CN113356763B - Method and system for realizing space communication in sleeve - Google Patents
Method and system for realizing space communication in sleeve Download PDFInfo
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- CN113356763B CN113356763B CN202110769202.2A CN202110769202A CN113356763B CN 113356763 B CN113356763 B CN 113356763B CN 202110769202 A CN202110769202 A CN 202110769202A CN 113356763 B CN113356763 B CN 113356763B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B29/00—Cutting or destroying pipes, packers, plugs or wire lines, located in boreholes or wells, e.g. cutting of damaged pipes, of windows; Deforming of pipes in boreholes or wells; Reconditioning of well casings while in the ground
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
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Abstract
The application relates to a method for realizing space communication in a sleeve, which comprises the following steps: calculating a shielding coefficient K of the sleeve; collecting data, and calculating well deviation, a gravity tool face, a gyro tool face and an azimuth angle; zero offset is removed from the alternating current magnetic signal; filtering the alternating current magnetic signals by using a window function to obtain alternating current magnetic field data after interference is removed; calculating to obtain an actual magnetic field sum according to the alternating-current magnetic field data; performing frequency spectrum correction on the actual magnetic field sum to obtain the amplitude FA and the phase PA of the actual magnetic field sum; calculating the relative positions of the drill bit and the probe; performing coordinate conversion according to the relative position to obtain rectangular coordinates of the drill bit; the system for realizing space communication in the casing can guide the drill bit to accurately communicate two spaces in the casing, so that the accuracy of space communication is improved.
Description
Technical Field
The application relates to the field of space communication, in particular to a method and a system for realizing space communication in a sleeve.
Background
During the use of oil, coal or salt well production, there may be old wells that have been cased, which now need to be used to connect the cased well to other wellbores. Related art measurement while drilling techniques are employed to measure the relative position between the drill bit and the communicated target well.
The measurement while drilling calculates the well coordinates through well depth, well inclination and azimuth, and calculates the relative position by utilizing the coordinate data of two wells, when a casing is installed in a target well, the casing produces interference to magnetic signals, the azimuth measurement precision is affected, meanwhile, the influence of accumulated errors exists, and the precision is not high when the two wells are communicated in the casing by using the measurement while drilling technology.
With respect to the related art described above, the inventors consider that the related art is not highly accurate in achieving communication of two wells within a casing.
Disclosure of Invention
In order to improve the accuracy of space communication in a sleeve, the application provides a method for realizing space communication in the sleeve, which comprises the following steps: the method comprises the following steps:
Calculating a shielding coefficient K of the sleeve;
collecting data, and calculating well deviation, a gravity tool face, a gyro tool face and an azimuth angle;
Zero offset is removed from the alternating current magnetic signal;
Filtering the alternating current magnetic signals by using a window function to obtain alternating current magnetic field data after interference is removed;
Calculating to obtain an actual magnetic field sum according to the alternating-current magnetic field data;
performing frequency spectrum correction on the actual magnetic field sum to obtain the amplitude FA and the phase PA of the actual magnetic field sum;
Calculating the relative positions of the drill bit and the probe;
and carrying out coordinate conversion according to the relative position to obtain rectangular coordinates of the drill bit.
By adopting the technical scheme, the gyroscope is arranged in the probe and measures the azimuth angle of the probe so as to determine the gesture of the probe. And then, according to the relative positions of the probe and the drill bit, the rectangular coordinates of the drill bit are obtained through coordinate conversion, the drill bit is positioned through the rectangular coordinates, accurate guiding of the drill bit is realized, and the guiding precision of the drill bit is improved.
Preferably, the calculating the shielding coefficient K of the sleeve is specifically:
the sleeve is placed at the detected position and the probe is placed in the sleeve at the detected magnetic signal amplitude K1.
After removal of the sleeve, the probe detects the magnetic signal amplitude K2 at the detected location.
Sleeve shielding coefficient
By adopting the technical scheme, the shielding coefficient of the sleeve is determined according to the ratio of K1 to K2, so that the influence of the sleeve on the magnetic signal is determined. According to the sleeve shielding coefficient, the actual alternating-current magnetic signal data can be determined by combining the alternating-current magnetic signal data detected by the probe, so that the actual magnetic field sum is calculated, and the detection accuracy of the alternating-current magnetic signal is improved.
Preferably, the collected data specifically includes:
Turning the tool face of the drill bit to a specific position, and respectively collecting real-time data by the probe when the drill bit is static and the drill bit rotates, wherein the real-time data comprises magnetic signal data and non-signal data;
the filter carries out filtering processing on the real-time data according to the frequency of the magnetic signal, removes non-signal data in the real-time data, obtains magnetic signal data and stores the magnetic signal data;
the well deviation, the gravity tool face, the gyro tool face and the azimuth angle are calculated, and the well deviation, the gravity tool face, the gyro tool face and the azimuth angle are specifically as follows:
The gravity field components of the gravity acceleration g on the X axis, the Y axis and the Z axis are g x、gy、gz, and the components of the gyro precession vector on the X axis, the Y axis and the Z axis are w x、wy and w z;
The well angle alpha is a well angle alpha,
The tool face theta g of the gravity force,
The tool surface theta w of the gyroscope,
The azimuth angle a,
-A geographical latitude of the location where the probe is located.
By adopting the technical scheme, the frequency of the signal and the frequency of the non-signal data are different, the filter can adopt a band-pass filter, the data of the non-signal part in the acquired data are filtered according to the frequency of the signal, the impurity signal is removed, and the purity of the signal is improved.
Preferably, the zero point bias for the alternating current signal is specifically:
datn＝data-mean(data) (6)；
Wherein mean (data) represents zero bias data of the circuit, and data is alternating-current magnetic field data acquired by the three-axis fluxgate sensor on the X axis, the Y axis and the Z axis respectively.
By adopting the technical scheme, the direct current bias point of the circuit is removed by removing the zero bias.
Preferably, the actual magnetic field sum is calculated according to the alternating magnetic field data, specifically:
In the sleeve, after detecting that the magnetic field components of the alternating magnetic field on the X axis, the Y axis and the Z axis are offset At zero points, the three-axis fluxgate sensor is respectively A x'、Ay 'and A z', K is the sleeve shielding coefficient, and min (At) represents the minimum value for acquiring the actual magnetic field sum:
At' =at/min (At) (9); at' is the sum of the actual magnetic fields after treatment.
By adopting the technical scheme, the magnetic field is generated after the drill bit rotates, the triaxial fluxgate sensor detects components of the magnetic field on the X axis, the Y axis and the Z axis At the detected position in the sleeve, and the actual value At of the magnetic field is obtained according to formulas (7), (8) and (9) by combining the shielding coefficient K of the sleeve, so that the actual magnetic field sum is accurately measured in the sleeve.
Preferably, the actual magnetic field is subjected to spectrum correction to obtain the amplitude FA and the phase PA of the sum of the actual magnetic field, specifically: the amplitude FA and the phase PA of the processed actual magnetic field and the processed At' are obtained by adopting a discrete frequency spectrum correction energy gravity center method.
By adopting the technical scheme, the amplitude FA and the phase PA of the actual magnetic field and the actual magnetic field At are obtained through the discrete frequency spectrum correction energy gravity center method, and the analysis precision of the discrete frequency spectrum is improved.
Preferably, the calculating the relative positions of the drill bit and the probe specifically includes:
The spherical coordinates of the probe are r、The calculation formula of (2) is as follows:
θ employs the following equation (12) or equation (13):
θ＝-PA/2 (12)；
In the formulas (10), (11), (12), M represents a magnetic moment; FA represents the magnitude of the processed actual magnetic field sum; PA represents the phase of the processed actual magnetic field sum; min (At) represents the minimum of the actual magnetic field sum;
r represents the straight line distance between the drill bit and the probe;
representing a space angle, θ representing a projection angle;
Converting magnetic field components generated by a magnetic field on 3 coordinate axes from a probe coordinate system to a drill bit coordinate system, performing Fourier transform on magnetic field component data in the drill bit coordinate system to obtain amplitude a x、ay、az and phase of the magnetic field components on X, Y, Z coordinate axes, and respectively recording the obtained phase of the magnetic field components on X, Y axis minus the phase of the magnetic field components on Z axis as Wherein, the Z axis is used as a reference signal, and the phase of the Z axis is 0.
Through adopting above-mentioned technical scheme, confirm the relative position of probe and drill bit in the ball coordinate system, including the straight line distance between probe and the drill bit, and the relative angle between probe and the drill bit, provide accurate data basis for adjusting the drilling direction and the drilling distance of drill bit, improve and guide the drill bit accuracy, improve the accuracy of two space intercommunication.
Preferably, according to the relation between the spherical coordinate system and the rectangular coordinate system, coordinate conversion is performed according to the relative position to obtain rectangular coordinates of the drill bit:
Through adopting above-mentioned technical scheme, through rectangular coordinate and the conversion of ball coordinate, confirm the rectangular coordinate of drill bit in rectangular coordinate system, confirm the relative position of probe and drill bit, provide data basis for the drilling direction and the drilling distance of adjustment drill bit, the precision of drilling when improving two space intercommunication.
In a second aspect, a system for effecting spatial communication within a casing includes a drill bit; a magnet is fixed on the drill bit, and the magnet rotates to generate an alternating current magnetic signal;
the system for realizing space communication in the casing also comprises a probe, a driller display and a computer which are in communication connection; the probe comprises a triaxial gyroscope, a triaxial gravity acceleration sensor, a triaxial fluxgate sensor and a temperature sensor;
the probe is connected with an alternating-current magnetic signal generated by the magnet;
the system for realizing space communication in the casing executes the method for realizing space communication in the casing to calculate the relative positions of the drill bit and the probe rod, and the drill bit is guided to communicate the two spaces.
By adopting the technical scheme, after the probe is placed in the sleeve, the components w x、wy and w z of the precession vector of the triaxial gyroscope on the X axis, the Y axis and the Z axis are avoided from being influenced by the sleeve, and the azimuth angle is accurately calculated according to the precession vector of the triaxial gyroscope to determine the gesture of the probe.
In summary, the present application includes at least one of the following beneficial technical effects:
(1) According to the technical scheme, after the triaxial gyroscope is placed in the sleeve, the components of the precession vector of the triaxial gyroscope on the X axis, the Y axis and the Z axis are w x、wy and w z respectively, the precession vector of the triaxial gyroscope is not affected by the sleeve, and the azimuth angle is accurately calculated according to the precession vector of the triaxial gyroscope to determine the gesture of the probe.
The gesture of drill bit is provided by the instrument while drilling behind the drill bit, confirms the probe gesture through calculating the azimuth, after confirming the gesture of probe and drill bit, can change the alternating current magnetic field data that the probe gathered to the drill bit coordinate system through coordinate conversion, utilizes the magnetic field formula accurate relative position of determination probe and drill bit to accurate guide drill bit improves drill bit punching accuracy, improves the precision of two space intercommunication.
(2) According to the system for realizing space communication in the casing, disclosed by the application, the relative position between the drill bit and the target point and the relative distance between the drill bit and the target well are calculated by collecting the alternating current signals generated by the rotary magnet, the relative position between the drill bit and the target well are detected by utilizing the magnetic field principle, when the relative position measurement is carried out by using the rotary magnet positioning technology, each measurement is independently carried out, the error of each measurement is a single-point measurement error during the measurement, the error is not propagated and accumulated, and the accumulated error is not generated along with the drilling progress and the increase of the well depth.
Drawings
Fig. 1 is a flowchart of a method of achieving spatial communication within a casing according to embodiment 1 of the present application.
Fig. 2 is a flow chart of data acquisition according to embodiment 1 of the present application.
Fig. 3 is a schematic diagram of a system for achieving spatial communication within a cannula according to embodiment 2 of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings 1-3 and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
When the related art drills, the casing pipe arranged in the well can shield the magnetic signals emitted by the drill bit end, the accuracy of detecting the magnetic signals by the probe is affected by the casing pipe, the position of the drill bit cannot be accurately detected by the probe, the relative positions of the probe and the drill bit cannot be accurately determined, and the accuracy of space communication is affected. In the related technology, the azimuth angle of the probe is calculated according to the components of the magnetic force field in 3 coordinate axes, and the sleeve influences magnetic force measurement during measurement, so that the determination of the azimuth angle is finally influenced, and the relative positions of the bit and the probe are accurately determined.
Example 1
Referring to fig. 1 and 2, the present embodiment discloses a method for realizing space communication in a casing, which includes the steps of:
Step S1: the shielding coefficient K of the sleeve is calculated specifically as follows:
the sleeve is placed at the detected position and the probe is placed in the sleeve at the detected magnetic signal amplitude K1.
After removal of the sleeve, the probe detects the magnetic signal amplitude K2 at the detected location.
Sleeve shielding coefficient
In this embodiment, for example, two wells are connected, an old well to be connected is used as a target well, a probe is placed in the target well to be connected, a drill rotates in the new well, the drill and a magnet joint are connected together by threads, a magnet is fixed on the magnet joint by a clamp spring, and a magnet generates a changing magnetic field along with the rotation of the drill.
In measuring the sleeve shielding factor K, the probe is placed on the ground at a fixed detection position, and the amplitude of the magnetic signal generated by the detected rotation of the magnet is 1. After that, a sleeve is placed at the detection position, a probe is placed in the sleeve, and the amplitude of a magnetic signal generated by the rotation of a magnet detected by the probe in the sleeve is 0.3, so that the sleeve shielding coefficient k=0.3/1.
According to actual use conditions, the shielding coefficients of the sleeves with different lengths can be measured and calculated respectively, and then the average value is taken as the shielding coefficient of the sleeve, so that the accuracy of the measured shielding coefficient of the sleeve is improved.
Step S2: and collecting data, and calculating well deviation, a gravity tool face, a gyro tool face and an azimuth angle.
Wherein, the collected data specifically comprises:
Step S11: the tool face of the drill bit is rotated to a specific position, and the probe acquires real-time data when the drill bit is stationary and the drill bit is rotating, wherein the real-time data comprises magnetic signal data and non-signal data.
Step S12: and the filter carries out filtering processing on the real-time data according to the frequency of the magnetic signal, removes non-signal data in the real-time data, obtains magnetic signal data and stores the magnetic signal data.
In this embodiment, the specific position is the toolface 0 position, i.e., the position of the toolface of the drill bit when the drill bit and magnet are not rotating. When the magnet is stationary, the probe will collect a noise signal. After the magnet rotates, the probe rod detects a magnetic signal generated by the rotating magnet and also receives a noise signal generated when the magnet rotates. The frequencies of the noise signal and the magnetic signal are different, and the noise signal can be filtered by a band-pass filter to obtain an effective magnetic signal, so that effective magnetic signal data are stored.
The well inclination, the gravity tool face, the gyro tool face and the azimuth angle are calculated, and the well inclination, the gravity tool face, the gyro tool face and the azimuth angle are specifically as follows:
the probe comprises a triaxial acceleration sensor, a triaxial fluxgate sensor and a triaxial gyroscope.
The components of the gravitational acceleration g measured by the triaxial acceleration sensor in the X axis, the Y axis and the Z axis are g x、gy、gz, and the components of the gyro precession vector measured by the triaxial gyroscope in the X axis, the Y axis and the Z axis are w x、wy and w z.
The well angle alpha is a well angle alpha,
The tool face theta g of the gravity force,
The tool surface theta w of the gyroscope,
The azimuth angle a is calculated by using a gyroscope to display the gesture of the probe, and the specific formula is as follows:
The azimuth angle a,
-A geographic dimension of the location where the probe is located.
The related technology calculates an azimuth angle a by adopting components g x、gy、gz of the gravity acceleration g on the X axis, the Y axis and the Z axis and components H x、Hy、Hz of the earth magnetic field H on the X axis, the Y axis and the Z axis.
However, in practical application, due to the existence of the sleeve, the three-axis fluxgate sensor is affected by the sleeve in the sleeve, and the azimuth angle a is inaccurately calculated by using the H x、Hy、Hz acquired by the three-axis fluxgate sensor.
Step S3: zero point bias is carried out on the alternating current magnetic signal data to obtain the alternating current magnetic signal data after the bias is removed, specifically:
datn＝data-mean(data)； (6)
wherein mean (data) represents zero bias data of the circuit, and data is alternating-current magnetic field data acquired by the three-axis fluxgate sensor on an X axis, a Y axis and a Z axis respectively;
In this embodiment, the average value of the ac magnetic field data is subtracted from the current ac magnetic field data, thereby removing the zero bias data from the ac magnetic field data.
Step S4: filtering the alternating-current magnetic signal data by using a window function to obtain alternating-current magnetic field data after interference is removed;
In this embodiment, the hamming window function is used to filter the ac magnetic signal data, the ac magnetic signal corresponds to a frequency range, and the interference signal outside the frequency range is filtered out, so as to obtain the ac magnetic field data from which the interference is removed.
Step S5: the actual magnetic field sum is calculated according to the alternating current magnetic field data and specifically is as follows: in the sleeve, the three-axis fluxgate sensor detects that the magnetic field components of the alternating magnetic field in the X axis, the Y axis and the Z axis are A x'、Ay 'and A z', respectively, and the shielding coefficient of the sleeve is K.
The actual values A x、Ay、Az of the magnetic field in the X-axis, Y-axis and Z-axis are calculated according to the formula (7), at is the sum of the actual magnetic fields detected by the probe At the detection position.
At' =at/min (At) (9); at' is the sum of the actual magnetic fields after treatment.
In the embodiment, a three-axis fluxgate sensor is used for detecting magnetic signals in the sleeve and combining shielding coefficients of the sleeve to calculate magnetic field component data Ax, ay and Az of a magnetic field At the actual placement position of the probe on the X axis, the Y axis and the Z axis, and the actual magnetic field and At the actual placement position of the probe are calculated according to the Ax, the Ay and the Az. And (3) processing the actual magnetic field sum At according to a formula (9), and limiting the range of the processed actual magnetic field sum within [1,2 ].
Step S6: performing frequency spectrum correction on the actual magnetic field sum to obtain the amplitude FA and the phase PA of the actual magnetic field sum;
In this embodiment, the amplitude FA and the phase PA of the processed actual magnetic field and At' are obtained by using a discrete spectrum correction energy gravity method.
Amplitude of amplitude
Phase of
K i is the energy recovery coefficient; y i is the ith spectral line value of the power spectrum; x 0 is the centre of the main lobe; f s is the sampling frequency; the number of the score points is N; the spectral line number of the peak value in the main lobe is m; the real part of the FFT signal, R m, has the imaginary part I m.
Step S7: the relative positions of the drill bit and the probe are calculated, and the spherical coordinates of the probe are as followsr、The calculation formula of (2) is as follows:
For the angle θ, calculation can be performed with reference to the formula (12) or the formula (13), specifically as follows:
θ＝-PA/2 (12)；
In the formulas (10), (11), (12), M represents a magnetic moment; the amplitude FA of the magnetic signal; a phase PA of the magnetic signal; min (At) represents the minimum of the actual magnetic field sum; r represents the straight line distance between the drill bit and the probe; Representing the spatial angle, θ represents the projection angle.
In the formula (13), magnetic field components generated by a magnetic field on 3 coordinate axes are converted from a probe coordinate system to a drill bit coordinate system, the amplitude a x、ay、az and the phase of the magnetic field components on X, Y, Z coordinate axes are obtained by carrying out Fourier transform calculation on magnetic field component data in the drill bit coordinate system, and the obtained phase of the magnetic field components on X, Y axis minus the phase of the magnetic field components on Z axis are respectively recorded asWherein, the Z axis is used as a reference signal, and the phase of the Z axis is 0.
The probe coordinate system is: the axial direction of the probe is taken as a Z axis, the high side direction of the probe is taken as an X axis, and the Y axis, the X axis and the Z axis form a right hand coordinate system.
The drill bit coordinate system is: the forward direction of the drill bit is taken as a Z axis, the horizontal upward direction is taken as an X axis, and the horizontal rightward direction is taken as a Y axis.
The coordinate conversion formula between the probe coordinate system and the drill bit coordinate system is as follows:
Step S8: and carrying out coordinate conversion according to the relative position to obtain rectangular coordinates of the drill bit.
The conversion matrix of the probe coordinate system and the geographic coordinate system XYZ is as follows:
Wherein a, alpha, theta i are the azimuth, well inclination and toolface angle of the probe, respectively.
The transformation matrix between the drill bit end coordinate system UVW and the geographic coordinate system XYZ is:
the orientation and the well inclination angle of the magnet on the drill bit A ', I' can be measured by a measurement while drilling instrument at the near-bit end.
[U V W]T＝C2 TC1 TC1 -1C2 -1C3 -1[x y z]T(23)
Converting the magnetic field components measured by the probe end according to (21), (22) and (23), and calculating the projection angle theta according to the conversion result according to the formula (13).
Space angle according to the straight line distance r between the drill bit and the probeAnd calculating a projection angle theta to obtain rectangular coordinates of the drill bit:
Rectangular coordinates of the probe to x, y and z can be calculated according to formulas (14), (15), (16).
In the present embodiment, the azimuth angle a is calculated using the components w x、wy and w z of the precession vector of the gyro in the X-axis, Y-axis, and Z-axis and the component g x、gy、gz of the gravitational acceleration g in the X-axis, Y-axis, and Z-axis.
The triaxial acceleration sensor and the triaxial gyroscope are not affected by the sleeve, and the accuracy of g x、gy、gz, w x、wy and w z which are obtained through measurement is not affected by the sleeve, so that the azimuth angle a can be accurately calculated, and the gesture of the probe can be accurately determined.
After the relative positions of the probe and the drill bit are determined according to the formulas (10), (11), (12) or (13), and after the gesture of the probe is determined according to the formula (5), coordinate conversion is performed according to the formulas (21), (22) and (23), and the rectangular coordinates of the drill bit can be accurately determined through the coordinate conversion.
Through determining the rectangular coordinates of the drill bit, the drill bit is guided accurately, the drilling precision of the drill bit is improved, and the precision of two space communication is improved.
The straight line distance between the drill bit and the probe can be determined by r. Through angle theta and angleThe azimuthal relationship between the drill bit and the probe is determined. The drill bit is adjusted according to the angle theta and the angleAnd (3) adjusting the drilling direction, drilling the drill bit according to the distance r, ensuring that the drill bit accurately drills into a target well where the probe is positioned, guiding the drill bit in the sleeve to accurately communicate the target well, and improving the accuracy of space communication.
Embodiment 2, referring to fig. 3, the present embodiment provides a system for achieving spatial communication within a casing, comprising a drill bit 1; a magnet is fixed on the drill bit 1, and the magnet rotates to generate an alternating current magnetic signal. The system for realizing space communication in the casing also comprises a probe, a driller display 6 and a computer 7 which are in communication connection; the probe comprises a triaxial gyroscope 2, a triaxial gravity acceleration sensor 3, a triaxial fluxgate sensor 4 and a temperature sensor 5.
The probe is connected with an alternating current magnetic signal generated by the magnet. The system for achieving space communication in the casing performs the method for achieving space communication in the casing to calculate the relative positions of the drill bit 1 and the probe, and guides the drill bit to communicate the two spaces.
The probe transmits the acquired data to the driller display 6 and the computer 7 in time, and the driller display 6 displays the received data in real time.
The foregoing description of the preferred embodiments of the application is not intended to limit the scope of the application in any way, including the abstract and drawings, in which case any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.
Claims (3)
1. A method of effecting spatial communication within a cannula, comprising the steps of:
Calculating a shielding coefficient K of the sleeve;
collecting data, and calculating well deviation, a gravity tool face, a gyro tool face and an azimuth angle;
Zero offset is removed from the alternating current magnetic signal;
Filtering the alternating current magnetic signals by using a window function to obtain alternating current magnetic field data after interference is removed;
Calculating to obtain an actual magnetic field sum according to the alternating-current magnetic field data;
performing frequency spectrum correction on the actual magnetic field sum to obtain the amplitude FA and the phase PA of the actual magnetic field sum;
Calculating the relative positions of the drill bit and the probe;
Performing coordinate conversion according to the relative position to obtain rectangular coordinates of the drill bit;
wherein, the shielding coefficient K of the calculated sleeve is specifically:
placing a sleeve at the detected position, and placing a probe in the sleeve to detect the magnetic signal amplitude K1;
After the sleeve is removed, the magnetic signal amplitude K2 detected by the probe at the detected position is detected;
Sleeve shielding coefficient
Wherein, the data collection specifically comprises:
Turning the tool face of the drill bit to a specific position, and respectively collecting real-time data by the probe when the drill bit is static and the drill bit rotates, wherein the real-time data comprises magnetic signal data and non-signal data;
the filter carries out filtering processing on the real-time data according to the frequency of the magnetic signal, removes non-signal data in the real-time data, obtains magnetic signal data and stores the magnetic signal data;
the well deviation, the gravity tool face, the gyro tool face and the azimuth angle are calculated, and the well deviation, the gravity tool face, the gyro tool face and the azimuth angle are specifically as follows:
The gravity field components of the gravity acceleration g on the X axis, the Y axis and the Z axis are g x、gy、gz, and the components of the gyro precession vector on the X axis, the Y axis and the Z axis are w x、wy and w z;
The well angle alpha is a well angle alpha,
The tool face theta g of the gravity force,
The tool surface theta w of the gyroscope,
The azimuth angle a,
-A geographical latitude at the location of the probe;
wherein, the zero offset of the alternating current magnetic signal is specifically:
datn＝data-mean(data) (6)；
Wherein datn represents the AC magnetic signal data after the bias removal, mean (data) represents the zero bias data of the circuit, and data is the AC magnetic field data acquired by the three-axis fluxgate sensor on the X axis, the Y axis and the Z axis respectively;
The actual magnetic field sum is calculated according to the alternating-current magnetic field data, and specifically comprises the following steps:
In the sleeve, after detecting that the magnetic field components of the alternating magnetic field on the X axis, the Y axis and the Z axis are offset At zero points, the three-axis fluxgate sensor is respectively A x'、Ay 'and A z', K is the sleeve shielding coefficient, and min (At) represents the minimum value for acquiring the actual magnetic field sum:
Wherein a x、Ay、Az represents the actual values of the magnetic field in the X-axis, Y-axis and Z-axis;
Wherein At represents the sum of the actual magnetic fields detected by the probe At the detection location;
at' =at/min (At) (9); at' is the sum of the actual magnetic fields after treatment;
Wherein, the actual magnetic field sum At is processed according to the formula (9), and the range of the processed actual magnetic field sum is limited in [1,2 ];
The amplitude FA and the phase PA of the processed actual magnetic field sum obtained by performing frequency spectrum correction on the processed actual magnetic field sum are specifically:
Obtaining the amplitude FA and the phase PA of the processed actual magnetic field and At' by adopting a discrete frequency spectrum correction energy gravity center method;
the relative positions of the drill bit and the probe are calculated, and the relative positions are specifically as follows:
The spherical coordinates of the probe are r、The calculation formula of (2) is as follows:
θ employs the following equation (12) or equation (13):
θ＝-PA/2 (12)；
In the formulas (10), (11), (12), M represents a magnetic moment; FA represents the magnitude of the processed actual magnetic field sum; PA represents the phase of the processed actual magnetic field sum; min (At) represents the minimum of the actual magnetic field sum; r represents the straight line distance between the drill bit and the probe; representing a space angle, θ representing a projection angle;
Converting magnetic field components generated by a magnetic field on 3 coordinate axes from a probe coordinate system to a drill bit coordinate system, performing Fourier transform calculation on magnetic field component data in the drill bit coordinate system to obtain amplitude a x、ay、az and phase of the magnetic field components on X, Y, Z coordinate axes, and respectively recording the obtained phase of the magnetic field components on X, Y axis minus the phase of the magnetic field components on Z axis as Wherein, the Z axis is used as a reference signal, and the phase of the Z axis is 0.
2. The method of effecting spatial communication within a cannula of claim 1, wherein: and according to the relation between the spherical coordinate system and the rectangular coordinate system, carrying out coordinate conversion according to the relative position to obtain the rectangular coordinate of the drill bit:
3. a system for effecting spatial communication within a cannula, comprising: comprises a drill bit; a magnet is fixed on the drill bit, and the magnet rotates to generate an alternating current magnetic signal;
the system for realizing space communication in the casing also comprises a probe, a driller display and a computer which are in communication connection; the probe comprises a triaxial gyroscope, a triaxial gravity acceleration sensor, a triaxial fluxgate sensor and a temperature sensor;
the probe is connected with an alternating-current magnetic signal generated by the magnet;
The system for achieving space communication in a casing performs the method for achieving space communication in a casing according to any one of claims 1 to 2 to calculate the relative positions of the drill bit and the probe, and guides the drill bit to communicate the two spaces.
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