近钻头钻具姿态测量的多传感器最小二乘原理加权融合方法

doi:10.7623/syxb202104007

石油学报 ›› 2021, Vol. 42 ›› Issue (4): 500-507.DOI: 10.7623/syxb202104007

近钻头钻具姿态测量的多传感器最小二乘原理加权融合方法

汪跃龙¹, 李凌云², 贺艳³, 毛艳慧¹, 高怡¹

1. 西安石油大学陕西省油气井测控技术重点实验室陕西西安 710065;
2. 中国电子科技集团公司第三十四研究所广西桂林 541004;
3. 国家无线电频谱管理研究所有限公司陕西西安 710061

收稿日期:2020-02-26 修回日期:2021-02-05 出版日期:2021-04-25 发布日期:2021-05-11
通讯作者: 李凌云,男,1994年8月生,2017年获西安石油大学学士学位,2020年获西安石油大学硕士学位,现为中国电子科技集团公司第三十四研究所助理工程师,主要从事光通信设备的研制和生产工作。Email:13700245027@163.com
作者简介:汪跃龙,男,1965年9月生,1985年获西安石油大学学士学位,2012年获西北工业大学博士学位,现为西安石油大学教授、硕士生导师,主要从事智能控制、导向钻井井下控制技术等方面的研究。Email:ylwang@xsyu.edu.cn
基金资助:
陕西省自然科学基金研究计划项目（2019JQ-366）和国家自然科学基金项目（No.51704238）资助。

A multi-sensor weighted least squares weighted fusion method for attitude measurement of near-bit drilling tool

Wang Yuelong¹, Li Lingyun², He Yan³, Mao Yanhui¹, Gao Yi¹

1. Shaanxi Key Laboratory of Measurement and Control Technology for Oil and Gas Wells, Xi'an Shiyou University, Shaanxi Xi'an 710065, China;
2. The 34 th Research Institute of China Electronics Technology Group Corporation, Guangxi Guilin 541004, China;
3. The National Research Institute of Radio Spectrum Management, Shaanxi Xi'an 710061, China

Received:2020-02-26 Revised:2021-02-05 Online:2021-04-25 Published:2021-05-11

摘要/Abstract

摘要： 钻进过程的高速旋转和强振动，使得测量钻具姿态的三轴惯性加速度计信号中叠加了离心加速度和振动加速度，导致工具姿态测量结果严重失真。针对由三轴惯性加速度计、三轴磁通门和角速率陀螺仪构建的姿态测量系统，提出了一种多传感器加权融合的姿态测量方法。利用后两组传感器对振动不敏感和钻进过程中井斜角变化缓慢的特点，反解得到加速度计信号的两组参考值，而后依据最小二乘原理确定参与融合的各组信号的权系数，使得融合结果的方差达到最小。仿真实验验证了该方法的有效性，当井斜为1.5°时的振动和转速波动组合实验表明，井斜角解算准确性的各项指标均有明显改善，工具面角随工具旋转呈现明显的周期性变化，该加权融合方法能有效提高钻具姿态动态测量的精度。

关键词: 导向钻井工具, 姿态动态测量, 多传感器, 加权融合, 最小二乘原理

Abstract: The high-speed rotation and strong vibration during drilling cause the centrifugal acceleration and vibration acceleration to be superimposed on signals of the triaxial inertial accelerometer used for measuring the attitude of the drilling tool, which leads to serious distortions in the attitude measurement results of tools. Aiming at the attitude measurement system constituted by the triaxial inertial accelerometer, triaxial fluxgate and angular rate gyroscope, this paper proposes an attitude measurement method based on multi-sensor weighted fusion.Two sets of reference values of the accelerometer signals are obtained by inverse solution using such characteristics as insensitivity of the latter two sets of sensors to vibration and slow variations of hole deviation angle during drilling. Then the weight coefficients of each set of signals participating in the fusion are determined according to the weighted least squares, so that the variance of fusion results is minimized. The effectiveness of the method is verified by simulation experiment. The combined experiment of vibration and speed fluctuation at 1.5°hole deviation shows that all indicators of the calculation accuracy of hole deviation angle are significantly improved, and the tool face angle presents an obvious periodical change with the tool rotation. It indicates that the weighted fusion method can effectively improve the measurement accuracy of the dynamic attitude of drilling tools.

Key words: steering drilling tool, dynamic attitude measurement, multi-sensor, weighted fusion, weighted least squares principle

中图分类号:

TE928

汪跃龙, 李凌云, 贺艳, 毛艳慧, 高怡. 近钻头钻具姿态测量的多传感器最小二乘原理加权融合方法[J]. 石油学报, 2021, 42(4): 500-507.

Wang Yuelong, Li Lingyun, He Yan, Mao Yanhui, Gao Yi. A multi-sensor weighted least squares weighted fusion method for attitude measurement of near-bit drilling tool[J]. Acta Petrolei Sinica, 2021, 42(4): 500-507.

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近钻头钻具姿态测量的多传感器最小二乘原理加权融合方法

A multi-sensor weighted least squares weighted fusion method for attitude measurement of near-bit drilling tool

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