垂直导向钻井工具安装误差的单象限校正
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摘要
井下钻具姿态惯性测量单元(IMU)的安装误差降低了近垂直姿态的测量与解算精度。基于近垂直姿态下测量值与理论值之间的关系矩阵,推导其关系矩阵各项的相对误差,分析表达式各项相对误差特征,提出一种单象限校正方法。近垂直姿态下,采用单一象限内相对均匀的三组测量值得到一个校正矩阵,并对该象限内全部测量数据进行校正。姿态解算结果表明,与传统方法相比,单象限校正方法能有效提高姿态参数解算精度3.3倍以上。
The inertial measurement unit(IMU) installation error of down-hole drilling tools lowers the accuracy of measurement and computation under the near-vertical attitude. Based on the relationship matrix between the sensor output measurement value and the corresponding theoretical value,a relative error matrix model is deduced theoretically. The characteristics of the relative errors are analyzed. One kind of single quadrant correction method is proposed in this study. Under the near-vertical attitude,three sets of relatively symmetrical measured values in the single quadrant are utilized to achieve the correction matrix. The total original measurement data are corrected in the quadrant. Compared with the traditional method,the experimental results show that the single quadrant correction method is able to increase the near vertical attitude measurement accuracy more than 3. 3 times.
The inertial measurement unit(IMU) installation error of down-hole drilling tools lowers the accuracy of measurement and computation under the near-vertical attitude. Based on the relationship matrix between the sensor output measurement value and the corresponding theoretical value,a relative error matrix model is deduced theoretically. The characteristics of the relative errors are analyzed. One kind of single quadrant correction method is proposed in this study. Under the near-vertical attitude,three sets of relatively symmetrical measured values in the single quadrant are utilized to achieve the correction matrix. The total original measurement data are corrected in the quadrant. Compared with the traditional method,the experimental results show that the single quadrant correction method is able to increase the near vertical attitude measurement accuracy more than 3. 3 times.
引文
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[21]杨理践,李晖,靳鹏,等.管道地理坐标测量系统SINS安装误差标定[J].仪器仪表学报,2015,36(1):40-48.YANG L J,LI H,JIN P,et al.Calibration of SINS installation error in pipeline geographic coordinate measurement system[J].Chinese Journal of Scientific Instrument,2015,36(1):40-48.
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[23]张光,张英堂,尹刚,等.基于线性误差模型的磁张量系统校正[J].吉林大学学报(工学版),2015,45(3):1012-1016.ZHANG G,ZHANG Y T,YIN G,et al.Calibration method of magnetic tensor system based on linear error model[J].Journal of Jilin University(Engineering and Technology Edition),2015,45(3):1012-1016.
[24]LIU Z,WANG L,LI K,et al.An improved rotation scheme for dual-axis rotational inertial navigation system[J].IEEE Sensors Journal,2017,17(13):4189-4196.
[25]程贤箬,程为彬,高怡,等.垂直姿态位置误差的虚拟正交建模与其均衡补偿[J].石油学报,2017,38(7):840-845.CHENG X R,CHENG W B,GAO Y,et al.Virtual orthogonal modeling of vertical-posture position error and isostatic compensation[J].Acta Petrolei Sinica,2017,38(7):840-845.
[2]邓江洪,陈新元,刘白雁,等.垂直钻井工具二轴重力加速度计安装误差标定[J].石油学报,2016,37(10):1302-1308.DENG J H,CHEN X Y,LIU B Y,et al.Installation error calibration of gravity accelerometer with two axes for vertical drilling tool[J].Acta Petrolei Sinica,2016,37(10):1302-1308.
[3]MA Y F,XIA H Q,FU J X,et al.A new design of automatic vertical drilling tool[J].Petroleum,2015,1(3):264-268.
[4]孙伟,初婧,丁伟,等.基于IMU旋转的MEMS器件误差调制技术研究[J].电子测量与仪器学报,2015,29(2):240-246.SUN W,CHU J,DING W,et al.Research on error modulation technology of MEMS based on IMU rotation[J].Journal of Electronic Measurement and Instrumentation,2015,29(2):240-246.
[5]AHMED H,TAHIR M.Accurate attitude estimation of a moving land vehicle using low-cost MEMS IMU sensors[J].IEEE Transactions on Intelligent Transportation Systems,2017,18(7):1723-1739.
[6]程为彬,潘萌,汤楠,等.基于预置欧拉旋转的垂直姿态测量[J].仪器仪表学报,2014,35(8):1817-1822.CHENG W B,PAN M,TANG N,et al.Vertical attitude measurement based on Euler's pre-rotation[J].Chinese Journal of Scientific Instrument,2014,35(8):1817-1822.
[7]DEEPAK G,ARKO L,ZBYNEK M,et al.Comparison of MEMS-based and FOG-based IMUs to determine sensor pose on an unmanned aircraft system[J].Journal of Surveying Engineering,2017,143(4):04017009.1-04017009.11.
[8]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 Y Q,QIN L G,HUANG X.Mounted position calibration for airborne equipment with laser radar[J].Journal of Nanjing University of Aeronautics&Stronautics,2010,42(1):112-116.
[9]BEKKENG J K.Calibration of a novel MEMS inertial reference unit[J].IEEE Transactions on Instrumentation and Measurement,2009,58(6):1967-1974.
[10]赵桂玲,姜雨含,李松.IMU标定数学建模及误差分析[J].传感技术学报,2016,29(6):886-891.ZHAO G L,JIANG Y H,LI S.The IMU calibration mathematical modeling and error analysis[J].Chinese Journal of Sensors and Actuators,2016,29(6):886-891.
[11]KIM M S,YU S B,LEE K S.Development of a highprecision calibration method for inertial measurement unit[J].International Journal of Precision Engineering&Manufacturing,2014,15(3):567-575.
[12]董春梅,任顺清,陈希军.基于三轴转台误差分析的IMU标定方法[J].系统工程与电子技术,2016,38(4):895-901.DONG CH M,REN SH Q,CHEN X J.IMU calibration method based three-axis on analysis for the errors of turntable[J].Systems Engineering and Electronics,2016,38(4):895-901.
[13]刘一鸣,李杰,刘秀锋,等.一种加速度计的标定补偿方法研究[J].传感技术学报,2016,29(12):1846-1852.LIU Y M,LI J,LIU X F,et al.A study on calibrationcompensation method for accelerometer[J].Chinese Journal of Sensors and Actuators,2016,29(12):1846-1852.
[14]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 R B,LIU J Y,SUN Y R.MEMS-IMU configuration and its inertial sensors'calibration for installation errors[J].Journal of Chinese Inertial Technology,2007,15(5):526-529.
[15]马亚平,魏国,周庆东.改进的IMU传感器安装误差正交补偿方法[J].传感器与微系统,2016,35(9):9-13.MA Y P,WEI G,ZHOU Q D.Study on the steering differential calibration method for magnetic gradiometer base on tri-axis fluxgate[J].Transducer and Microsystem Technologies,2016,35(9):9-13.
[16]高翔,严胜刚,李斌.三轴磁通门磁梯度仪转向差校正方法研究[J].仪器仪表学报,2016,37(6):1226-1232.GAO X,YAN SH G,LI B.Study on the steering differential calibration method for magnetic gradiometer base on tri-axis fluxgate[J].Chinese Journal of Scientific Instrument,2016,37(6):1226-1232.
[17]龙礼,张合.三轴地磁传感器误差的自适应校正方法[J].仪器仪表学报,2013,34(1):161-165.LONG L,ZHANG H.Automatic and adaptive calibration method of tri-axial magnetometer[J].Chinese Journal of Scientific Instrument,2013,34(1):161-165.
[18]王成立,CHIKHOTKIN V F,卢春华.随钻测斜仪误差补偿实验研究[J].煤田地质与勘探,2016,44(4):147-152.WANG CH L,CHIKHOTKIN V F,LU CH H.Error compensation of measurement while drilling inclinometer[J].Coal Geology&Exploration,2016,44(4):147-152.
[19]彭惠,熊智,王融,等.IMU安装及标度因数误差动态参数辨识方法[J].中国空间科学技术,2014,34(1):42-49,83.PENG H,XIONG ZH,WANG R,et al.Dynamic parameter identification research on the installation errors and the scale factor errors of the IMU[J].Chinese Space Science and Technology,2014,34(1):42-49,83.
[20]CREAUH M,BEASLEY P,DIMITRIJEVIC I,et al.A Kalman-filter based inertial navigation system processor for the SCRAMSPACE 1 hypersonic flight experiment[C].Proceedings of the 18th AIAA/3AF International Space Planes and Hypersonic Systems and Technologies Conference,2012:24-28.
[21]杨理践,李晖,靳鹏,等.管道地理坐标测量系统SINS安装误差标定[J].仪器仪表学报,2015,36(1):40-48.YANG L J,LI H,JIN P,et al.Calibration of SINS installation error in pipeline geographic coordinate measurement system[J].Chinese Journal of Scientific Instrument,2015,36(1):40-48.
[22]MATHEUS J,NAGANATHAN S.Drilling automation:Novel trajectory control algorithms for RSS[C].IADC/SPE Drilling Conference and Exhibition,2010:136-145.
[23]张光,张英堂,尹刚,等.基于线性误差模型的磁张量系统校正[J].吉林大学学报(工学版),2015,45(3):1012-1016.ZHANG G,ZHANG Y T,YIN G,et al.Calibration method of magnetic tensor system based on linear error model[J].Journal of Jilin University(Engineering and Technology Edition),2015,45(3):1012-1016.
[24]LIU Z,WANG L,LI K,et al.An improved rotation scheme for dual-axis rotational inertial navigation system[J].IEEE Sensors Journal,2017,17(13):4189-4196.
[25]程贤箬,程为彬,高怡,等.垂直姿态位置误差的虚拟正交建模与其均衡补偿[J].石油学报,2017,38(7):840-845.CHENG X R,CHENG W B,GAO Y,et al.Virtual orthogonal modeling of vertical-posture position error and isostatic compensation[J].Acta Petrolei Sinica,2017,38(7):840-845.