Search

CN-122014228-A - Drilling directional nipple based on combination of gyroscope and accelerometer

CN122014228ACN 122014228 ACN122014228 ACN 122014228ACN-122014228-A

Abstract

The invention discloses a drilling directional nipple based on combination of a gyroscope and an accelerometer, which comprises a nipple shell, wherein one end of the nipple shell is sealed, the other opposite end is a mounting reference surface, a wiring terminal is further arranged at the end, an inner platform body is arranged in the nipple shell, the inner platform body is provided with the gyroscope, the accelerometer and a signal processing unit, and a power module for supplying power to the gyroscope and the accelerometer, wherein the gyroscope and the accelerometer are all arranged in three directions, collected attitude, angular velocity and linear velocity signals of the gyroscope and the accelerometer are respectively sent to the signal processing unit for real-time calculation, the signal processing unit is connected with an upper computer through the wiring terminal and a communication circuit, and the signal processing unit sends well oblique angles, tool face angles and azimuth angles obtained after calculation to the upper computer. The invention is not affected by magnetic field, realizes dynamic continuous tracking measurement of well inclination angle, tool face angle and azimuth angle through the measurement while drilling system, realizes dynamic tracking, ensures high precision of azimuth measurement, and provides accurate guiding information for drilling operation.

Inventors

  • YAN FEI

Assignees

  • 陕西艾瑞科惯性技术有限公司

Dates

Publication Date
20260512
Application Date
20260325

Claims (8)

  1. 1. The drilling directional nipple based on the combination of the gyroscope and the accelerometer is characterized by comprising a nipple shell, wherein one end of the nipple shell is sealed, the opposite end is a mounting reference surface, and the end is also provided with a wiring terminal; An inner platform body is arranged in the short section shell, and a gyroscope, an accelerometer, a signal processing unit and a power module for supplying power for the gyroscope, the accelerometer and the signal processing unit are arranged on the inner platform body; The gyroscope and the accelerometer are arranged in three directions, namely, one gyroscope and one accelerometer are arranged in the x-axis direction, one gyroscope and one accelerometer are arranged in the y-axis direction, one gyroscope and one accelerometer are arranged in the z-axis direction, and the collected gesture, angular velocity and linear velocity signals are respectively sent to the signal processing unit for real-time calculation; The signal processing unit is connected with the upper computer through the wiring terminal and the communication line, and the signal processing unit sends the well oblique angle, the tool face angle and the azimuth angle which are obtained after the calculation to the upper computer.
  2. 2. The drilling directional nipple based on the combination of the gyroscope and the accelerometer, as set forth in claim 1, wherein the inner platform body is connected with the nipple shell through a fixing piece, and a damping ring is also arranged between the inner platform body and the nipple shell; the gyroscope and the accelerometer are respectively connected with the signal processing unit by SPI interfaces in a communication way, and the signal processing unit is connected with the upper computer by RS422 interfaces.
  3. 3. The drilling directional nipple based on the combination of a gyroscope and an accelerometer according to claim 1, wherein the gyroscopic sensor collects the rotation angle and the angular velocity of the nipple and sends the rotation angle and the angular velocity to the signal processing unit; the acceleration sensor collects the acceleration of the pup joint and sends the acceleration to the signal processing unit; The signal processing unit comprises a CPU microprocessor with a built-in resolving unit, a filtering unit and a calibration optimizing unit.
  4. 4. The drilling orientation nipple based on the combination of a gyroscope and an accelerometer according to claim 3, wherein the signal processing unit filters the collected raw data and then performs calibration; calculating attitude angles, namely firstly calculating a pitch angle and a roll angle of the pup joint by a signal processing unit, reflecting the attitude condition of the pup joint by the two angles, then calculating an azimuth angle, and determining the pointing direction of the pup joint; calculating a tool face angle on the basis of the known attitude angle and azimuth angle; And outputting the calculated azimuth angle and tool face angle as results to an upper computer.
  5. 5. The drilling orientation nipple based on the combination of a gyroscope and an accelerometer according to claim 4, wherein the filtering unit adopts first-order kalman filtering or extended kalman filtering; the calibration optimization is based on comparison of measurement results of prior instruments, a correction coefficient is obtained, and a temperature drift term, an installation deflection angle term and a magnetic field interference compensation term are introduced.
  6. 6. The drilling orientation nipple based on the combination of gyroscopes and accelerometers according to claim 1 or 4, wherein the resolution of the signal processing unit comprises a fast alignment mode and a precise alignment mode; The rapid alignment mode is to obtain an azimuth angle through integral calculation only depending on angular velocity data of a gyroscope; And (3) performing cross correction on the mode fusion gyroscope and the accelerometer when the mode fusion gyroscope is accurately aligned: the accelerometer can measure gravity vectors, and if the attitude angle obtained by integrating the gyroscope is inconsistent with the gravity direction perceived by the accelerometer, the accelerometer data is taken as a reference, and the integration result of the gyroscope is corrected.
  7. 7. The drilling directional nipple based on the combination of a gyroscope and an accelerometer according to claim 6, wherein the filtering algorithm of the fast alignment mode adopts a first order kalman filtering algorithm; The filtering algorithm of the criterion mode adopts a self-adaptive extended Kalman filtering algorithm, and carries out self-adaptive adjustment on the filtering gain, namely, analyzing the residual error of the output data of the gyroscope in real time, wherein the residual error is the difference value between a predicted value and an actual acquisition value; An error state is also introduced, namely a temperature drift term and an installation deflection angle term are added into the filtered signals, and azimuth angles are synchronously estimated to offset error sources.
  8. 8. The peg-top and accelerometer-based drilling orientation sub of claim 7, wherein the precision alignment criterion pattern is further iterated in 3-5 rounds within 0 seconds, each round optimized based on the error results of the previous round: 1 st round, 0-30 seconds, collecting basic data, primarily estimating azimuth angle by using extended Kalman filtering, and simultaneously recording a time period with larger residual error; 2 nd round, 30-60 seconds, aiming at the time period with large residual error, adding local data resampling, and correcting time synchronization deviation of the accelerometer and the gyroscope; And 3, 60-90 seconds, optimizing a magnetic field interference compensation term by using error data of the previous two rounds, and finally outputting an azimuth angle after error convergence.

Description

Drilling directional nipple based on combination of gyroscope and accelerometer Technical Field The invention belongs to the technical field of drilling measurement tools, and relates to a drilling directional nipple based on combination of a gyroscope and an accelerometer. Background In the exploration and development of oil gas, mineral resources and the like, well drilling is a vital link, well drilling operation has extremely high requirements on the accuracy of well track, and accurate well track measurement is a key for guaranteeing efficient and safe well drilling operation. With the increasing complexity of drilling operation environments, in directional drilling, the direction of a drill bit needs to be precisely controlled according to a designed path so as to avoid underground barriers, improve resource exploitation efficiency and reduce cost. For example, in cluster well operations, multiple wells are drilled from the same platform, and if the wellbore trajectory deviates too much, it may cause interference between the wellbores and even cause safety accidents. Meanwhile, in the construction of complex well type such as horizontal well, large displacement well, etc., parameters such as azimuth angle, inclination angle, etc. of the well bore are accurately mastered, which is a precondition for ensuring that the drill bit can accurately reach the target reservoir. Conventional wellbore trajectory measurement methods have a number of limitations. Early magnetic measurement tools, such as magnetic compasses, are susceptible to interference from underground magnetic fields, steel components of drilling equipment, and the like, resulting in large measurement errors. In areas of complex geological conditions, such as areas near magnetite deposits or high voltage cables, the magnetic measurement tool may even fail entirely. In addition, some measuring tools based on gravity fields can obviously reduce the measuring precision of a well section with a larger inclination angle, and cannot meet the requirement of complex drilling operation. In order to solve the dilemma of the traditional measuring tool in the drilling field, the gyroscopic tool gradually enters the field of view of people, and the gyroscopic tool has been developed in the drilling field by virtue of the unique technical advantages. Although the early mechanical gyro can meet the basic requirement of drilling measurement to a certain extent, the early mechanical gyro has the problems of large volume, high power consumption, larger drift error and the like. With the development of technology, optical gyroscopes (such as laser gyroscopes and fiber optic gyroscopes) have been developed. The optical gyroscope has the advantages of no mechanical abrasion, low drift rate, high response speed and the like, and the accuracy and stability of borehole track measurement are greatly improved. For example, the fiber optic gyroscope can realize real-time and continuous measurement of the azimuth angle and the inclination angle of a well bore, the measurement precision can reach 0.1 degree, accurate guiding information is provided for directional drilling, but the fiber optic gyroscope is high in cost and large in volume and is not beneficial to narrow places. In recent years, MEMS gyroscopes have also begun to find application in the drilling field. The MEMS gyroscope has the characteristics of small volume, low cost, easy integration and the like, is suitable for shallow wells or conventional well operation with relatively low requirements on measurement accuracy, and reduces the cost of drilling measurement. With the increasing depth of drilling, the increasing complexity of wells and the increasing requirements for exploration and development accuracy, higher requirements are put on the performance of gyroscopic tools. In high temperature, high pressure, high vibration downhole environments, gyroscopic tools need to have greater stability and reliability. Disclosure of Invention The invention solves the technical problem of providing the drilling directional nipple based on the combination of the gyroscope and the accelerometer, which can overcome the interference of a strong magnetic field, ensure the high precision of azimuth measurement and provide accurate guiding information for drilling operation. The invention is realized by the following technical scheme: A drilling directional nipple based on the combination of a gyroscope and an accelerometer comprises a nipple shell, wherein one end of the nipple shell is sealed, the opposite end is a mounting reference surface, and a wiring terminal is arranged at the opposite end; An inner platform body is arranged in the short section shell, and a gyroscope, an accelerometer, a signal processing unit and a power module for supplying power for the gyroscope, the accelerometer and the signal processing unit are arranged on the inner platform body; The gyroscope and the accelerometer are arranged in three d