融合整段多项式和插值的井下姿态非线性校正  

Non-linear correction of downhole attitude by fusing piecewise polynomial and interpolation

作　　者：郭涛 程为彬 张夷非 胡少兵[1] 陈雪菲 郑恭明[2] Guo Tao;Cheng Weibin;Zhang Yifei;Hu Shaobing;Chen Xuefei;Zheng Gongming(Key Laboratory of Exploration Technologies for Oil and Gas Resources,Ministry of Education,Yangtze University,Hubei Wuhan 430100,China;School of Electronic Information and Electrical Engineering,Yangtze University,Hubei Jingzhou 434023,China)

机构地区：[1]长江大学油气资源与勘探技术教育部重点实验室,湖北武汉430100 [2]长江大学电子信息与电气工程学院,湖北荆州434023

出　　处：《石油学报》2024年第11期1690-1698,共9页Acta Petrolei Sinica

基　　金：湖北省重点研发计划项目(2020BAB094)资助。

摘　　要：井下工具姿态角的静态解算非常依赖三轴传感器,但测量过程中系统误差会带来固有失真,需要对系统误差进行充分补偿以获取准确的姿态角信息。根据姿态误差传递模型,提出将不同姿态下三轴传感器的输出轨迹划分为不同的区域,融合整段多项式和样条插值方法来近似不同姿态下的校正矩阵,从而对系统误差进行充分补偿。最后,采用高精度标定实验装置对所提出方法进行精度检验。在井斜角为3.006°时统计姿态角误差(均值±标准差),其中方位角误差为0.0109°±0.0794°,井斜角误差为0.0012°±0.0021°,工具面角误差为0.0057°±0.0399°。姿态角误差统计验证实验结果表明,所提出方法具有较好的姿态角误差补偿效果,可有效解决姿态解算过程中的非线性问题,可以进一步提高井下工具姿态的整体精度。At present,the static calculation of downhole tool attitude angle relies heavily on triaxial sensors.However,system errors in the measurement process may lead to inherent distortion,so it is necessary to fully compensate the system errors in order to get accurate attitude angle information.Based on the attitude error propagation model,it is proposed to divide the output trajectory of the triaxial sensor at different attitudes into different regions,and approximate the correction matrix at different attitudes by fusing piecewise polynomial and spline interpolation,so as to fully compensate the system errors.Finally,the precision of the method proposed above is verified by high-precision calibration experimental device.When the well inclination angle is 3.006°,(mean±standard deviation)of the attitude angle error are calculated,among which the error of azimuth angle,well inclination,and tool face angle is 0.0109°±0.0794°,0.0012°±0.0021°,and is 0.0057°±0.0399°,respectively.The verification test results of attitude angle error statistics show that the proposed method is characterized by good compensation effect on attitude angle errors,which can effectively solve non-linear problems in the attitude calculation process,thus improving the overall precision of downhole tool attitudes.

关 键 词：校正 算法 三轴磁力计 三轴加速度计 姿态测量 

分 类 号：TE927[石油与天然气工程—石油机械设备]