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建立了陀螺测斜仪/传感器组合导航系统。考虑到井下空间狭小的特殊环境,在平动、转动、平动加转动等3种机动方式下采用卡尔曼滤波方法,通过引进的由传感器敏感到的钻头线速度和井深作为观测量,分别对静止状态、绕钻具轴向转动状态、含造斜过程状态的3种状态3种姿态角的误差角情况进行了仿真验证;把特征值法应用到陀螺测斜仪/传感器组合导航系统中,在滤波前利用井眼轨迹发生器提供的数据通过分段定常系统的可观测性研究方法计算提取可观测性矩阵SOM;SOM维数越大,表明系统的可观测性越好,误差估计精度越高,尤其对方位角的影响较为明显。在随钻对准中,绕钻具轴向转动能起到较好的估计效果。分析结果表明,在实际中最容易操作的绕钻具轴向转动能较好地提高系统的可观测性。给出了仿真曲线,验证了分析结论。
A gyroscope / sensor integrated navigation system was established. Taking into account the special environment of small downhole space, Kalman filtering method is adopted under three kinds of maneuvering modes of translation, rotation, translation and rotation. By introducing the sensor-sensed bit line velocity and well depth as observations, Static state, the axial rotation around the drilling tool, and the state of the beating process, the error angles of the three kinds of attitude angles were simulated. The eigenvalue method was applied to the gyro inclinometer / sensor integrated navigation system, Before filtering, the data of the trajectory generator are used to calculate and extract the observability matrix SOM. The larger the SOM dimension is, the better the observability of the system is. The better the error estimation accuracy High, especially the impact of azimuth more obvious. During drilling alignment, axial drilling around the drill can play a better estimation effect. The analysis results show that in practice, the easiest-to-operate drilling tool axial rotation can better improve the observability of the system. The simulation curve is given to verify the conclusion of the analysis.