技术领域technical field
本实用新型属于油田钻探用惯性测量装置领域，特别涉及一种惯性测量单元。The utility model belongs to the field of inertial measurement devices for drilling in oil fields, in particular to an inertial measurement unit.
背景技术Background technique
随着石油资源的日益枯竭，国内外各大钻井公司纷纷将目光投向滩海、湖泊、稠油油藏及海洋等复杂地况的勘探和开发。小块零散油层的开采和大位移井、大斜度井、丛式井、水平井的日益增多，需要精度更高、使用上更加可靠的测斜仪器，同时，对方位和井斜的测量提出更高的要求。With the depletion of oil resources, major domestic and foreign drilling companies have set their sights on the exploration and development of complex land conditions such as beaches, lakes, heavy oil reservoirs and oceans. The exploitation of small and scattered oil layers and the increasing number of extended-reach wells, high-deviation wells, cluster wells, and horizontal wells require higher precision and more reliable inclinometers. At the same time, the measurement of azimuth and well deviation is proposed higher requirement.
传统的油井测斜仪大都采用磁通门和机械式框架陀螺完成井斜测量，但其工作精度易受外部环境干扰，如磁场、振动和冲击等，且存在自身原理缺陷，测量范围较窄，结构复杂，不利于复杂工作环境下进行测量。近年来国内虽出现了基于光纤陀螺的测斜仪，但是此类测斜仪多是三个陀螺加三个加速度计或两个陀螺加三个加速度计的机械结构，体积大、结构复杂，且大多不能进行动态连续测量。Traditional oil well inclinometers mostly use fluxgates and mechanical frame gyroscopes to measure well inclinations, but their working accuracy is easily disturbed by external environments, such as magnetic fields, vibrations, and shocks, and has its own principle defects, and the measurement range is narrow. The structure is complex, which is not conducive to measurement in complex working environments. Although inclinometers based on fiber optic gyroscopes have appeared in China in recent years, most of these inclinometers have a mechanical structure of three gyroscopes plus three accelerometers or two gyroscopes plus three accelerometers, which are large in size and complex in structure. Most of them cannot perform dynamic continuous measurement.
专利CN101876244A所述的一种惯性测量单元以及动力调谐陀螺连续测斜仪，其惯性测量单元采用两个动力调谐陀螺和三个加速度计，虽然可以全方位连续测量井眼轨迹，但动力调谐陀螺制造复杂，尤其挠性接头十分脆弱，在振动过程中极易断裂，导致陀螺损毁；若加大挠性接头刚度，则精度将大大下降。专利CN203783564U所述的一种用于随钻测量的光纤陀螺测斜仪，其测量单元采用三轴光纤陀螺仪和三个三轴加速度计。当井斜角较大时，加速度计对井斜角变化的敏感力将急速下降，读数变得不可靠，致使仪器测量精度有所下降。An inertial measurement unit and a dynamic tuning gyro continuous inclinometer described in patent CN101876244A, the inertial measurement unit uses two dynamic tuning gyroscopes and three accelerometers, although it can continuously measure the wellbore trajectory in all directions, but the dynamic tuning gyro manufacturing Complicated, especially the flexible joint is very fragile, and it is easy to break during the vibration process, resulting in damage to the gyroscope; if the stiffness of the flexible joint is increased, the accuracy will be greatly reduced. A fiber optic gyro inclinometer for measurement while drilling described in patent CN203783564U, its measurement unit adopts a three-axis fiber optic gyroscope and three three-axis accelerometers. When the well inclination is large, the sensitivity of the accelerometer to the change of the well inclination will drop rapidly, and the readings will become unreliable, resulting in a decline in the measurement accuracy of the instrument.
实用新型内容Utility model content
为了解决上述问题，本发明提供一种惯性测量单元，所述测量单元包括旋转机构，所述旋转机构设有旋转机构骨架、第一光纤陀螺、第二光纤陀螺、第一加速度计、第二加速度计和数据采集单元，所述旋转机构骨架上设有第一光纤陀螺安装槽、第二光纤陀螺安装槽、第一加速度计安装平台、第二加速度计安装平台和电路安装平台，所述第一光纤陀螺和第二光纤陀螺通过螺钉分别固定于旋转机构骨架的第一光纤陀螺安装槽和第二光纤陀螺安装槽内，第一加速度计和第二加速度计通过螺钉分别固定于旋转机构骨架的第一加速度计安装平台和第二加速度计安装平台上，数据采集单元通过螺栓固定于旋转机构骨架末端的电路安装平台上；In order to solve the above problems, the present invention provides an inertial measurement unit, the measurement unit includes a rotation mechanism, the rotation mechanism is provided with a rotation mechanism skeleton, a first fiber optic gyroscope, a second fiber optic gyroscope, a first accelerometer, a second acceleration meter and data acquisition unit, the rotating mechanism skeleton is provided with a first fiber optic gyroscope installation groove, a second fiber optic gyroscope installation groove, a first accelerometer installation platform, a second accelerometer installation platform and a circuit installation platform, the first The fiber optic gyroscope and the second fiber optic gyroscope are respectively fixed in the first fiber optic gyroscope installation groove and the second fiber optic gyroscope installation groove of the frame of the rotating mechanism by screws, and the first accelerometer and the second accelerometer are respectively fixed on the first fiber optic gyroscope of the frame of the rotating mechanism by screws. On the first accelerometer installation platform and the second accelerometer installation platform, the data acquisition unit is fixed on the circuit installation platform at the end of the skeleton of the rotating mechanism through bolts;
进一步地，所述第一光纤陀螺为新型光纤陀螺，其敏感轴方向沿陀螺轴向方向，所述第二光纤陀螺为新型光纤陀螺，其敏感轴方向沿陀螺径向方向；Further, the first fiber optic gyroscope is a new type of fiber optic gyroscope, the direction of its sensitive axis is along the axial direction of the gyroscope, and the second fiber optic gyroscope is a new type of fiber optic gyroscope, and the direction of its sensitive axis is along the radial direction of the gyroscope;
进一步地，所述测量单元还包括保护壳体、旋转变压器、伺服电机、电机固定架、过孔式导电滑环和角接触球轴承，所述旋转变压器、伺服电机、电机固定架、旋转机构、过孔式导电滑环和角接触球轴承设置在保护壳体的内部；Further, the measuring unit also includes a protective housing, a rotary transformer, a servo motor, a motor fixing frame, a through-hole conductive slip ring and an angular contact ball bearing, and the rotary transformer, a servo motor, a motor fixing frame, a rotating mechanism, Through-hole conductive slip rings and angular contact ball bearings are arranged inside the protective shell;
进一步地，所述旋转变压器位于保护壳体底端，所述旋转变压器包括定子和转子，所述定子通过螺钉固定在保护壳体上，所述旋转变压器转子与伺服电机尾轴配合连接；Further, the rotary transformer is located at the bottom end of the protective casing, the rotary transformer includes a stator and a rotor, the stator is fixed on the protective casing by screws, and the rotary transformer rotor is mated with the tail shaft of the servo motor;
进一步地，所述伺服电机两端分别通过螺栓固定在旋转变压器的上端和电机固定架下端，所述伺服电机输出轴为D型轴；Further, the two ends of the servo motor are respectively fixed to the upper end of the resolver and the lower end of the motor fixing frame by bolts, and the output shaft of the servo motor is a D-shaped shaft;
进一步地，所述电机固定架位于伺服电机与旋转机构之间，所述电机固定架通过沉头螺钉固定于保护壳体上；Further, the motor fixing frame is located between the servo motor and the rotating mechanism, and the motor fixing frame is fixed on the protective shell by countersunk screws;
进一步地，所述旋转机构通过螺栓连接伺服电机输出轴，所述旋转机构位于电机固定架与角接触球轴承之间，所述旋转机构上端设有转动轴；Further, the rotating mechanism is connected to the output shaft of the servo motor through bolts, the rotating mechanism is located between the motor fixing frame and the angular contact ball bearing, and the upper end of the rotating mechanism is provided with a rotating shaft;
进一步地，所述过孔式导电滑环通过螺钉固定在所述旋转机构上端的转动轴上，所述过孔式导电滑环包括第二定子，所述第二定子通过沉头螺钉固定于保护壳体上；Further, the through-hole conductive slip ring is fixed on the rotating shaft at the upper end of the rotating mechanism by screws, and the through-hole conductive slip ring includes a second stator, and the second stator is fixed to the protection by countersunk head screws. on the shell;
进一步地，所述角接触球轴承固定于保护壳体的顶端；Further, the angular contact ball bearing is fixed on the top of the protective shell;
本实用新型的有益效果如下：The beneficial effects of the utility model are as follows:
1)实用新型所提出的测量单元通过旋转机构骨架的三维坐标关系保证第一光纤陀螺和第二光纤陀螺敏感轴相互正交以及第一加速度计和第二加速度计敏感轴相互正交；1) The measurement unit proposed by the utility model ensures that the sensitive axes of the first fiber optic gyroscope and the second fiber optic gyroscope are orthogonal to each other and the sensitive axes of the first accelerometer and the second accelerometer are orthogonal to each other through the three-dimensional coordinate relationship of the skeleton of the rotating mechanism;
2)本实用新型所提出的测量单元，其不受顶角大小的限制，可连续全范围测量井眼轨迹，测量精度高，效率高，可在井迹测量、成像测井技术中使用，不仅适用于油井、天然气井、煤矿井，也适用于定向井、有磁干扰的井；2) The measurement unit proposed by the utility model is not limited by the size of the apex angle, and can continuously measure the wellbore trajectory in a full range, with high measurement accuracy and high efficiency, and can be used in well track measurement and imaging logging technology, not only Suitable for oil wells, natural gas wells, coal mines, directional wells and wells with magnetic interference;
3)本实用新型所提出的测量单元，通过基于第一光纤陀螺的伺服电机控制，使得第一光纤陀螺的敏感轴与导航坐标系的相对位置始终保持不变，可减小实际工作过程中由于工作面连续变化导致的陀螺漂移，降低测量误差；3) The measurement unit proposed by the utility model, through the servo motor control based on the first fiber optic gyroscope, makes the relative position of the sensitive axis of the first fiber optic gyroscope and the navigation coordinate system remain unchanged, which can reduce the actual working process due to The gyro drift caused by the continuous change of the working surface reduces the measurement error;
4)本实用新型所采用的惯性测量单元采用两个光纤陀螺加两个加速度计的结构，体积小、成本低。4) The inertial measurement unit adopted in the utility model adopts the structure of two fiber optic gyroscopes plus two accelerometers, which is small in size and low in cost.
附图说明Description of drawings
图1为本实用新型惯性测量单元示意图；Fig. 1 is a schematic diagram of an inertial measurement unit of the present invention;
图2为本实用新型旋转机构示意图；Fig. 2 is the schematic diagram of the rotating mechanism of the utility model;
图3为本实用新型旋转机构骨架示意图。Fig. 3 is a schematic diagram of the skeleton of the rotating mechanism of the present invention.
具体实施方式detailed description
为了使本实用新型的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本实用新型进行进一步详细描述。应当理解，此处所描述的具体实施例仅仅用于解释本实用新型，并不用于限定本实用新型。相反，本实用新型涵盖任何由权利要求定义的在本实用新型的精髓和范围上做的替代、修改、等效方法以及方案。进一步，为了使公众对本实用新型有更好的了解，在下文对本实用新型的细节描述中，详尽描述了一些特定的细节部分。对本领域技术人员来说没有这些细节部分的描述也可以完全理解本实用新型。In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model. On the contrary, the utility model covers any alternatives, modifications, equivalent methods and schemes made on the spirit and scope of the utility model defined by the claims. Further, in order to make the public have a better understanding of the utility model, some specific details are described in detail in the detailed description of the utility model below. Those skilled in the art can fully understand the present invention without the description of these detailed parts.
下面结合附图和具体实施例对本实用新型作进一步说明，但不作为对本实用新型的限定。下面为本实用新型的举出最佳实施例：The utility model will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the utility model. List the best embodiment for the utility model below:
如图1-图3所示，本实用新型提供一种惯性测量单元，所述测量单元包括保护壳体1、旋转变压器2、伺服电机3、电机固定架4、旋转机构5、过孔式导电滑环6和角接触球轴承7；旋转变压器2、伺服电机3、电机固定架4、旋转机构5、过孔式导电滑环6和角接触球轴承7布置于保护壳体1的内部，旋转变压器2位于保护壳体1底端，旋转变压器2定子通过螺钉固定，旋转变压器2转子与伺服电机3尾轴配合连接，伺服电机3位于旋转变压器上端和电机固定架4下端，通过螺栓固定，电机固定架4位于伺服电机3与旋转机构5之间，通过沉头螺钉固定于保护壳体1上，伺服电机3输出轴为D型轴与旋转机构5通过螺栓相连接，旋转机构5位于电机固定架4与角接触球轴承7之间，过孔式导电滑环套装在旋转机构5上端转动轴上，通过螺钉固定，过孔式导电滑环6定子通过沉头螺钉固定于保护壳体1上，角接触球轴承7固定于保护壳体1的顶端。As shown in Figures 1-3, the utility model provides an inertial measurement unit, which includes a protective housing 1, a rotary transformer 2, a servo motor 3, a motor fixing frame 4, a rotating mechanism 5, and a through-hole conductive The slip ring 6 and the angular contact ball bearing 7; the rotary transformer 2, the servo motor 3, the motor fixing frame 4, the rotating mechanism 5, the through-hole conductive slip ring 6 and the angular contact ball bearing 7 are arranged inside the protective shell 1, and the rotating The transformer 2 is located at the bottom of the protective shell 1, the stator of the resolver 2 is fixed by screws, the rotor of the resolver 2 is connected with the tail shaft of the servo motor 3, the servo motor 3 is located at the upper end of the resolver and the lower end of the motor fixing frame 4, and is fixed by bolts, the motor The fixing frame 4 is located between the servo motor 3 and the rotating mechanism 5, and is fixed on the protective shell 1 by countersunk screws. The output shaft of the servo motor 3 is a D-shaped shaft and connected with the rotating mechanism 5 by bolts. Between the frame 4 and the angular contact ball bearing 7, the through-hole conductive slip ring is set on the rotating shaft at the upper end of the rotating mechanism 5 and fixed by screws, and the through-hole conductive slip ring 6 stator is fixed on the protective shell 1 by countersunk screws , The angular contact ball bearing 7 is fixed on the top of the protective shell 1 .
所述旋转机构5包括：旋转机构骨架5-1、第一光纤陀螺5-2、第二光纤陀螺5-3、第一加速度计5-4、第二加速度计5-5和数据采集单元5-6；第一光纤陀螺5-2和第二光纤陀螺5-3通过螺钉分别固定于旋转机构骨架5-1的第一光纤陀螺安装槽5-1a和第二光纤陀螺安装槽5-1b内，保证其敏感轴相互正交，第一加速度计5-4和第二加速度计5-5通过螺钉分别固定于旋转机构骨架5-1的第一加速度计安装平台5-1c和第二加速度计安装平台5-1d上，保证其敏感轴相互正交，数据采集单元5-6通过螺栓固定于旋转机构骨架5-1末端的电路安装平台5-1e上。The rotating mechanism 5 includes: a rotating mechanism skeleton 5-1, a first fiber optic gyroscope 5-2, a second fiber optic gyroscope 5-3, a first accelerometer 5-4, a second accelerometer 5-5 and a data acquisition unit 5 -6; the first fiber optic gyroscope 5-2 and the second fiber optic gyroscope 5-3 are respectively fixed in the first fiber optic gyroscope installation groove 5-1a and the second fiber optic gyroscope installation groove 5-1b of the rotating mechanism skeleton 5-1 by screws , to ensure that the sensitive axes are orthogonal to each other, the first accelerometer 5-4 and the second accelerometer 5-5 are respectively fixed to the first accelerometer mounting platform 5-1c and the second accelerometer of the rotating mechanism skeleton 5-1 by screws The installation platform 5-1d ensures that its sensitive axes are orthogonal to each other, and the data acquisition unit 5-6 is fixed on the circuit installation platform 5-1e at the end of the rotating mechanism skeleton 5-1 by bolts.
所述第一光纤陀螺5-2为新型光纤陀螺，其敏感轴方向沿陀螺轴向方向，所述第二光纤陀螺5-3为新型光纤陀螺，其敏感轴方向沿陀螺径向方向。The first fiber optic gyroscope 5-2 is a new fiber optic gyroscope, and its sensitive axis direction is along the axial direction of the gyroscope. The second fiber optic gyroscope 5-3 is a new type of fiber optic gyroscope, and its sensitive axis direction is along the radial direction of the gyroscope.
本实用新型在使用时，通过基于第一光纤陀螺5-2的伺服电机控制及小井斜角伺服连续测斜方法和基于第一加速度计5-4的伺服电机控制及大井斜角伺服连续测斜方法分别解决小井斜角和大井斜角下连续测斜问题，实现连续全方位测量井眼方位角、井斜角和工具面角，继而连续获得井眼轨迹。同时，小井斜下通过第一光纤陀螺5-2伺服控制电机，可减小实际工作过程中由于工作面连续变化导致的陀螺漂移，降低测量误差，延长单次工作时间，提高工作效率。When the utility model is in use, through the servo motor control based on the first optical fiber gyroscope 5-2 and the small well inclination servo continuous inclinometer method and the servo motor control based on the first accelerometer 5-4 and the large well inclination servo continuous inclinometer The method solves the problem of continuous inclination measurement under small well inclination and large well inclination respectively, realizes continuous and omnidirectional measurement of borehole azimuth, well inclination and tool face angle, and then continuously obtains borehole trajectory. At the same time, the first fiber optic gyro 5-2 servo controls the motor in the small well, which can reduce the gyro drift caused by the continuous change of the working surface in the actual working process, reduce the measurement error, prolong the single working time and improve the working efficiency.
具体步骤包括：1)通过伺服电机驱动旋转机构完成四位置初始对准；2)小井斜角下通过基于第一光纤陀螺的伺服电机控制及小井斜角伺服连续测斜方法实现小井斜角下连续测井；3)大井斜角下通过基于第一加速度计的伺服电机控制及大井斜角伺服连续测斜方法实现大井斜角下连续测井。The specific steps include: 1) The initial alignment of the four positions is completed by driving the rotating mechanism with a servo motor; 2) The continuous measurement of the small well inclination is realized under the small well inclination through the servo motor control based on the first fiber optic gyroscope and the small well inclination servo continuous inclination measuring method. Well logging; 3) Under large well inclination, the continuous logging under large well inclination is realized through the servo motor control based on the first accelerometer and the large well inclination servo continuous measuring method.
所述初始对准方法为：伺服电机3驱动旋转机构5，分别旋转0°、90°、180°和270°，旋转变压器2保证旋转机构5旋转位置的精确度，第二光纤陀螺5-3、第一加速度计5-4和第二加速度计5-5在四个位置通过数据采集单元5-6分别采集角速度和加速度信息，对第二光纤陀螺5-3、第一加速度计5-4和第二加速度计5-5在0°和180°两位置的结果相减对消，分别记为：ωx、ax和ay，第二光纤陀螺5-3在90°和270°两位置的结果相减对消，记为：ωy。根据公式(a)、(b)和(c)进行计算，得到方位角、井斜角和工具面角的初始值A0、I0和T0。The initial alignment method is as follows: the servo motor 3 drives the rotating mechanism 5 to rotate 0°, 90°, 180° and 270° respectively, the resolver 2 ensures the accuracy of the rotating position of the rotating mechanism 5, and the second fiber optic gyroscope 5-3 , the first accelerometer 5-4 and the second accelerometer 5-5 collect angular velocity and acceleration information respectively by the data acquisition unit 5-6 at four positions, to the second fiber optic gyroscope 5-3, the first accelerometer 5-4 and the results of the second accelerometer 5-5 at 0° and 180° are subtracted and cancelled, respectively denoted as: ωx , ax and ay , and the second fiber optic gyroscope 5-3 is at 90° and 270° The position results are subtracted and canceled, and recorded as: ωy . Calculate according to the formulas (a), (b) and (c), and obtain the initial values A0 , I0 and T0 of the azimuth angle, inclination angle and tool face angle.
式中In the formula
当地测井纬度 local log latitude
ωe：地球自转角速度ωe : Earth rotation angular velocity
所述小井斜角伺服连续测斜方法为：通过基于第一光纤陀螺5-2的伺服电机3控制，使得第一光纤陀螺5-2的敏感轴始终相对于导航坐标系的相对位置不变，即The method for measuring the small well inclination with servo continuous inclination is as follows: through the control of the servo motor 3 based on the first fiber optic gyroscope 5-2, the relative position of the sensitive axis of the first fiber optic gyroscope 5-2 relative to the navigation coordinate system is always unchanged, which is
来计算方位角A的变化率和井斜角I的变化率通过结算获得方位角A和井斜角I的增量，继而获得井眼轨迹。To calculate the rate of change of the azimuth angle A and the rate of change of inclination angle I The increments of azimuth A and inclination I are obtained through settlement, and then the wellbore trajectory is obtained.
当方位角和井斜角的初始值A0和I0已知时，可通过递推算法，公式(e)When the initial values A0 and I0 of the azimuth and inclination are known, the recursive algorithm can be used, formula (e)
来计算井眼轨迹，其中Δt为时间步长。to calculate the wellbore trajectory, where Δt is the time step.
当仪器缓慢匀速运动时，哥氏加速度和仪器相对地球转动产生的向心加速度与g相比较小，因此，连续匀速运动时仍然只考虑g的投影分量。When the instrument moves slowly and uniformly, the Coriolis acceleration and the centripetal acceleration produced by the instrument's rotation relative to the earth are smaller than g, so only the projection component of g is still considered when moving continuously at a constant velocity.
连续测量时，载体系OXbYbZb相对导航系OXnYnZn的旋转角速率可表示为公式(f)所示：During continuous measurement, the angular rate of rotation of the carrier system OXb Yb Zb relative to the navigation system OXn Yn Zn It can be expressed as formula (f):
将公式(f)第三项展开，并结合公式(d)可得到公式(g)，Expand the third item of formula (f) and combine it with formula (d) to get formula (g),
方位角变化率的计算公式为公式(h)：Azimuth rate of change The calculation formula of is formula (h):
公式(h)中工具面角变化率由公式(i)得到，Tool face angle change rate in formula (h) Obtained by formula (i),
其中：axtn为tn时刻第一加速度计5-2的输出，aytn为tn时刻第二加速度计5-3的输出，为tn-1时刻第一加速度计5-2的输出，为tn-1时刻第二加速度计5-3的输出。Wherein: axtn is the output of the first accelerometer 5-2 at tn moment, aytn is the output of the second accelerometer 5-3 at tn moment, is the output of the first accelerometer 5-2 at time tn -1 , is the output of the second accelerometer 5-3 at time tn -1 .
将公式(f)中的第二项展开，并结合公式(h)，可得井斜角变化率的计算公式为公式(j)Expanding the second term in formula (f) and combining it with formula (h), the calculation formula of well inclination angle change rate can be obtained as formula (j)
根据公式(e)，计算得到各个时刻的方位角A和井斜角I。According to the formula (e), the azimuth A and the well inclination I at each moment are calculated.
工具面角T根据公式(k)计算：The tool face angle T is calculated according to the formula (k):
其中ax为当前时刻第一加速度计5-2的输出，ay为当前时刻第二加速度计5-3的输出，φ为旋转变压器2的输出。Where ax is the output of the first accelerometer 5-2 at the current moment, ay is the output of the second accelerometer 5-3 at the current moment, and φ is the output of the resolver 2 .
所述小井斜角伺服连续测斜方法为：通过基于第一光纤陀螺5-2的伺服电机3控制，使得第一光纤陀螺5-2的敏感轴与导航坐标系的相对位置始终保持不变，可减小实际工作过程中由于工作面连续变化导致的陀螺漂移，降低测量误差。The method for measuring the small well inclination with servo continuous inclination is as follows: through the control of the servo motor 3 based on the first fiber optic gyroscope 5-2, the relative position between the sensitive axis of the first fiber optic gyroscope 5-2 and the navigation coordinate system remains unchanged all the time, It can reduce the gyro drift caused by the continuous change of the working surface in the actual working process and reduce the measurement error.
所述大井斜角伺服连续测斜方法为：通过基于第一加速度计5-2的伺服电机3控制，使得第一加速度计5-2的输出始终为0，实现工具面角伺服，根据公式(c)可知，此时计算工具面角The method for continuous inclination measurement with large well inclination servo is as follows: through the control of the servo motor 3 based on the first accelerometer 5-2, the output of the first accelerometer 5-2 is always 0 to realize the tool face angle servo, according to the formula ( c) It can be seen that the tool face angle is calculated at this time
T’＝0 (l)T'=0 (l)
将公式(f)第一项展开，并结合公式(l)，可得大井斜角情况下方位角的变化率，公式(m)Expanding the first item of formula (f) and combining it with formula (l), the change rate of azimuth angle in the case of large well deviation can be obtained, formula (m)
由递推公式(e)计算得到各时刻的方位角A。The azimuth A at each moment is calculated by the recursive formula (e).
大井斜角情况下，井斜角I变化很小，可直接通过公式(n)计算In the case of large well inclination, the well inclination I changes very little, which can be directly calculated by formula (n)
此时，实际工具面角T由公式(o)计算At this time, the actual tool face angle T is calculated by the formula (o)
T＝-φ (o)T＝-φ(o)
以上所述的实施例，只是本实用新型较优选的具体实施方式的一种，本领域的技术人员在本实用新型技术方案范围内进行的通常变化和替换都应包含在本实用新型的保护范围内。The above-described embodiment is only a kind of preferred embodiment of the utility model, and the usual changes and replacements carried out by those skilled in the art within the scope of the technical solutions of the utility model should be included in the protection scope of the utility model Inside.
| Application Number | Priority Date | Filing Date | Title |
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| CN201620548243.3UCN205778825U (en) | 2016-06-07 | 2016-06-07 | A kind of Inertial Measurement Unit |
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| CN201620548243.3UCN205778825U (en) | 2016-06-07 | 2016-06-07 | A kind of Inertial Measurement Unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105909238A (en)* | 2016-06-07 | 2016-08-31 | 北京科技大学 | Inertial measurement unit and single-axis servo successive inclinometry method |
| CN109779614A (en)* | 2019-03-06 | 2019-05-21 | 北京华瑞九州能源科技有限公司 | A kind of three axis optical fibre gyro inclinometer |
| CN114459479A (en)* | 2022-02-21 | 2022-05-10 | 北京航天嘉诚精密科技发展有限公司 | Device and method for measuring attitude and position of rotating carrier |
| CN115290083A (en)* | 2022-08-02 | 2022-11-04 | 湖南航天机电设备与特种材料研究所 | North-finding angle-measuring adjusting device and method thereof |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105909238A (en)* | 2016-06-07 | 2016-08-31 | 北京科技大学 | Inertial measurement unit and single-axis servo successive inclinometry method |
| CN105909238B (en)* | 2016-06-07 | 2023-04-25 | 北京科技大学 | An inertial measurement unit and a single-axis servo continuous inclinometer method |
| CN109779614A (en)* | 2019-03-06 | 2019-05-21 | 北京华瑞九州能源科技有限公司 | A kind of three axis optical fibre gyro inclinometer |
| CN114459479A (en)* | 2022-02-21 | 2022-05-10 | 北京航天嘉诚精密科技发展有限公司 | Device and method for measuring attitude and position of rotating carrier |
| CN115290083A (en)* | 2022-08-02 | 2022-11-04 | 湖南航天机电设备与特种材料研究所 | North-finding angle-measuring adjusting device and method thereof |
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