Simulation of a strapdown inertial continuous wellbore survey algorithm
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摘要: 针对快速准确的油井轨迹测量要求,研究了一种基于陀螺罗盘测量方案的连续测斜方法.根据不同井斜角度范围,此方法采用了两种工作模式:陀螺罗盘测量模式(倾斜角≤15°)和连续测量模式(倾斜角＞15°).陀螺罗盘测量模式在特定测点进行静态单点测量.连续测量模式进行仪器移动过程中的不停止测量,测量初值通过陀螺罗盘测量模式确定.给出了两种工作模式下的数学模型.对连续测斜算法的有效性进行仿真验证.比较了仿真结果和原始轨迹,得出了测量误差曲线.仿真结果表明,算法可以实现倾斜角0°~90°、方位角0°~360°的全方位井眼轨迹连续测量,大大提高了测量效率.Abstract: To achieve the fast and precise survey goal, a strapdown measuring algorithm which is based on an existing gyrocompass survey algorithm is studied. It offers two survey modes according to the inclination: the gyrocompass survey mode (inclination≤15°) and the continuous survey mode (inclination＞15°). During the gyrocompass survey procedure, wellbore headings are determined at predetermined stations. During the continuous survey procedure, wellbore headings are measured while the tool is continuously moving through the wellbore. The initial heading reference of the continuous mode is determined using gryocompass survey technique. Mathematic modules of the two survey modes are built. Finally, simulation tests are carried out to demonstrate the validity of the continuous survey algorithm. Measurement error is obtained by comparing the designed trajectory and the simulated one. Result indicates that it can take measurements of inclination 0°~90° and azimuth 0°~360°continuously, and enhance the whole survey efficiency greatly.
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Key words:
- surveying /
- well logging /
- gyroscopes /
- accelerometers
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