导向钻井工具连续实时姿态测量UPF动态解算方法研究

With the development of petroleum industry, for the requirements of continuity, real-time and accuracy of space attitude measurement also more and more high. The attitude measuring belongs to dynamic measurement in the drilling engineering, due to the influences of the factors such as the down hole drill string rotation, drilling tool vibration, high temperature and high pressure, the parameters of attitude measurement exist unpredictable and uncertainty by use the combinations of the fluxgate and the accelerometer sensors. Especially in the nearly vertical state, the sensor output signals are weak, and easy down in the noise lead to the attitude calculation distortion. In order to improve the efficiency and real time of the drilling and obtain the accurate dynamic parameters. This project adopts the three axis accelerometer and fluxgate, angular rate gyroscope as a measurement system. The measurement signal of angular rate gyroscope is used to eliminate or weaken the influence of the drill string rotation. The method of the data fusion by acceleration and magnetic signal solves the problem of attitude unpredictable in drilling tool vibration. Under the nearly vertical state, using the non-orthogonal attitude measurement to reduce the measurement errors. Lastly, this project proposes the method of the steering drilling tool attitude measurement Unscented particle filter to increase the attitude measurement accuracy by use the useful information in the process of filtering and the latest measurement information. The results of the study not only can be applied to the petroleum field, but also can provided the references for the navigation positioning, attitude measurement and control in the national defense military field.

随着石油工业的不断发展，对载体空间姿态测量的连续性、实时性和精确度等要求也越来越高。钻井实钻中的姿态测量属于动态测量，由于井下钻柱旋转，钻具振动及高温、高压等因素的影响，采用磁通门和加速度计传感器机械组合方式，钻具姿态参数存在不可测或测不准问题。特别是在近垂直状态时，传感器输出信号微弱，极易淹没在噪声中，导致姿态计算失真。为了有效提高钻井效率和实时性，得到准确的动态姿态参数。本项目采用三轴加速度计、三轴磁通门及角速率陀螺仪等构成测量系统。采用角速率陀螺仪的测量信号来消除(削弱)钻柱旋转的影响；利用加速度和磁信号的数据融合，解决振动条件下姿态不可测的问题；采用非正交姿态测量降低近垂直条件下的测量误差；提出导向钻井工具姿态测量UPF方法，充分利用滤波过程中的有用信息和最新量测信息，提高姿态测量精度。该研究成果不但可以应用到石油能源领域，而且对国防军事领域的导航定位、姿态测控等提供参考和借鉴。

导向钻井工具钻进过程中，由于受到井下钻柱旋转、钻具振动等因素的影响，导致近钻头钻具姿态参数在动态测量时误差较大，特别是在近垂直状态时，传感器输出信号微弱，极易淹没在噪声中，导致姿态计算失真。如何在不停钻条件下获得实时性强、精度高的连续动态测量姿态参数，本项目提出了一种导向钻井工具连续实时姿态测量UPF动态解算方法，采用三轴加速度计及三轴磁通门、角速率陀螺仪等构成测量系统。通过建立井下工具姿态测量的动态模型，研究近钻头参数的敏感特性，采用角速率陀螺仪的测量信号消除钻柱旋转对姿态参数测量的影响，建立转速补偿策略与方法，解决动态旋转时姿态参数测不准的问题；利用加速度、磁信号和陀螺信号的数据融合，提出导向钻井工具姿态测量UPF方法，充分利用滤波过程中的有用信息和最新量测信息，消除近钻头振动信号对动态测量的影响，解决振动时不可测的问题。通过这套新的方法以期获得实时性强、精度高的姿态信息，进而提高钻具的准确度及钻井效率。该技术经过拓展可应用于国防军事领域的导航定位和姿态测控。