基于UKF与互补滤波的随钻IMU井斜动态测量方法  

A well deviation dynamic measurement method of while-drilling IMU based on UKF and complementary filtering

作　　者：杨海 冯选璋 单代伟[3] 刘骕骐 张立早 罗顺 YANG Hai;FENG Xuanzhang;SHAN Daiwei;LIU Suqi;ZHANG Lizao;LUO Shun(Key Laboratory of Oil&Gas Equipment,Ministry of Education(Southwest Petroleum University),Chengdu 610500,China;School of Mechatronic Engineering,Southwest Petroleum University,Chengdu 610500,China;Sichuan Honghua Petroleum Equipment CO.Ltd,Chengdu 610036,China;Technology Research Institute of Western Drilling Engineering Co.Ltd,CNPC,Urumqi 830000,China)

机构地区：[1]石油天然气装备教育部重点实验室(西南石油大学),成都610500 [2]西南石油大学机电工程学院,成都610500 [3]四川宏华石油设备有限公司,成都610036 [4]中国石油集团西部钻探工程技术研究院,乌鲁木齐830000

出　　处：《中国惯性技术学报》2022年第2期141-147,共7页Journal of Chinese Inertial Technology

基　　金：油气藏地质及开发工程重点实验室开放基金(PLN201920);石油天然气装备教育部重点实验室(西南石油大学)与宏华集团联合基金(OGEHH202004);四川省科技计划项目(2022YFG0243)。

摘　　要：针对随钻测斜仪安装在近钻头位置处受到的复杂冲击振动、钻柱旋转等干扰问题,提出一种基于无迹卡尔曼滤波(UKF)与互补滤波算法的随钻井斜动态测量方法。首先,利用限幅和低通滤波器滤除冲击噪声带来的加速度阶跃激励干扰信号和角速度高频干扰信号;然后,使用UKF滤除惯性测量单元(IMU)中加速度计和陀螺仪信号的大部分有色噪声;最后,建立加速度和角速度信息间的互补滤波器,滤除角速度信号的零偏噪声。仿真试验、复杂振动测试平台模拟实验及现场数据验证结果表明:钻具转速在0~300 r/min内时,井斜角整体测量精度在±0.2°以内;测量不受钻具转速与振动影响,实现了精准的随钻测斜。In view of the interference problems caused by complex impact vibration and drill string rotation when the inclinometer is installed near the drill bit,a dynamic measurement method of inclinometer while drilling based on UKF and complementary filtering algorithm is proposed.Firstly,amplitude-limiting and low-pass filters are used to filter out the acceleration step excitation interference signal and angular velocity high-frequency interference signal caused by impulse noise.Then the UKF is used to filter out the most of the colored noise of accelerometer and gyroscope output signals in the inertial measurement unit(IMU).Finally,a complementary filter based on acceleration and angular velocity information is established to filter out the zero-bias noise of angular velocity signal.The simulation test,experiment and field data verification results show that the overall measurement accuracy of deviation angle is within±0.2°when the drilling tool speed is within 0~300 r/min.The measurement is not affected by the rotation speed and vibration of the drilling tool,which ensures the accurate measurement during drilling.

关 键 词：无迹卡尔曼滤波 互补滤波 惯性测量单元 动态测量 井斜角 

分 类 号：U666.1[交通运输工程—船舶及航道工程]