出的下井探管机体坐标系O_bX_bY_bZ_b下的角速度信息；和B)加速度计输出的下井探管机体坐标系O_bX_bY_bZ_b下的比力信息；然后对所述角速度信息和所述比力信息采用航迹推算处理后，输出C)下井探管的速度信息V_x、V_y、V_z；最后将所述速度信息V_x、V_y、V_z输出给信息比较B单元。第二路信息，通过计数器对光缆缆长的记录，再经坐标转换获得的表示井下探管的运行速度信息V_xc、V_yc、V_zc输出给信息比较B单元。在信息比较B单元中第一路信息与第二路信息进行速度差值比较后输出给卡尔曼滤波器处理。第三路信息，经卡尔曼滤波输出的所述状态变量X用于在线补偿所述捷联惯性测量的误差，其补偿后表示下井探管姿态信息的输出为方位角ψ₀、横滚角φ₀、倾斜角θ₀。所述姿态信息输出给计算机显示界面绘图显示，以方便操作者实时监测。第四路信息，所述姿态信息输出给垂直井深计算单元进行垂直井深计算，并输出井深参数给计算机显示界面显示，以方便操作者实时监测。The information flow required for combined measurement is: the first channel of information, the strapdown inertial measurement first receives A) the angular velocity information of the downhole probe body coordinate system O_b X_b Y_b Z_b output by the fiber optic gyroscope; and B) the accelerometer The specific force information under the body coordinate system O_b X_b Y_b Z_b of the output downhole probe body; then after the angular velocity information and the specific force information are processed by dead reckoning, output C) the speed information of the downhole probe V_x , V_y , V_z ; finally output the speed information V_x , V_y , V_z to the information comparison unit B. The second channel of information is the information V_xc , V_yc , and V_zc obtained through the coordinate transformation of the optical cable length recorded by the counter and representing the running speed of the downhole probe, and output to the information comparison unit B. In the information comparison unit B, the speed difference between the first information and the second information is compared and then output to the Kalman filter for processing. The third information, the state variable X output by Kalman filter is used to compensate the error of the strapdown inertial measurement online, after compensation, the output of the downhole probe attitude information is the azimuth ψ₀ , roll angle φ₀ , inclination angle θ₀ . The posture information is output to the computer display interface for graphic display, so as to facilitate real-time monitoring by the operator. The fourth information, the attitude information is output to the vertical well depth calculation unit for vertical well depth calculation, and the well depth parameters are output to the computer display interface for display, so as to facilitate real-time monitoring by the operator.

模式二：捷联惯性测量+零速修正(测量模式中按键设定为②)Mode 2: Strapdown inertial measurement + zero speed correction (set the button to ② in the measurement mode)

该组合测量模式用于不要求连续测量的测井过程中，可用在随钻测井(MWD)过程中，实时监测钻头的钻进方向。其结构参见图3所示This combined measurement mode is used in the logging process that does not require continuous measurement, and can be used in the logging while drilling (MWD) process to monitor the drilling direction of the drill bit in real time. Its structure is shown in Figure 3

组合测量所需的信息流程为：第一路信息，捷联惯性测量首先接收A)光纤陀螺输出的下井探管机体坐标系O_bX_bY_bZ_b下的角速度信息；和B)加速度计输出的下井探管机体坐标系O_bX_bY_bZ_b下的比力信息；然后对所述角速度信息和所述比力信息采用航迹推算处理后，输出C)下井探管的速度信息V_x、V_y、V_z；最后将所述速度信息V_x、V_y、V_z输出给信息比较C单元。第二路信息，下井探管实际的运行速度为零作为输出给信息比较C单元的比较信息。在信息比较C单元中第一路信息与第二路信息进行速度差值比较后输出给卡尔曼滤波器处理。第三路信息，经卡尔曼滤波输出的所述状态变量X用于在线补偿所述捷联惯性测量的误差，其补偿后表示下井探管姿态信息的输出为方位角ψ₀、横滚角φ₀、倾斜角θ₀。所述姿态信息输出给计算机显示界面绘图显示，以方便操作者实时监测。第四路信息，所述姿态信息输出给垂直井深计算单元进行垂直井深计算，并输出井深参数给计算机显示界面显示，以方便操作者实时监测。The information flow required for combined measurement is: the first channel of information, the strapdown inertial measurement first receives A) the angular velocity information of the downhole probe body coordinate system O_b X_b Y_b Z_b output by the fiber optic gyroscope; and B) the accelerometer The specific force information under the body coordinate system O_b X_b Y_b Z_b of the output downhole probe body; then after the angular velocity information and the specific force information are processed by dead reckoning, output C) the speed information of the downhole probe V_x , V_y , V_z ; finally output the speed information V_x , V_y , V_z to the information comparison C unit. The second information, the actual running speed of the downhole probe is zero as the comparison information output to the information comparison unit C. In the information comparison unit C, the speed difference between the first information and the second information is compared and then output to the Kalman filter for processing. The third information, the state variable X output by Kalman filter is used to compensate the error of the strapdown inertial measurement online, after compensation, the output of the downhole probe attitude information is the azimuth ψ₀ , roll angle φ₀ , inclination angle θ₀ . The posture information is output to the computer display interface for graphic display, so as to facilitate real-time monitoring by the operator. The fourth information, the attitude information is output to the vertical well depth calculation unit for vertical well depth calculation, and the well depth parameters are output to the computer display interface for display, so as to facilitate real-time monitoring by the operator.

模式三：捷联惯性测量+磁测量(测量模式中按键设定为③)Mode 3: Strapdown inertial measurement + magnetic measurement (set the button to ③ in the measurement mode)

该组合测量模式用于无磁环境干扰的测井作业，实现高精度连续测量。其结构参见图4所示This combined measurement mode is used for logging operations without interference from the magnetic environment to achieve high-precision continuous measurement. Its structure is shown in Figure 4

组合测量所需的信息流程为：第一路信息，捷联惯性测量首先接收A)光纤陀螺输出的下井探管机体坐标系O_bX_bY_bZ_b下的角速度信息；和B)加速度计输出的下井探管机体坐标系O_bX_bY_bZ_b下的比力信息；然后对所述角速度信息和所述比力信息采用航迹推算处理后，输出C)表示下井探管姿态信息的方位角ψ、横滚角φ、倾斜角θ；最后将所述姿态信息输出给信息比较A单元。第二路信息，磁通门测量首先接收A)磁通门组件输出的下井探管机体坐标系O_bX_bY_bZ_b下的地磁分量信息；和B)加速度计输出的下井探管机体坐标系O_bX_bY_bZ_b下的比力信息；然后对所述地磁分量信息和所述比力信息采用磁测量计算，并将计算出的相对于磁北的方位角转换为相对于真北的方位角ψ_c后，输出表示下井探管姿态信息的方位角ψ_c、横滚角φ_c、倾斜角θ_c；最后将所述姿态信息输出给信息比较A单元。在信息比较A单元中第一路信息与第二路信息进行姿态差值比较后输出给卡尔曼滤波器处理。第三路信息，经卡尔曼滤波输出的所述状态变量X用于在线补偿所述捷联惯性测量的误差，其补偿后表示下井探管姿态信息的输出为方位角ψ₀、横滚角φ₀、倾斜角θ₀。所述姿态信息输出给计算机显示界面绘图显示，以方便操作者实时监测。第四路信息，所述姿态信息输出给垂直井深计算单元进行垂直井深计算，并输出井深参数给计算机显示界面显示，以方便操作者实时监测。The information flow required for combined measurement is: the first channel of information, the strapdown inertial measurement first receives A) the angular velocity information of the downhole probe body coordinate system O_b X_b Y_b Z_b output by the fiber optic gyroscope; and B) the accelerometer The specific force information under the body coordinate system O_b X_b Y_b Z_b of the output downhole probe body; then after the angular velocity information and the specific force information are processed by dead reckoning, the output C) represents the attitude information of the downhole probe The azimuth ψ, roll angle φ, and tilt angle θ; finally, the attitude information is output to the information comparison unit A. The second way of information, the fluxgate measurement first receives A) the geomagnetic component information of the downhole probe body coordinate system O_b X_b Y_b Z_b output by the fluxgate assembly; and B) the downhole probe body output by the accelerometer The specific force information under the coordinate system O_b X_b Y_b Z_b ; Then the magnetic measurement calculation is adopted for the geomagnetic component information and the specific force information, and the calculated azimuth relative to the magnetic north is converted into relative to the true After the north azimuth ψ_c , output the azimuth ψ_c , roll angle φ_c , and inclination θ_c representing the attitude information of the downhole probe; finally, the attitude information is output to the information comparison unit A. In the information comparison unit A, the attitude difference between the first channel information and the second channel information is compared and then output to the Kalman filter for processing. The third information, the state variable X output by Kalman filter is used to compensate the error of the strapdown inertial measurement online, after compensation, the output of the downhole probe attitude information is the azimuth ψ₀ , roll angle φ₀ , inclination angle θ₀ . The posture information is output to the computer display interface for graphic display, so as to facilitate real-time monitoring by the operator. The fourth information, the attitude information is output to the vertical well depth calculation unit for vertical well depth calculation, and the well depth parameters are output to the computer display interface for display, so as to facilitate real-time monitoring by the operator.

模式四：捷联惯性测量+缆长+零速修正+磁测量(测量模式中按键设定为④)Mode 4: Strapdown inertial measurement + cable length + zero speed correction + magnetic measurement (set the button to ④ in the measurement mode)

该组合测量模式用于有缆长辅助且无连续测量要求的各类测井环境，通过多种数据融合技术的应用，可提供精确估计和补偿捷联惯性的误差，能提供高精度的测量结果。其结构参见图1所示，组合测量所需的信息流程在说明书中已有相关详细介绍，此处不再说明了。This combined measurement mode is used in various logging environments with cable length assistance and no continuous measurement requirements. Through the application of various data fusion technologies, it can provide accurate estimation and compensation for strapdown inertia errors, and can provide high-precision measurement results . Its structure is shown in Figure 1. The information flow required for combined measurement has been introduced in detail in the specification, and will not be described here.

在本发明中，所述卡尔曼滤波器对状态变量进行实时在线估计。在四种不同的相关测量模式中，经卡尔曼滤波器处理输出的所述状态变量X是相同的，但使用的观测量是不同的。In the present invention, the Kalman filter performs real-time online estimation of state variables. In the four different correlation measurement modes, the state variable X outputted by the Kalman filter is the same, but the used observations are different.

当选取模式一时，其相应的量测阵$H_1=\left[\begin{array}{ccccccccccccccc}0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0\end{array}\right],$则补偿后表示下井探管姿态信息的输出为$\left[\begin{array}{c}{\mathrm{\ψ}}_0\\ {\mathrm{\θ}}_0\\ {\mathrm{\φ}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\η}}_x\\ \mathrm{\θ}-{\mathrm{\η}}_y\\ \mathrm{\φ}-{\mathrm{\η}}_z\end{array}\right].$When mode 1 is selected, the corresponding measurement array$h_1=\left[\begin{array}{ccccccccccccccc}0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0\end{array}\right],$ After compensation, the output of the attitude information of the downhole probe is$\left[\begin{array}{c}{\mathrm{\ψ}}_0\\ {\mathrm{\θ}}_0\\ {\mathrm{\φ}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\η}}_x\\ \mathrm{\θ}-{\mathrm{\η}}_{\mathrm{the\; y}}\\ \mathrm{\φ}-{\mathrm{\η}}_z\end{array}\right].$

当选取模式二时，其相应的量测阵$H_{\mathrm{2,3}}=\left[\begin{array}{ccccccccccccccc}0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0\end{array}\right],$则补偿后表示下井探管姿态信息的输出为$\left[\begin{array}{c}{\mathrm{\ψ}}_0\\ {\mathrm{\θ}}_0\\ {\mathrm{\φ}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\η}}_x\\ \mathrm{\θ}-{\mathrm{\η}}_y\\ \mathrm{\φ}-{\mathrm{\η}}_z\end{array}\right].$本发明中，模式三与模式二的量测阵是相同的，则输出也相同，即模式三与模式二都是以速度差值作为观测量。When mode 2 is selected, the corresponding measurement array$h_{\mathrm{2,3}}=\left[\begin{array}{ccccccccccccccc}0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0\end{array}\right],$ After compensation, the output of the attitude information of the downhole probe is$\left[\begin{array}{c}{\mathrm{\ψ}}_0\\ {\mathrm{\θ}}_0\\ {\mathrm{\φ}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\η}}_x\\ \mathrm{\θ}-{\mathrm{\η}}_{\mathrm{the\; y}}\\ \mathrm{\φ}-{\mathrm{\η}}_z\end{array}\right].$ In the present invention, the measurement arrays of Mode 3 and Mode 2 are the same, and the output is also the same, that is, both Mode 3 and Mode 2 use the speed difference as the observation quantity.

当选取模式四时，其相应的量测阵$H_4=\left[\begin{array}{cccccccccccccccc}0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0\end{array}\right],$则补偿后表示下井探管姿态信息的输出为$\left[\begin{array}{c}{\mathrm{\ψ}}_0\\ {\mathrm{\θ}}_0\\ {\mathrm{\φ}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\η}}_x\\ \mathrm{\θ}-{\mathrm{\η}}_y\\ \mathrm{\φ}-{\mathrm{\η}}_z\end{array}\right].$When mode 4 is selected, the corresponding measurement array$h_4=\left[\begin{array}{cccccccccccccccc}0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0\end{array}\right],$ After compensation, the output of the attitude information of the downhole probe is$\left[\begin{array}{c}{\mathrm{\ψ}}_0\\ {\mathrm{\θ}}_0\\ {\mathrm{\φ}}_0\end{array}\right]=\left[\begin{array}{c}\mathrm{\ψ}-{\mathrm{\η}}_x\\ \mathrm{\θ}-{\mathrm{\η}}_{\mathrm{the\; y}}\\ \mathrm{\φ}-{\mathrm{\η}}_z\end{array}\right].$

光纤陀螺组件包括X轴光纤陀螺、Y轴光纤陀螺和Z轴光纤陀螺，三个光纤陀螺输出角速度信息；加速度计组件包括X轴加速度计、Y轴加速度计和Z轴加速度计，三个加速度计输出比力信息；磁通门组件包括X轴磁通门、Y轴磁通门和Z轴磁通门，三个磁通门输出地磁分量信息。The fiber optic gyroscope component includes X-axis fiber optic gyroscope, Y-axis fiber optic gyroscope and Z-axis fiber optic gyroscope. The three fiber optic gyroscopes output angular velocity information; the accelerometer component includes X-axis accelerometer, Y-axis accelerometer and Z-axis accelerometer. Three accelerometers Output specific force information; the fluxgate assembly includes an X-axis fluxgate, a Y-axis fluxgate and a Z-axis fluxgate, and the three fluxgates output geomagnetic component information.

本发明提出的捷联惯性组合测量方法是根据被测井不同的实际应用环境及现场条件，对所选取的传感器组件进行满足测量精度要求的选择，以确定全光纤数字测斜仪的测量模式，在选取的测量模式下对不同的测量值进行数据融合和系统误差最优估计，从而实现对捷联惯性测量进行在线补偿，提高全光纤数字测斜仪的测量精度，为全光纤数字测斜仪提供了更广阔的使用空间。The strapdown inertial combination measurement method proposed by the present invention is to select the selected sensor components to meet the measurement accuracy requirements according to the different actual application environments and site conditions of the measured wells, so as to determine the measurement mode of the all-fiber digital inclinometer, In the selected measurement mode, data fusion and system error optimal estimation are carried out for different measurement values, so as to realize online compensation for strapdown inertial measurement and improve the measurement accuracy of the all-fiber digital inclinometer. Provides a wider space for use.

Claims (6)

1. A strapdown inertial combined measurement control device suitable for an all-fiber digital inclinometer comprises:

a computer for storing an inertia combination measurement task control program;

the optical fiber gyroscope is used for inputting angular speed information;

an accelerometer for inputting specific force information;

a fluxgate for inputting geomagnetic component information;

the downhole probe is used for inputting zero-speed correction information;

the counter is used for inputting cable length information and is arranged on the optical cable winch, one end of the optical cable is connected to the optical cable winch, and the other end of the optical cable is fixed on the underground exploring tube; it is characterized by also comprising:

strapdown inertial measurement, magnetic measurement, optical cable running speed measurement, a Kalman filter, an information comparison unit A, an information comparison unit B and an information comparison unit C,

the strapdown inertial measurement firstly receives A) a down-hole pipe detector body coordinate system O output by the optical fiber gyroscope_bX_bY_bZ_bAngular velocity information of the lower part; and

B) downhole pipe sounding machine body coordinate system O output by accelerometer_bX_bY_bZ_bSpecific force information of; then to

After the angular velocity information and the specific force information are processed by dead reckoning, C) velocity information V of the underground exploring tube is output_x、V_y、V_z(ii) a And

D) azimuth angle psi, roll angle phi and inclination angle theta of the attitude information of the downhole exploring tube; finally, the

E) the speed information V_x、V_y、V_zThe information is output to the information comparison B unit and the information comparison C unit;

outputting the F) posture information to an information comparison A unit;

the fluxgate measurement firstly receives A) a downhole pipe-exploring machine body coordinate system O output by the fluxgate assembly_bX_bY_bZ_bGeomagnetic component information of the lower earth; and

B) downhole pipe-exploring machine body coordinate system O output by accelerometer_bX_bY_bZ_bSpecific force information of; then to

The geomagnetic component information and the specific force information are calculated by magnetic measurement, and the calculated azimuth angle relative to magnetic north is converted into an azimuth angle psi relative to true north_cThen, outputting the well drilling probeAzimuthal angle psi of tube attitude information_cTransverse roll angle phi_cAngle of inclination theta_c(ii) a Finally, the

Outputting the C) attitude information to an information comparison A unit;

the optical cable running speed measurement is that the optical cable length obtained by measuring the counter is adopted to obtain the optical cable length increment in unit time and then the optical cable length increment is used to obtain a coordinate system O of the machine body when the underground exploring tube runs_bX_bY_bZ_bSpeed information of the lower;

the Kalman filter receives

A) Attitude difference output by the information comparison A unit <math> <mrow> <msub> <mi>Z</mi> <mi>KA</mi> </msub> <mo>=</mo> <mfenced open='[' close=']' separators=''> <mi></mi> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&psi;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&theta;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&phi;</mi> <mi>c</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow> </math>And

B) speed difference output by information comparison B unit$Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$And

C) speed difference output by information comparison C unit$Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ v_y-0\\ V_z-0\end{array}\right],$

Data fusion of received information by using discrete Kalman filter to realize state variable

X＝[δr_x，δr_y，δr_z，δr_x，δr_y，δr_z，η_x，η_y，η_z，δf_x，δf_y，δf_z，δω_x，δω_y，δω_z]Performing optimal estimation, performing online error compensation on the strapdown inertial measurement according to the estimated state variable, and outputting compensated attitude information of the downhole probe <math> <mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>&psi;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&theta;</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&phi;</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&eta;</mi> <mi>z</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> </math>Displaying an interface to the computer; in the formula,

δr_xrepresenting a local geographical coordinate system O_tX_tY_tZ_tThe X-axis component of the position error below,

δr_yrepresenting a local geographical coordinate system O_tX_tY_tZ_tThe Y-axis component of the lower position error,

δr_zrepresenting a local geographical coordinate system O_tX_tY_tZ_tThe Z-axis component of the lower position error,

δv_xrepresenting a local geographical coordinate system O_tX_tY_tZ_tThe X-axis component of the velocity error,

δv_yrepresenting a local geographical coordinate system O_tX_tY_tZ_tThe Y-axis component of the velocity error,

δv_zrepresenting a local geographical coordinate system O_tX_tY_tZ_tThe Z-axis component of the velocity error,

η_xwhich represents the error in the azimuth angle psi,

η_ywhich is indicative of the error in the tilt angle theta,

η_zthe error of the roll angle phi is shown,

η_zδf_xan error of the accelerometer of the X-axis is represented,

δf_ythe error of the accelerometer in the Y-axis is shown,

δf_zthe error of the accelerometer in the Z-axis is shown,

δω_xthe X-axis fiber optic gyro error is represented,

δω_ythe Y-axis fiber optic gyro error is represented,

δω_zrepresenting Z-axis fiber optic gyroscope errors;

the information comparison A unit is used for completing the azimuth psi, the roll angle phi and the inclination angle theta of the attitude information of the downhole exploring tube output by the strapdown inertial measurement and the azimuth psi of the attitude information of the downhole exploring tube output by the magnetic measurement_cTransverse roll angle phi_cAngle of inclination theta_cSubtracting the output attitude difference <math> <mrow> <msub> <mi>Z</mi> <mi>KA</mi> </msub> <mo>=</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>&psi;</mi> <mo>-</mo> <msub> <mi>&psi;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> <mo>-</mo> <msub> <mi>&theta;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> <mo>-</mo> <msub> <mi>&phi;</mi> <mi>c</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> </math>Card feederAn Kalman filter;

the information comparison B unit is used for finishing the speed information V of the downhole probe output by the strapdown inertial measurement_x、V_y、V_zSpeed information V output by measuring the moving speed of the optical cable_xc、V_yc、V_zcSubtracted output speed difference$Z_{\mathrm{KB}}=\left[\begin{array}{c}{V}_x-V_{\mathrm{xc}}\\ V_y-V_{\mathrm{yc}}\\ V_z-V_{\mathrm{zc}}\end{array}\right]$Giving a Kalman filter;

the information comparison C unit is used for finishing the speed information V of the downhole probe output by the strapdown inertial measurement_x、V_y、V_zSubtracting the zero speed information output by the downhole probe tube static quantity to output a speed difference value$Z_{\mathrm{KC}}=\left[\begin{array}{c}{V}_x-0\\ V_y-0\\ V_z-0\end{array}\right]$Giving the Kalman filter.

2. The strapdown inertial combination measurement control device of claim 1, wherein: the cable length measuring device has a first measuring working mode of strapdown inertial measurement plus cable length, or a second measuring working mode of strapdown inertial measurement plus zero-speed correction, or a third measuring working mode of strapdown inertial measurement plus magnetic measurement, or a fourth measuring working mode of strapdown inertial measurement plus cable length plus zero-speed correction plus magnetic measurement.

3. The strapdown inertial combination measurement control device of claim 1, wherein: the initial value in the state variable X is set to zero.

4. The strapdown inertial combination measurement control device of claim 1, wherein: according to different measurement working modes, the observed quantity of the Kalman filter is different, so that a measurement array is provided

$H_1=\left[\begin{array}{ccccccccccccccc}0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0\end{array}\right],$Or is that

$H_{\mathrm{2,3}}=\left[\begin{array}{ccccccccccccccc}0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0\end{array}\right],$Or is that

$H_4=\left[\begin{array}{cccccccccccccccc}0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 0& 0& 1& 0& 0& 0& 0& 0& 0& 0\end{array}\right].$

5. The strapdown inertial combination measurement control device of claim 1, wherein: the zero-speed correction information input by the downhole probe is realized by a key in a main control interface of the inertia combination measurement task control program arranged on a computer display screen.

6. The strapdown inertial combination measurement control device of claim 1, wherein: and the Kalman filter carries out real-time online estimation on the state variable.

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