旋转导向钻具姿态的无迹卡尔曼滤波方法

doi:10.7623/syxb201306018

石油学报 ›› 2013, Vol. 34 ›› Issue (6): 1168-1175.DOI: 10.7623/syxb201306018

旋转导向钻具姿态的无迹卡尔曼滤波方法

杨全进^1,2, 徐宝昌¹, 左信¹, 蒋海旭¹

1. 中国石油大学地球物理与信息工程学院自动化系北京 102249;
2. 中国石化集团胜利石油工程公司钻井工艺研究院山东东营 257000

收稿日期:2013-05-16 修回日期:2013-10-04 出版日期:2013-11-25 发布日期:2013-10-13
通讯作者: 徐宝昌，男，1974年8月生，1997年获东北石油大学生产过程自动化专业学士学位，2005年获北京航空航天大学精密仪器及机械专业博士学位，现为中国石油大学（北京）副教授，主要从事钻井工程自动化、复杂系统建模与先进控制、多传感器信息融合方面的研究工作。Email：xbcyl@163.com
作者简介:杨全进，男，1975年12月生，1999年获石油大学（华东）工业自动化专业学士学位，现为中国石油大学（北京）控制理论与控制工程专业博士研究生及中国石化集团公司胜利石油工程公司钻井工艺研究院高级工程师，主要从事钻井随钻测量仪器方面的研究工作。Email：yqj0546@sina.com
基金资助:
国家重大科技专项（2011ZX05022-003）资助。

An unscented Kalman filter method for attitude measurement of rotary steerable drilling assembly

YANG Quanjin^1,2, XU Baochang¹, ZUO Xin¹, JIANG Haixu¹

1. Department of Automation, College of Geophysics and Information Engineering, China University of Petroleum, Beijing 102249, China;
2. Drilling Technology Research Institute, Sinopec Shengli Petroleum Engineering Company, Dongying 25700, China

Received:2013-05-16 Revised:2013-10-04 Online:2013-11-25 Published:2013-10-13

摘要/Abstract

摘要：

三轴磁通门数据中包含的磁干扰和三轴加速度计数据中包含的大量低频振动加速度，严重影响了旋转导向钻具姿态测量的精度。为去除传感器数据中的干扰噪声，快速解算出准确的钻具姿态，提出了一种改进的无迹卡尔曼（UKF）迭代滤波算法。此方法基于旋转坐标变换的四元数理论，建立钻具姿态传感器数据的非线性观测方程，利用陀螺测量原理构造状态方程，将滤波后观测数据以四元数的形式更新状态方程三轴角速度，从而实现UKF迭代滤波，最终消除传感器数据中的干扰噪声。实验室及胜利油田河31井区斜160井的实测数据滤波结果表明，此方法可有效滤除姿态传感器中的干扰噪声，提高旋转导向钻具姿态测量的准确性。

关键词: 旋转导向钻井, 钻具姿态, 测量, 无迹卡尔曼滤波, 四元数

Abstract:

The three-axial fluxgate data contains magnetic interference and there exists a great deal of low-frequency vibration acceleration in the triaxial accelerometer data, these noises will heavily affect the accuracy of the attitude measurement of the rotary steerable drilling assembly. To filter noises in the measured data and swiftly get an accurate attitude of the drilling assembly, an improved Unscented Kalman Filter(UKF)algorithm based on the quaternion theory of rotating coordinate transformation was proposed, consequently, a nonlinear observation equation for attitude data of the drilling assembly was established. Moreover, a state equation was constructed based on the principle of gyroscope. Observation data after filtering were used for updating three-axis angular velocities of the drilling assembly in the way of quaternion, thus the UKF iterative filtering was implemented, finally noises in the sensor data were eliminated. The method was applied to filtering the measured data derived both from the laboratory and from the HE31-XIE160 well of the Shengli oilfield, the filtering results showed that this method can filter the noise of sensors effectively and enhance the accuracy of the attitude measurement of the rotary steerable assembly.

Key words: rotary steerable drilling, attitude of drilling tool, measurement, Unscented Kalman Filter (UKF), quaternion

中图分类号:

TE921

杨全进, 徐宝昌, 左信, 蒋海旭. 旋转导向钻具姿态的无迹卡尔曼滤波方法[J]. 石油学报, 2013, 34(6): 1168-1175.

YANG Quanjin, XU Baochang, ZUO Xin, JIANG Haixu. An unscented Kalman filter method for attitude measurement of rotary steerable drilling assembly[J]. ACTA PETROLEI SINICA, 2013, 34(6): 1168-1175.

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旋转导向钻具姿态的无迹卡尔曼滤波方法

An unscented Kalman filter method for attitude measurement of rotary steerable drilling assembly

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