垂直钻井工具二轴重力加速度计安装误差标定
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摘要
提出一种用于井斜测量的自动垂直钻井工具二轴重力加速度计安装误差便捷标定方法,根据空间坐标系转换原理,推导二轴重力加速度计与钻具坐标系数学关系模型,构建安装误差标定矩阵。标定前,保证钻具轴线不变,旋转浮动导向套,测试加速度计输出电压,经处理后作为多元线性回归样本,并利用标定矩阵元素间的数值关系,解算矩阵;标定时,将已解算的标定矩阵和重力加速度在加速度计敏感轴上的分量代入两坐标系数学模型,计算重力加速度在钻具坐标系三轴的分量,从而实现井斜角和工具面角精确测量。该方法不需要借助高精度辅助测量仪器或调校基准平台,也不需将钻具摆放到特定状态,具有测试过程简单、测试精度高的特点,便于在井场对二轴加速度计进行下井前最后校正。实验表明,标定后井斜角误差在2.5%以内。
A convenient calibration method is proposed for installation error of biaxial gravity accelerometer,which is an automatic vertical drilling tool used in directional survey.Based on the transformation principles of space coordinate system,the mathematical model is established for the relation between the biaxial gravity accelerometer and the coordinate system of drilling tool,and the error calibration matrix is constructed as well.Before calibration,the axis of drilling tool is ensured to be invariant,then the floating guide sleeve is rotated,and next the output voltage of accelerometer is measured and used as the multiple linear regression sample after being processed.Afterwards,the calibration matrix is solved using the numerical relations between the elements of the matrix.During calibration,the solved calibration matrix and the component of gravitational acceleration on the sensitive axis of gravity accelerometer are substituted into the mathematical models of two coordinate systems to calculate the component of gravitational acceleration on the three axes of drilling tool coordinate system,thus the deviation angle and tool face angle can be precisely measured.This method does not require any high precision auxiliary measuring instrument or calibration reference platform,and there is also no need to set the drilling tool to a specific state.It is characterized by simple operation and high test accuracy,and is particularly convenient for the last error calibration of the biaxial gravity accelerometer at the drilling site.Experiments indicate that the error of the deviation angle is within 2.5% after calibration.
A convenient calibration method is proposed for installation error of biaxial gravity accelerometer,which is an automatic vertical drilling tool used in directional survey.Based on the transformation principles of space coordinate system,the mathematical model is established for the relation between the biaxial gravity accelerometer and the coordinate system of drilling tool,and the error calibration matrix is constructed as well.Before calibration,the axis of drilling tool is ensured to be invariant,then the floating guide sleeve is rotated,and next the output voltage of accelerometer is measured and used as the multiple linear regression sample after being processed.Afterwards,the calibration matrix is solved using the numerical relations between the elements of the matrix.During calibration,the solved calibration matrix and the component of gravitational acceleration on the sensitive axis of gravity accelerometer are substituted into the mathematical models of two coordinate systems to calculate the component of gravitational acceleration on the three axes of drilling tool coordinate system,thus the deviation angle and tool face angle can be precisely measured.This method does not require any high precision auxiliary measuring instrument or calibration reference platform,and there is also no need to set the drilling tool to a specific state.It is characterized by simple operation and high test accuracy,and is particularly convenient for the last error calibration of the biaxial gravity accelerometer at the drilling site.Experiments indicate that the error of the deviation angle is within 2.5% after calibration.
引文
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[20]袁智荣.火箭弹制导化中的坐标转换问题[J].测控技术,2009,28(11):91-94.Yuan Zhirong.Coordinate conversion in guide system of artillery rocket[J].Measurement&Control Technology,2009,28(11):91-94.
[21]郝辉,李雪瑞,舒健生,等.导弹常用空间直角坐标系间转换方法[J].四川兵工学报,2013,34(2):18-20.Hao Hui,Li Xuerui,Shu Jiansheng,et al.Conversion method among common space rectangular coordinates of missile[J].Sichuan Ordnance Journal,2013,34(2):18-20.
[22]柯金朴.空间三维坐标转换原理及实现[J].江西测绘,2008(3):16-17.Ke Jinpu.The principle and realization of spatial 3D coordinates conversion[J].Jiangxi Cehui,2008(3):16-17.
[23]陈宇,白征东.基于非线性最小二乘算法的空间坐标转换[J].大地测量与地球动力学,2010,30(2):129-132.Chen Yu,Bai Zhengdong.An nonlinear least squares algorithm for spatial coordinate transformation[J].Journal of Geodesy and Geodynamics,2010,30(2):129-132.
[24]陈新元.液压导向自动垂直钻井工具设计及相关技术研究[D].武汉:武汉科技大学,2009.Chen Xinyuan.Design and related technology research on hydraulic steerable automatic vertical drilling tool[D].Wuhan:Wuhan University of Science and Technology,2009.
[2]李汉兴,蒋世全,李峰飞.旋转导向钻井工具空间姿态分析与测量方法研究[J].中国海上油气,2013,25(6):88-92.Li Hanxing,Jiang Shiquan,Li Fengfei.Research on measurement method and analysis of space attitude of rotary steerable system[J].China Offshore Oil and Gas,2013,25(6):88-92.
[3]刘白雁,王新宇,杜勇刚,等.井斜实时测量方法研究[J].中国测试技术,2007,33(4):5-8.Liu Baiyan,Wang Xinyu,Du Yonggang,et al.Study on real-time well inclination measurement[J].China Measurement Technology,2007,33(4):5-8.
[4]周春,刘白雁,龚勋.井下实时测斜的理论分析与实验研究[J].中国测试,2009,35(6):1-4.Zhou Chun,Liu Baiyan,Gong Xun.Theoretical analysis and experimental research on real-time measurement of down-hole inclination[J].China Measurement&Test,2009,35(6):1-4.
[5]刘自理,严卫生,康思民,等.导向钻井工具冗余姿态测量与系统重构方法[J].石油学报,2015,36(11):1433-1440.Liu Zili,Yan Weisheng,Kang Simin,et al.Redundant posture measurement and system reconfiguration method of steering drilling tool[J].Acta Petrolei Sinica,2015,36(11):1433-1440.
[6]邵佩,刘白雁,苏义脑,等.垂直钻井工具测斜仪精确校正理论与实验[J].石油学报,2012,33(4):692-696.Shao Pei,Liu Baiyan,Su Yinao,et al.Theoretical and experimental study on precise calibration of the inclinometer in vertical drilling tools[J].Acta Petrolei Sinica,2012,33(4):692-696.
[7]胡宇群,秦龙刚,黄翔.基于激光雷达的机载设备安装姿态校准[J].南京航空航天大学学报,2010,42(1):112-116.Hu Yuqun,Qin Longgang,Huang Xiang.Mounted position calibration for airborne equipment with laser radar[J].Journal of Nanjing University of Aeronautics&Astronautics,2010,42(1):112-116.
[8]Liu Qin,Liu Li,Qi Zaikang.Error analysis and compensation of strap down inertial navigation system[J].Journal of Beijing Institute of Technology,2002,11(2):117-120.
[9]Cho S Y,Park C G.A calibration technique for a redundant IMU containing low-grade inertial sensors[J].ETRI Journal,2005,27(4):418-426.
[10]周章华,吴亮华,张伟,等.捷联惯导系统在非转台条件下的全参数标定[J].中国惯性技术学报,2013,21(5):570-575.Zhou Zhanghua,Wu Lianghua,Zhang Wei,et al.Full parameters calibration for SINS without turntable[J].Journal of Chinese Inertial Technology,2013,21(5):570-575.
[11]Wang Xinlong,Shen Liangliang,Guo Longhua.An intelligent calibration of sins using neural networks on moving base[C]∥Proceedings of the 2008 IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application.Wuhan,China:ACM,2008:187-191.
[12]Zhang Hongliang,Wu Yuanxin,Wu Wenqi,et al.Improved multiposition calibration for inertial measurement units[J].Measurement Science and Technology,2010,21(1):209-213.
[13]Bekkeng J K.Calibration of a novel MEMS inertial reference unit[J].IEEE Transactions on Instrumentation and Measurement,2009,58(6):1967-1974.
[14]周静,胡毅,付浩.三轴重力加速度传感器标定方法研究[J].石油仪器,2010,24(4):44-46.Zhou Jing,Hu Yi,Fu Hao.Calibration method for three-axis gravity acceleration sensor[J].Petroleum Instruments,2010,24(4):44-46.
[15]李荣冰,刘建业,孙永荣.MEMS-IMU构型设计及惯性器件安装误差标定方法[J].中国惯性技术学报,2007,15(5):526-529.Li Rongbing,Liu Jianye,Sun Yongrong.MEMS-IMU configuration and its inertial sensors’calibration for installation errors[J].Journal of Chinese Inertial Technology,2007,15(5):526-529.
[16]刘修善,苏义脑.井斜控制方案设计方法[J].石油学报,2015,36(7):890-896.Liu Xiushan,Su Yinao.A design method of borehole deviation control scheme[J].Acta Petrolei Sinica,2015,36(7):890-896.
[17]刘白雁,苏义脑,陈新元,等.自动垂直钻井中井斜动态测量理论与实验研究[J].石油学报,2006,27(4):105-109.Liu Baiyan,Su Yinao,Chen Xinyuan,et al.Theoretical and experimental investigation on dynamic measurements of hole inclination in automatic vertical drilling process[J].Acta Petrolei Sinica,2006,27(4):105-109.
[18]龚勋,刘白雁,陈新元,等.自动垂直钻井工具纠斜控制实验研究[J].石油钻采工艺,2009,31(4):16-20.Gong Xun,Liu Baiyan,Chen Xinyuan,et al.Experimental study on automatic vertical drilling tool inclination control[J].Oil Drilling&Production Technology,2009,31(4):16-20.
[19]刘敬寿,戴俊生,王珂,等.斜井岩心裂缝产状校正方法及其应用[J].石油学报,2015,36(1):67-73.Liu Jingshou,Dai Junsheng,Wang Ke,et al.An approach to correct the core fracture attitude in deviated boreholes and its application[J].Acta Petrolei Sinica,2015,36(1):67-73.
[20]袁智荣.火箭弹制导化中的坐标转换问题[J].测控技术,2009,28(11):91-94.Yuan Zhirong.Coordinate conversion in guide system of artillery rocket[J].Measurement&Control Technology,2009,28(11):91-94.
[21]郝辉,李雪瑞,舒健生,等.导弹常用空间直角坐标系间转换方法[J].四川兵工学报,2013,34(2):18-20.Hao Hui,Li Xuerui,Shu Jiansheng,et al.Conversion method among common space rectangular coordinates of missile[J].Sichuan Ordnance Journal,2013,34(2):18-20.
[22]柯金朴.空间三维坐标转换原理及实现[J].江西测绘,2008(3):16-17.Ke Jinpu.The principle and realization of spatial 3D coordinates conversion[J].Jiangxi Cehui,2008(3):16-17.
[23]陈宇,白征东.基于非线性最小二乘算法的空间坐标转换[J].大地测量与地球动力学,2010,30(2):129-132.Chen Yu,Bai Zhengdong.An nonlinear least squares algorithm for spatial coordinate transformation[J].Journal of Geodesy and Geodynamics,2010,30(2):129-132.
[24]陈新元.液压导向自动垂直钻井工具设计及相关技术研究[D].武汉:武汉科技大学,2009.Chen Xinyuan.Design and related technology research on hydraulic steerable automatic vertical drilling tool[D].Wuhan:Wuhan University of Science and Technology,2009.