全旋转随钻姿态测量系统的研制  

Development of Fully Rotating Attitude Measurement System for Follow Drilling

作　　者：石明江[1] 曹人文 秦连升 倪茂 SHI Mingjiang;CAO Renwen;QIN Liansheng;NI Mao(School of Electromechanical Engineering,Southwest Petroleum University)

机构地区：[1]西南石油大学机电工程学院

出　　处：《仪表技术与传感器》2024年第5期60-65,共6页Instrument Technique and Sensor

基　　金：四川省科技计划项目(2022YFO0062)。

摘　　要：针对现有随钻姿态测量设备安装在无磁钻铤内部所导致空间利用率低等问题,提出一种全旋转随钻姿态测量系统。全旋转姿态测量系统以三轴加速度计、三轴磁力计与三轴陀螺仪为主要测量结构;以FPGA芯片和MCU芯片组成AMP运行模式的多核处理器为控制核心;同时采取UKF滤波、误差修正的性能改善措施;最后应用四元数法解算出井斜角、方位角、工具面角。搭建工装实验平台验证系统可行性。实验结果表明:转速为1.00 r/min和1.50 r/min时,井斜角45°、方位角135°测量误差最大,井斜角、方位角绝对误差分别为2.24°,3.16°。井斜角45°、方位角0°时,转速4.00 r/min工具面角绝对误差最大,工具面绝对误差为3.22°。该测量系统能在工装平台实时测量并解算3种姿态角。A full-rotation attitude measurement system for follow drilling was proposed to address the problems of low space utilisation caused by the installation of the existing attitude measurement equipment inside the non-magnetic drill collar.The full-rotation attitude measurement system took three-axis accelerometer,three-axis magnetometer and three-axis gyroscope as the main measurement structure.The multi-core processor with AMP operation mode composed of FPGA chip and MCU chip as the control core.At the same time,it adopted the performance improvement measures of UKF filtering and error correction.At last,it applies the quaternion method to solve the inclination angle,azimuth angle,and the tool face angle of the well.The workpiece experimental platform was built to verify the feasibility of the system.The experimental results show that at the speed of 1 r/min and 1.5 r/min,the well inclination angle of 45°and the azimuth angle of 135°have the largest measurement errors,and the errors of well inclination angle and azimuth angle are 2.24°and 3.16°,respectively.When the well inclination angle is 45°and the azimuth angle is 0°,the absolute error of tool face angle at 4 r/min is the largest,and the absolute error of tool face is 3.22°.The measurement system can measure and solve the three attitude angles in real time on the tooling platform.

关 键 词：全旋转 系统设计 误差校正 姿态解算 

分 类 号：TE927[石油与天然气工程—石油机械设备]