CN102748010A - System and method for measuring postures as well as system and method for measuring wellbore track of oil well - Google Patents

Abstract

The invention discloses a system and a method for continuously measuring postures of a rigid bracket (100) at a gravity field by utilizing a two-axis gyroscope as well as a system and a method for measuring a wellbore track of an oil well. The system for continuously measuring the postures by utilizing the two-axis gyroscope comprises a gyroscope sensor (200), an accelerometer (300) and a calculation unit (500). According to the systems and the methods disclosed by the invention, the defects that a gyroscope point measurement operation is complicated and wastes time are overcome, and the disadvantages of continuous measurement of a three-axis gyroscope that the outer diameter is great and the hardware cost is high are avoided; the continuous measurement of the oil field track in a moving process of the rigid bracket (100) can be realized; and the well logging time is shortened, the well logging efficiency is improved and the manufacturing cost of hardware is reduced.

Description

Attitude measurement system and method and oil well well track measuring system and method

Technical field

The present invention relates to the inertia measurement field, and relate in particular to and utilize the two axis gyroscope continuous measurement to be in the method and system of gravitational field rigid support attitude and the method and system of continuous measurement oil well well track.

Background technology

In order to tackle the day by day increase of World Economics to oil demand, the accurate and high efficiency measurement to the oil well well track in the production logging is important further, and this just needs precision height and the high instrument of logging efficiency.The attitude that is in instrument in the oil well well through measurement just can obtain the oil well well track, and the attitude of instrument is unique definite by three parameters: angle of slope, azimuth and high corner.As shown in Figure 1, the angle of slope is meant the central axis of instrument and the angle of local vertical direction; The azimuth is meant center axial ray and the clockwise corner of local warp north orientation on horizontal plane that is pointed to the instrument bottom by the instrument top; High corner is meant from the instrument top and sees to the bottom, the clockwise angle of the reference line of tool housing and instrument ceiling for accumulation on local vertical direction.At present at home in each oil field the well logging well track mainly contain two kinds and measure azimuthal methods: the one, utilize fluxgate sensor, the 2nd, utilize gyrosensor.Before a kind of method require in the working environment other magnetic fields or magnetic medium except that the earth's magnetic field to be arranged, so its scope of application is limited in having only under the environment in earth's magnetic field.A kind of method in back is to the harsh requirement of environment, so range of application is more extensive, no matter open hole well still be cased well all can operate as normal.

When utilizing the second method well logging in present stage; Be the method that gyro point is surveyed on the one hand, this method requires when gyro to measure, must make its rigid support (rigid support on the instrument) to remain static down, owing in logging operation, letting rigid support stop repeatedly and moving; Therefore this measuring method operation is very loaded down with trivial details and consuming time; Efficient is very low, and can be with measuring reducing of spacing, and operational ton and meeting consuming time are multiplied; Be the method that adopts three gyro continuous measurements on the other hand; This method requires in the angular velocity sensitive axes that a gyrosensor is set respectively on two orthogonal directions vertical with the rigid support central axis and on the rigid support central axis direction; At first under the rigid support inactive state, measure its initial attitude (comprising azimuth, angle of slope and high corner); Make the rigid support continuous motion then; Measure three angular velocity on axially through the angular velocity sensitive axes that is respectively in three gyrosensors on axially; Calculate rigid support at any time the time with respect to initial time three angles that change on axially, thereby calculate the attitude of rigid support when this any time.Though this method has solved gyro point and has surveyed complex operation and problem consuming time; But because the angular velocity sensitive axes of a gyrosensor must be set on the central axis direction of rigid support; And this just causes the external diameter of three gyro continuous measurement instruments to increase under existing technical conditions; So it can only be used to measure the oil well of large hole, and the hardware manufacturing cost is very high.

Summary of the invention

Survey complex operation and drawback consuming time for overcoming gyro point; Avoid three deficiencies that gyro continuous measurement external diameter is big and hardware cost is high simultaneously; Spy of the present invention provides a kind of system that utilizes the two axis gyroscope continuous measurement to be in the attitude of gravitational field rigid support; This system comprises: gyrosensor; This gyrosensor and said rigid support are rigidly connected and two the angular velocity sensitive axes and the said rigid support orthogonality of center shaft of gyrosensor, are used to measure the angular velocity on two angular velocity sensitive axes directions of gyrosensor; Accelerometer is rigidly connected with said rigid support, is used to measure the angle of slope and the high corner of rigid support; Computing unit; Be used for according to rigid support angular velocity on measured two the angular velocity sensitive axes directions of gyrosensor and in the time period from initial time to any moment in the high corner of the angle of slope of initial time, high corner and azimuth, any time; Calculate rigid support azimuth at any time; Combine the measured rigid support of accelerometer in angle of slope and the high corner of this any time afterwards, confirm the attitude of rigid support in this any time.

The present invention provides a kind of method of utilizing two axis gyroscope sensor continuous measurement attitude in addition, and this method comprises: confirm that rigid support is at the angle of slope of initial time, high corner and azimuth; With gyrosensor and said rigid support is rigidly connected and two the angular velocity sensitive axes and the said rigid support orthogonality of center shaft of gyrosensor, measure the angular velocity on two angular velocity sensitive axes directions of gyrosensor; Measure rigid support angle of slope and high corner at any time; According to the high corner of the angle of slope of rigid support initial time, high corner and azimuth, any time and the angular velocity on measured two the angular velocity sensitive axes directions of gyrosensor in the time period from initial time to any moment, calculate rigid support azimuth at any time; And combine rigid support at the angle of slope of said any time, high corner and azimuth, confirm the attitude of rigid support in said any time.

Corresponding, apply the present invention to have obtained in the oil well logging a kind of system and method that utilizes the continuous logging of two axis gyroscope sensor, measurement oil well well track that logging efficiency is high.

The system of continuous measurement oil well well track provided by the invention comprises: rigid support, and this rigid support moves along the oil well well track; Gyrosensor is rigidly connected with said rigid support and two the angular velocity sensitive axes and the said rigid support orthogonality of center shaft of gyrosensor, is used to measure the angular velocity on two angular velocity sensitive axes directions of gyrosensor; Accelerometer is rigidly connected with said rigid support, measures the angle of slope and the high corner of the rigid support that is in gravitational field; The depth survey unit is used to measure the different present degree of depth constantly of said rigid support; Computing unit; Be used for according to rigid support angular velocity on measured two the angular velocity sensitive axes directions of gyrosensor and in the time period from initial time to any moment in the high corner of the angle of slope of initial time, high corner and azimuth, any time; Calculate rigid support azimuth at any time; Combine the measured rigid support of accelerometer in angle of slope and the high corner of this any time afterwards, confirm the attitude of rigid support in this any time; Repeat above-mentioned deterministic process, confirm rigid support,, confirm well track in conjunction with the degree of depth of the measured rigid support in said depth survey unit in said a plurality of continuous moment in the attitude in a plurality of continuous moment.

The invention provides a kind of method of continuous measurement oil well well track, this method may further comprise the steps: step S1: rigid support is transferred to target depth position to be logged well; Step S2: under static state, measure rigid support at initial time t ₀Angle of slope, high corner and azimuth; Step S3: make rigid support along the continuous motion of oil well well track; Step S4:, confirm rigid support attitude at any time according to the above-mentioned method of utilizing two axis gyroscope sensor continuous measurement attitude; Step S5: measure rigid support in the residing degree of depth of said any time; And step S6: repeating step S3-S5 obtains rigid support in the attitude and the pairing degree of depth in a plurality of continuous moment, to confirm the well track of oil well.

The attitude of utilizing the two axis gyroscope continuous measurement to be in the rigid support of gravitational field of the present invention; The method that adopts two axis gyroscope to combine with accelerometer; Make two the angular velocity sensitive axes and the said rigid support orthogonality of center shaft of gyrosensor; At first make rigid support static, to measure initial inclination, high corner and the azimuth of rigid support; Make the rigid support continuous motion then; Utilize angular velocity on two angular velocity sensitive axes directions that gyrosensor measures to combine high corner and the initial inclination that is calculated, high corner and the azimuth of any time; The azimuth of rigid support that just can be through calculating any time; Combine accelerometer angle of slope and the high corner of this measured any time afterwards, confirm the attitude of rigid support in this any time.The present invention had both overcome gyro point and had surveyed complex operation and drawback consuming time; Avoid three deficiencies that gyro continuous measurement external diameter is big and hardware cost is high again; Can in the rigid support motion process, realize the continuous measurement of oil well track; Shorten the well logging time, improved logging efficiency, reduced the hardware manufacturing cost.

Description of drawings

Fig. 1 shows the sketch map of three parameters confirming the rigid support attitude;

Fig. 2 is the structural representation of the system of two axis gyroscope continuous measurement attitude of the present invention;

Fig. 3 is that the installation between gyrosensor and the rigid support concerns sketch map;

Fig. 4 a and Fig. 4 b show gyro coordinate system and earth axes respectively;

The spatial relationship of earth axes and gyro coordinate system when Fig. 5 shows any attitude of rigid support;

Fig. 6 show rigid support initial time and any time the position in gyro coordinate system;

Fig. 7 is the flow chart of the method for two axis gyroscope continuous measurement attitude of the present invention;

Fig. 8 is the structural representation of the system of continuous measurement oil well well track of the present invention; And

Fig. 9 is the flow chart of the method for continuous measurement oil well well track of the present invention.

The specific embodiment

Be described in detail with reference to the attached drawings the present invention below.

As shown in Figure 2; The invention provides a kind of system that utilizes the two axis gyroscope continuous measurement to be in the attitude of gravitational field rigid support 100; This system comprises: gyrosensor 200; This gyrosensor 200 is rigidly connected with said rigid support 100 and two the angular velocity sensitive axes and said rigid support 100 orthogonality of center shaft (seeing also Fig. 3) of gyrosensor 200, is used to measure the angular velocity on two angular velocity sensitive axes directions of gyrosensor 200; Accelerometer 300 is rigidly connected with said rigid support 100, is used to measure the angle of slope and the high corner of rigid support 100; Computing unit 500; Be used for according to rigid support 100 angular velocity on measured two the angular velocity sensitive axes directions of gyrosensor 200 and in the time period from initial time to any moment in the high corner of the angle of slope of initial time, high corner and azimuth, any time; Calculate rigid support 100 azimuth at any time; Combine the measured rigid support 100 of accelerometer 300 in angle of slope and the high corner of this any time afterwards, confirm the attitude of rigid support 100 in this any time.

Wherein, saidly comprise at angular speed calculation rigid support 100 azimuth at any time on measured two the angular velocity sensitive axes directions of gyrosensor 200 in the high corner of the angle of slope of initial time, high corner and azimuth, any time and in the time period from initial time to any moment according to rigid support 100:

(1) through following relational expression calculate t constantly the time gyrosensor 200 on the X of gyro coordinate system axle and Y direction with respect to t ₀The angle of time changing,

$\left\{\begin{array}{c}{\mathrm{\φ}}_x\left(t\right)=f_x(k_x,{\mathrm{\ω}}_x\left(t\right),{\mathrm{\φ}}_x\left(t_0\right))\\ {\mathrm{\φ}}_y\left(t\right)=f_y(k_y,{\mathrm{\ω}}_y\left(t\right),{\mathrm{\φ}}_y\left(t_0\right))\end{array}\right.$

Wherein, φ _x(t) and φ _y(t) be respectively rigid support 100t constantly the time on the X of gyro coordinate system axle and Y direction with respect to t ₀The angle of time changing; k _xAnd k _yBe gyrosensor 200 angular velocity calibration factors; ω _x(t) and ω _y(t) being angular velocity on two measured angular velocity sensitive axes directions of gyrosensor 200 respectively, is the function of time t; φ _x(t ₀) and φ _y(t ₀) be respectively rigid support 100t ₀The angle that on the X of gyro coordinate system axle and Y direction, turns in the time of constantly; And

(2) according to the high corner of the angle that is changed, any time and rigid support 100 at t ₀ Rigid support 100 is calculated at t azimuth constantly in angle of slope, high corner and azimuth constantly.

Below introduce the method for two axis gyroscope continuous measurement rigid support attitude.

For ease of statement, set up following two rectangular coordinate systems earlier:

First coordinate system: gyro coordinate system; Shown in Fig. 4 a, getting the central axis of rigid support 100 and the intersection point O at top is the origin of coordinates, and the X axle is the reference line that points to rigid support 100 shells from O; The Z axle is the central axis of rigid support 100; Direction is to point to the bottom from the top of said rigid support, and the Y axle is the axle that meets the right-hand rule with X, Z axle, and this coordinate system and rigid support 100 are connected;

Second coordinate system: earth axes, shown in Fig. 4 b, the initial point of this coordinate system is got instrument location O _i, Z _iAxle points to the earth's core, X along local vertical _iAxle is from O _iTangent line along local warp points to the north, Y _iAxle is from O _iThe tangent line that prolongs local parallel points to east.

The method of at first utilizing gyro point to survey can obtain rigid support initial time t ₀Attitude: tiltangle, azimuth

With high corner δ, can obtain rigid support 100t by Fig. 5 ₀The time coordinate that is engraved in the gyro coordinate system be:

$\left[\begin{array}{c}{X}_{\mathrm{tl}}\left(t_0\right)\\ Y_{\mathrm{tl}}\left(t_0\right)\\ Z_{\mathrm{tl}}\left(t_0\right)\end{array}\right]=\left[\begin{array}{c}0\\ 0\\ L\end{array}\right]$

After any constantly t, rigid support 100 on X, Y and the Z-direction of gyro coordinate system with respect to t ₀The angle of time changing is respectively φ _x(t), φ _y(t) and φ _z(t), φ wherein _z(t) can deduct at initial time t the high corner that records of t at any time by accelerometer ₀The high corner that records obtains φ _x(t) and φ _y(t) can obtain by the angular speed calculation on measured two the angular velocity sensitive axes directions of gyrosensor.

When continuous measurement rigid support attitude; The angle that adjacent two attitudes of said rigid support change on X, Y and the Z-direction of gyro coordinate system is very little; So rigid support 100 is transformed into second attitude from first attitude and can be decomposed into respectively three axles around gyro coordinate system and rotates corresponding angle and obtain; As shown in Figure 6, according to the matrix notation relation of coordinate system transformation, initial time t ₀The time rigid support at any time the coordinate during t be,

$\left[\begin{array}{c}{X}_{\mathrm{tl}}^{\′}\left(t_0\right)\\ Y_{\mathrm{tl}}^{\′}\left(t_0\right)\\ Z_{\mathrm{tl}}^{\′}\left(t_0\right)\end{array}\right]=R_x\left({\mathrm{\φ}}_x\left(t\right)\right)\·R_y\left({\mathrm{\φ}}_y\left(t\right)\right)\·R_z\left({\mathrm{\φ}}_z\left(t\right)\right).\begin{array}{}\left[\begin{array}{c}0\\ 0\\ L\end{array}\right]\end{array}$

R wherein _x(φ _x(t)) be around X axle rotation φ _x(t) spin matrix, R _y(φ _y(t)) be around Y axle rotation φ _y(t) spin matrix, R _z(φ _z(t)) be to rotate around the Z axle

Spin matrix.

Rigid support is the high corner δ of t at any time _tAnd tiltangle _tCan directly be obtained by accelerometer, the azimuth of establishing this moment rigid support is φ _t, according to the relation of gyro coordinate system and terrestrial coordinate system shown in Figure 5, with above-mentioned t ₀The time the Coordinate Conversion of rigid support when t in terrestrial coordinate system be,

$\left[\begin{array}{c}{X}_{\mathrm{dm}}\left(t_0\right)\\ Y_{\mathrm{dm}}\left(t_0\right)\\ Z_{\mathrm{dm}}\left(t_0\right)\end{array}\right]=\left[\begin{array}{ccc}\cos \left({\mathrm{\φ}}_t\right)& 0& -\sin \left({\mathrm{\φ}}_t\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\φ}}_t\right)& 0& \cos \left({\mathrm{\φ}}_t\right)\end{array}\right]\·\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left({-\mathrm{\θ}}_t\right)& \sin (-{\mathrm{\θ}}_t)\\ 0& -\sin \left({-\mathrm{\θ}}_t\right)& \cos (-{\mathrm{\θ}}_t)\end{array}\right]\left[\begin{array}{ccc}\cos (-{\mathrm{\δ}}_t)& \sin \left({-\mathrm{\δ}}_t\right)& 0\\ -\sin \left({-\mathrm{\δ}}_t\right)& \cos (-{\mathrm{\δ}}_1)& 0\\ 0& 0& 1\end{array}\right]\·\left[\begin{array}{c}{X}_{\mathrm{tl}}^{\′}\left(t_0\right)\\ Y_{\mathrm{yl}}^{\′}\left(t_0\right)\\ Z_{\mathrm{tl}}^{\′}\left(t_0\right)\end{array}\right]$

Because δ _t, θ _tAnd φ _z(t) be the known quantity that accelerometer records, φ _x(t) and φ _y(t) be that gyrosensor is measured and the known quantity through calculating, so following formula can be simplified shown as:

$\left[\begin{array}{c}{X}_{\mathrm{dm}}\left(t_0\right)\\ Y_{\mathrm{dm}}\left(t_0\right)\\ Z_{\mathrm{dm}}\left(t_0\right)\end{array}\right]=\left[\begin{array}{ccc}\cos \left({\mathrm{\φ}}_t\right)& 0& -\sin \left({\mathrm{\φ}}_t\right)\\ 0& 1& 0\\ \sin \left({\mathrm{\φ}}_t\right)& 0& \cos \left({\mathrm{\φ}}_t\right)\end{array}\right]\·\left[\begin{array}{c}{C}_x\·L\\ C_y\·L\\ C_z\·L\end{array}\right]$

C _x, C _yAnd C _zTherefore the parameter that is obtained in matrix operation by known quantity respectively also is known quantity,

According to spatial relationship rigid support t ₀The time coordinate that is engraved in the earth axes be:

It is following that above two relational expressions of simultaneous can get equation group,

Solving equation gets,

That is,

This has just obtained the rigid support azimuth φ of t at any time _t, the high corner δ that records in conjunction with accelerometer _tAnd tiltangle _t, just obtained the rigid support attitude of t at any time.

Below explanation rigid support 100t constantly the time on the X of gyro coordinate system axle and Y direction with respect to t ₀The angle φ of time changing _x(t) and φ _y(t) computational methods.Angular velocity and the proportional relation of the magnitude of angular velocity of rigid support 100 on the X of gyro coordinate system axle and Y direction on measured two the angular velocity sensitive axes directions of gyrosensor 200 are established factor of proportionality and are respectively k _x, k _y(size of its value is relevant with factors such as gyrosensor characteristic and machinery installations, is gyrosensor 200 angular velocity calibration factors, can obtain through scale).Relation according to angular velocity and angle can get,

$\left\{\begin{array}{c}{\mathrm{\φ}}_x\left(t\right)=f_x(k_x,{\mathrm{\ω}}_x\left(t\right),{\mathrm{\φ}}_x\left(t_0\right))={\∫}_{t_0}^t(k_x\·{\mathrm{\ω}}_x\left(\mathrm{\τ}\right))\mathrm{d\τ}+{\mathrm{\φ}}_x\left(t_0\right)\\ {\mathrm{\φ}}_y\left(t\right)=f_y(k_y,{\mathrm{\ω}}_y\left(t\right),{\mathrm{\φ}}_y\left(t_0\right))={\∫}_{t_0}^t(k_y\·{\mathrm{\ω}}_y\left(\mathrm{\τ}\right))\mathrm{d\τ}+{\mathrm{\φ}}_y\left(t_0\right)\end{array}\right.$

In digital display circuit, because what collect is discrete data, angular velocity and angle have following relation,

$\left\{\begin{array}{c}{\mathrm{\φ}}_x\left(t\right)=f_x(k_x,{\mathrm{\ω}}_x\left(t\right),{\mathrm{\φ}}_x\left(t_0\right))=\underset{\underset{\mathrm{nT}=t}{i=0,}}{\overset{n}{\mathrm{\Σ}}}(k_x\·{\mathrm{\ω}}_x\left(\mathrm{iT}\right))+{\mathrm{\φ}}_x\left(t_0\right)\\ {\mathrm{\φ}}_y\left(t\right)=f_y(k_y,{\mathrm{\ω}}_y\left(t\right),{\mathrm{\φ}}_y\left(t_0\right))=\underset{\underset{\mathrm{nT}=t}{i=0}}{\overset{n}{\mathrm{\Σ}}}(k_y\·{\mathrm{\ω}}_y\left(\mathrm{iT}\right))+{\mathrm{\φ}}_y\left(t_0\right)\end{array}\right.$

Wherein, φ _x(t) and φ _y(t) be respectively rigid support 100 t constantly the time on the X of gyro coordinate system axle and Y direction with respect to t ₀The angle of time changing; k _xAnd k _yBe gyrosensor 200 angular velocity calibration factors; ω _x(t) and ω _y(t) being angular velocity on two measured angular velocity sensitive axes directions of gyrosensor 200 respectively, is the function of time t; φ _x(t ₀) and φ _y(t ₀) be respectively that rigid support 100 is at t ₀The angle that on the X of gyro coordinate system axle and Y direction, turns in the time of constantly because in logging well with rigid support 100 at t ₀Attitude constantly is as initial attitude, so φ _x(t ₀)=φ _y(t ₀)=0; τ is the amount of being integrated; T is the time interval between continuous two discrete datas.

Can know by top expression formula, because k _xAnd k _yCan obtain through the method for scale, thus can through find the solution following formula obtain rigid support 100t constantly the time on the X of gyro coordinate system axle and Y direction with respect to t ₀The angle φ of time changing _x(t) and φ _y(t).

Accordingly; As shown in Figure 7; The invention provides the method that a kind of two axis gyroscope continuous measurement is in the attitude of gravitational field rigid support 100, it is corresponding that this method and above-mentioned two axis gyroscope continuous measurement are in the system of attitude of gravitational field rigid support 100, repeats no more at this.

In addition, as shown in Figure 8, the present invention also provides a kind of system of continuous measurement oil well well track, and this system comprises: rigid support 100, and this rigid support 100 moves along the oil well well track; Gyrosensor 200 is rigidly connected with said rigid support 100 and makes two the angular velocity sensitive axes and said rigid support 100 orthogonality of center shaft of gyrosensor 200, is used to measure the angular velocity on two angular velocity sensitive axes directions of gyrosensor 200; Accelerometer 300 is rigidly connected with said rigid support 100, measures the angle of slope and the high corner of the rigid support 100 that is in gravitational field; Depth survey unit 400 is used to measure the said rigid support 100 different present degree of depth constantly; Computing unit 500; Be used for according to rigid support 100 angular velocity on measured two the angular velocity sensitive axes directions of gyrosensor 200 and in the time period from initial time to any moment in the high corner of the angle of slope of initial time, high corner and azimuth, any time; Calculate rigid support 100 azimuth at any time; Combine the measured rigid support 100 of accelerometer 300 in angle of slope and the high corner of this any time afterwards, confirm the attitude of rigid support 100 in this any time; Repeat above-mentioned deterministic process, confirm rigid support 100,, confirm well track in conjunction with the degree of depth of the measured rigid support 100 in said depth survey unit 400 in said a plurality of continuous moment in the attitude in a plurality of continuous moment.

Correspondingly, as shown in Figure 9, the present invention also provides a kind of method of continuous measurement oil well well track, and this method may further comprise the steps: step S1: rigid support 100 is transferred to target depth position to be logged well; Step S2: under static state, measure rigid support 100 at initial time t ₀Angle of slope, high corner and azimuth; Step S3: make rigid support 100 along the continuous motion of oil well well track; Step S4:, confirm rigid support 100 attitude at any time according to the above-mentioned method of utilizing two axis gyroscope sensor 200 continuous measurement attitudes; Step S5: measure rigid support 100 in the residing degree of depth of said any time; And step S6: repeating step S3-S5 obtains rigid support 100 in the attitude and the pairing degree of depth in a plurality of continuous moment, to confirm the well track of oil well.

In the system and method for above-mentioned continuous measurement oil well well track; Rigid support 100 is in the angle of slope of initial time, high corner and azimuthal calculating; And rigid support 100 is at the confirming of the attitude of this any time, all with preceding text in the content introduced identical, do not giving unnecessary details in this.

The method and system of two axis gyroscope continuous measurement attitude provided by the present invention and application thereof had both overcome gyro point and had surveyed complex operation and drawback consuming time; Avoid three deficiencies that gyro continuous measurement external diameter is big and hardware cost is high again; Can in rigid support 100 motion processes, realize the continuous measurement of oil well track; Shorten the well logging time, improved logging efficiency, reduced the hardware manufacturing cost.

Though the present invention is disclosed by the foregoing description, yet the foregoing description is not to be used to limit the present invention, and those skilled in the art under any the present invention are not breaking away from the spirit and scope of the present invention, should do various variations and modification.Therefore protection scope of the present invention should be as the criterion with the scope that appended claims was defined.

Claims (7)

1. system that utilizes the two axis gyroscope continuous measurement to be in the attitude of gravitational field rigid support (100), this system comprises:

Gyrosensor (200); This gyrosensor (200) and said rigid support (100) are rigidly connected and two the angular velocity sensitive axes and said rigid support (100) orthogonality of center shaft of gyrosensor (200), are used to measure the angular velocity on two angular velocity sensitive axes directions of gyrosensor (200);

Accelerometer (300) is rigidly connected with said rigid support (100), is used to measure the angle of slope and the high corner of rigid support (100);

Computing unit (500); Be used for according to rigid support (100) angular velocity on measured two the angular velocity sensitive axes directions of gyrosensor (200) and in the time period from initial time to any moment in the high corner of the angle of slope of initial time, high corner and azimuth, any time; Calculate rigid support (100) azimuth at any time; Combine the measured rigid support (100) of accelerometer (300) in angle of slope and the high corner of this any time afterwards, confirm the attitude of rigid support (100) in this any time.

2. system according to claim 1; Wherein, saidly comprise at angular speed calculation rigid support (100) azimuth at any time on measured two the angular velocity sensitive axes directions of gyrosensor (200) in the high corner of the angle of slope of initial time, high corner and azimuth, any time and in the time period from initial time to any moment according to rigid support (100):

Through following relational expression calculate t constantly the time gyrosensor (200) on the X of gyro coordinate system axle and Y direction with respect to t ₀The angle of time changing,

$\left\{\begin{array}{c}{\mathrm{\φ}}_x\left(t\right)=f_x(k_x,{\mathrm{\ω}}_x\left(t\right),{\mathrm{\φ}}_x\left(t_0\right))\\ {\mathrm{\φ}}_y\left(t\right)=f_y(k_y,{\mathrm{\ω}}_y\left(t\right),{\mathrm{\φ}}_y\left(t_0\right))\end{array}\right.$

Wherein, φ _x(t) and φ _y(t) be respectively rigid support (100) t constantly the time on the X of gyro coordinate system axle and Y direction with respect to t ₀The angle of time changing; k _xAnd k _yBe gyrosensor (200) angular velocity calibration factor; ω _x(t) and ω _y(t) being angular velocity on two measured angular velocity sensitive axes directions of gyrosensor (200) respectively, is the function of time t; φ _x(t ₀) and φ _y(t ₀) be respectively rigid support (100) t ₀The angle that on the X of gyro coordinate system axle and Y direction, turns in the time of constantly; And

According to the high corner of the angle that is changed, any time and rigid support (100) at t ₀Rigid support (100) is calculated at t azimuth constantly in angle of slope, high corner and azimuth constantly.

3. method of utilizing the two axis gyroscope continuous measurement to be in the attitude of gravitational field rigid support (100), this method comprises:

Confirm that rigid support (100) is at the angle of slope of initial time, high corner and azimuth;

Gyrosensor (200) and said rigid support (100) are rigidly connected and two angular velocity sensitive axes and said rigid support (100) orthogonality of center shaft of gyrosensor (200) angular velocity on two angular velocity sensitive axes directions of measurement gyrosensor (200);

Measure rigid support (100) angle of slope and high corner at any time;

According to the high corner of the angle of slope of rigid support (100) initial time, high corner and azimuth, any time and the angular velocity on two angular velocity sensitive axes directions in the time period from initial time to any moment, calculate rigid support (100) azimuth at any time; And

At the angle of slope of said any time, high corner and azimuth, confirm the attitude of rigid support (100) in conjunction with rigid support (100) in said any time.

4. method according to claim 3; Wherein, said angle of slope, high corner and azimuth, the high corner of any time according to rigid support (100) initial time and in the time period from initial time to any moment the angular speed calculation rigid support (100) on two angular velocity sensitive axes directions comprise at the azimuth of attitude at any time:

Through following relational expression calculate rigid support (100) t constantly the time on the X of gyro coordinate system axle and Y direction with respect to t ₀The angle of time changing,

$\left\{\begin{array}{c}{\mathrm{\φ}}_x\left(t\right)=f_x(k_x,{\mathrm{\ω}}_x\left(t\right),{\mathrm{\φ}}_x\left(t_0\right))\\ {\mathrm{\φ}}_y\left(t\right)=f_y(k_y,{\mathrm{\ω}}_y\left(t\right),{\mathrm{\φ}}_y\left(t_0\right))\end{array}\right.$

Wherein, φ _x(t) and φ _y(t) be respectively rigid support (100) t constantly the time rigid support (100) on the X of gyro coordinate system axle and Y direction with respect to t ₀The angle of time changing; k _xAnd k _yBe gyrosensor (200) angular velocity calibration factor; ω _x(t) and ω _y(t) being angular velocity on measured two angles, the 4 speed sensitive direction of principal axis of gyrosensor (200) respectively, is the function of time t; φ _x(t ₀) and φ _y(t ₀) be respectively rigid support (100) t ₀The angle that on the X of gyro coordinate system axle and Y direction, turns in the time of constantly; And

According to the high corner of the angle that is changed, any time and rigid support (100) at t ₀Rigid support (100) is calculated at t azimuth constantly in angle of slope, high corner and azimuth constantly.

5. the system of a continuous measurement oil well well track, this system comprises:

Rigid support (100), this rigid support (100) moves along the oil well well track;

Gyrosensor (200); Be rigidly connected with said rigid support (100) and two the angular velocity sensitive axes and said rigid support (100) orthogonality of center shaft of gyrosensor (200), be used to measure the angular velocity on two angular velocity sensitive axes directions of gyrosensor (200);

Accelerometer (300) is rigidly connected with said rigid support (100), measures the angle of slope and the high corner of the rigid support (100) that is in gravitational field;

Depth survey unit (400) is used to measure the different present degree of depth constantly of said rigid support (100); And

Computing unit (500); Be used for according to rigid support (100) angular velocity on measured two the angular velocity sensitive axes directions of gyrosensor (200) and in the time period from initial time to any moment in the high corner of the angle of slope of initial time, high corner and azimuth, any time; Calculate rigid support (100) azimuth at any time; Combine the measured rigid support (100) of accelerometer (300) in angle of slope and the high corner of this any time afterwards, confirm the attitude of rigid support (100) in this any time; Repeat above-mentioned deterministic process, confirm rigid support (100),, confirm well track in conjunction with the degree of depth of the measured rigid support (100) in said depth survey unit (400) in said a plurality of continuous moment in the attitude in a plurality of continuous moment.

6. system according to claim 5; Wherein, saidly comprise at angular speed calculation rigid support (100) azimuth at any time on measured two the angular velocity sensitive axes directions of gyrosensor (200) in the high corner of the angle of slope of initial time, high corner and azimuth, any time and in the time period from initial time to any moment according to rigid support (100):

Through following relational expression calculate t constantly the time rigid support (100) on the X of gyro coordinate system axle and Y direction with respect to t ₀The angle of time changing,

$\left\{\begin{array}{c}{\mathrm{\φ}}_x\left(t\right)=f_x(k_x,{\mathrm{\ω}}_x\left(t\right),{\mathrm{\φ}}_x\left(t_0\right))\\ {\mathrm{\φ}}_y\left(t\right)=f_y(k_y,{\mathrm{\ω}}_y\left(t\right),{\mathrm{\φ}}_y\left(t_0\right))\end{array}\right.$

Wherein, φ _x(t) and φ _y(t) be respectively rigid support (100) t constantly the time rigid support (100) on the X of gyro coordinate system axle and Y direction with respect to t ₀The angle of time changing; k _xAnd k _yBe gyrosensor (200) angular velocity calibration factor; ω _x(t) and ω _y(t) being angular velocity on two measured angular velocity sensitive axes directions of gyrosensor (200) respectively, is the function of time t; φ _x(t ₀) and φ _y(t ₀) be respectively rigid support (100) t ₀The angle that on the X of gyro coordinate system axle and Y direction, turns in the time of constantly; And

According to the high corner of the angle that is changed, any time and rigid support (100) at t ₀Rigid support (100) is calculated at t azimuth constantly in angle of slope, high corner and azimuth constantly.

7. the method for a continuous measurement oil well well track, this method may further comprise the steps:

Step S1: rigid support (100) is transferred to target depth position to be logged well;

Step S2: under static state, measure rigid support (100) at initial time t ₀Angle of slope, high corner and azimuth;

Step S3: make rigid support (100) along the continuous motion of oil well well track;

Step S4:, confirm rigid support (100) attitude at any time according to claim 3 or 4 described methods;

Step S5: measure rigid support (100) in the residing degree of depth of said any time; And

Step S6: repeating step S3-S5 obtains rigid support (100) in the attitude and the pairing degree of depth in a plurality of continuous moment, to confirm the well track of oil well.

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