轴向速度组合的陀螺随钻测量方法研究  

On Gyroscopic MWD Based on Axial Velocity Integrated Method

作　　者：李荣[1] 赵建辉[1] 李帆[1] 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100191

出　　处：《测井技术》2012年第2期192-196,共5页Well Logging Technology

基　　金：国家自然科学基金(50674005)

摘　　要：受到成本及井下空间的限制,采用低成本小体积的惯性器件对井眼轨迹进行随钻测量存在长时间误差积累较大的问题。提出引入井口轴向速度进行组合修正的方法,定量研究只有钻杆轴向速度组合的闭环卡尔曼滤波方法及其效果。模拟水平井随钻测量的半物理仿真验证,定量分析该组合方法对纯惯性测量的改进效果。采用速度组合方法,进行1°/h常值漂移的陀螺测量,方位角和井斜角的测量误差在3.5h仿真时间内保持在1°和0.1°,仿真精度达到0.1°/h常值漂移陀螺的测量水平,可有效降低惯性测井的成本和体积。Inexpensive and small-sized inertial navigation system has been used in the wellbore path Measurement-While-Drilling （MWD） processes. For the limit of cost and downhole space, however, inertial surveying errors usually increase as the measurement time goes. Closed loop Kalman Filtering technology is applied where a measurement of the axial velocity of the drill pipe is integrated as update to optimally estimate and compensate the inertial surveying errors. Simu- lation for horizontal well MWD is conducted to quantitatively analyze its improvement effect on inertial measurement. The simulation results indicate that the inertial results are improved where the azimuth angle error is converged to less than 1° and the inclination angle error is reduced to less than 0. 1° in 3.5 hours using gyroscopes with drift of 1°/h. It reaches a level that is surveyed by only inertial method using gyroscopes with drift of 0. 1°/h. The proposed integrated KF meth- od gives a chance to do high precision well logging by using low-cost and small size inertial system during MWD, and as a result, reducing the well surveying cost and the system size.

关 键 词：随钻测量 惯性测量单元 轴向速度 水平井 卡尔曼滤波 

分 类 号：TE921[石油与天然气工程—石油机械设备]