Full optical fiber digital inclinometer

Mode of execution

With the combination of the present invention will be further detailed description.

This invention is a kind of the whole optical fiber digital inclinometer, by the central processor 1, signal processor 2, the counter 3, optical cable winch 4, tension sensor 5, derrick 6, optical cable 8 and lower shaft prospecting tube 10 integral, central processor 1 is connected with the signal processor 2 through the RS232 interface is connected with the, optical cable winch 4 and the signal processor 2 through the cable 11 is connected with the, counter 3 is installed in a cable winch 4 is, optical cable winch 4 is wound with optical fiber cable 8, derrick 6 is placed in the measured wellhead 7 above, derrick 6 is provided with a tension sensor 5, optical cable 8 is connected through a tension sensor 5 and the lower shaft prospecting tube 10 is connected with one end.

A central processor 1

Please korsh as shown in Figure 2, the central processor of the present invention 1 to control flow of the: system (installing in the computer 101 combined measuring and controlling device and the initial alignment apparatus) after the power up, self-checking, first, obtain the correct state information after the operation of the measurement parameter setting (see Figure 2B shown); after the end of the measurement parameter setting gyrolevel enter the initial alignment (see Figure 2F shown) state, shaft prospecting tube to obtain the 10 body coordinate system 12 with respect to the local geographical coordinate system 13 of the conversion matrix ; Aligned gyrolevel initial state after the binding, the input local latitude and longitude of the measuring condition of the well; the lower shaft prospecting tube 10 descenting stopped after reaching the designated depth, and velocity error return-to-zero processing, lower shaft prospecting tube 10 enter uplink measurement state; shaft prospecting tube under 10 reach the measured wellhead 7 well after the secondary alignment processing, the wellbore trajectory closed measurement, and the measurement data are stored, analysis, the drawing processing, and outputs the result.

In the present invention, a central processor 1 by a known computer 101 installed in the computer is applied to the full optical fiber digital inclinometer of strapdown inertial combined measurement of the control device, which is suitable for the and shaft prospecting tube 10 position setting initial aligning device.

Is applied to the full optical fiber digital inclinometer strapdown inertial combined control the measurement of the device, means to the strapdown inertial measurement output of the posture information, speed information respectively magnetism posture information of the magnetic measurement output, the speed of movement of the cable winch shaft prospecting tube information and the information is still zero after comparing the information, and the information is compared to the output of the Kalman filtering processing to the difference, used to estimate relevant error of strapdown inertial combination to perform correction and compensation. After said correction and compensation of the output of the strapdown inertial measurement of attitude information to the computer for accurate borehole trajectory drawing and display.

See Figure 2B illustrated, strapdown inertial combined measurement of this invention the control device comprises a strap-down inertial measurement 102, measuring magnetic flux gate 103, measuring the operating speed of the optical cable 104, Kalman filtering processing 105, three information comparison module (information comparison A106, information comparison B107 and information comparison C108) and zero speed correction module (lower shaft prospecting tube 10 is stationary, information), the following can be realized from the various parts of a description of the function.

A, strapdown inertial measurement 102

Inertial measurement is divided into platform inertial measurement and strapdown inertial measurement, strapdown inertial measurement is the gyro and accelerometer is directly connected to the machine body is of a kind of inertial measurement mode. Strapdown inertial measurement is used for mathematical platform to replace the platform inertial measurement in the physical platform and a measuring mode. The strapdown inertial measurement has a simple mechanical structure, small size, relatively low cost, but the gyroscope and accelerometer is directly connected to the body, gyroscope and accelerometer to the input dynamic range is large, in the use of the appropriate gyroscope and accelerometer to the requirements of the higher, in addition the mathematical platform in lieu of physical platform of the computer for data processing with higher requirements.

In the present invention, strap-down inertial measurement 102 first receives the A) optical fiber gyro output of the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b the angular speed information; and B) an accelerometer to output the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b of the specific information; and then the the angular velocity information and the states compared to the strength information after processing by track projections, output C) of the speed information for the shaft prospecting tube V_x, V_y, V_z; and D) under the azimuth attitude information shaft prospecting tube ψ, φ cross roll angle, tilt angle θ; finally, the E) the speed information V_x, V_y, V_z B output to the information comparison unit and information comparison unit C; will F) the posture information is outputted to the information comparison A unit.

Kalman filter 105 output of the state variable X is used for the on-line compensation the inertial measurement states Strapdown 102 error, after compensation under the representation of the output of the posture information shaft prospecting tube azimuth ψ₀, roll angle φ₀, inclination angle θ₀. And these posture information is outputted to the computer display interface (see Figure 2A shown) drawing on the display (drawing well trajectories), in order to facilitate real-time monitoring of the operator.

Vertical well depth computing unit for computing the deep vertical well, and the well depth parameter is output to the computer display interface display, in order to facilitate real-time monitoring of the operator. Vertical well depth computing unit through the well depth is calculated information and the received length shaft prospecting tube 10 inclination angle θ₀ cosine multiplication is vertical of the measured well depth.

B, measuring magnetic flux gate 103

magnetic flux gate is a widespread phenomenon of electromagnetic induction phenomenon, it utilizes the high-permeability material in the sensor coil system characteristic of magnetic saturation of the magnetic field is measured by the instrument, is the most widely used one of the weak measuring instrument, its measuring range is 10^-12 -10^-3 T, this kind of instrument structure is simple, small volume, light weight, low power consumption, good resistance to shock, the measuring range is wide, high sensitivity, high resolution, good stability, suitable for measuring a constant magnetic field or slow changing magnetic field.

In the present invention, flux gate assembly comprises three orthogonal placement of the magnetic flux the door, in other words magnetic flux gate X axis, Y axis and Z axis magnetic flux gatemagnetic flux gate.

In the present invention, measuring magnetic flux gate 103 first receiving A) flux gate assembly output of the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b geomagnetic under the component information; and B) an accelerometer to output the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b information specific under; then to the geomagnetic the component information and the calculated information is invisibly states compared to the strength , and sets the calculated relative to the magnetic north azimuth angle conversion with respect to true north azimuth angle of the ψ_c the rear, the output of the azimuth angle of the posture information shaft prospecting tube ψ_c, roll angle φ_c, inclination angle θ_c; finally the C) the posture information is outputted to the information comparison A unit.

Three, the running speed of the optical cable 104

Optical cable 8 is connected with one end of the optical cable winch 4 is, on the other end is fixed on the lower shaft prospecting tube 10 on. In the present invention, the next shaft prospecting tube 10 in the well can be through the counter running speed of the 3 obtained by measuring the cable length in unit time increment cable length shaft prospecting tube the operation of obtaining the coordinate system in the machine body O_b X_b Y_b Z_b information on the speed of the.

Full optical fiber digital inclinometer in the process of measuring coordinate system of two, one is a local geographical coordinate system O_t X_t Y_t Z_t   13, a is the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b   12. These two coordinate system to the coordinate conversion xbybzb=Ctbxtytzt,Said coordinate conversion matrix. Through this coordinate conversion matrix The coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b cable under running speed information into the local geographical coordinate system O_t X_t Y_t Z_t information the speed under V_xc, V_yc, V_zc, the speed information V_xc, V_yc, V_zc B output to the information comparison unit comparing the speed difference.

Underland probe tube body coordinate system O_b X_b Y_b Z_b with local geographical coordinate system O_t X_t Y_t Z_t the conversion matrix is between Ctb=cosψcos[!phi!]+sinψsin[!theta!]sin[!phi!]-sinψcos[!phi!]+cosψsin[!theta!]sin[!phi!]-cos[!theta!]sin[!theta!]sinψcos[!theta!]cosψcos[!theta!]sin[!theta!]cosψsin[!theta!]-sinψsin[!theta!]cos[!phi!]-sinψsin[!phi!]-cosψsin[!theta!]cos[!phi!]cos[!theta!]cos[!phi!],In this matrix are respectively provided with the angle of the azimuth attitude information shaft prospecting tube ψ, φ cross roll angle, tilt angle θ.

Four, Kalman filter 105

Kalman filter 105 receiving

A) information comparison A unit output of the posture difference value ZKA=ψ-ψc[!theta!]-[!theta!]c[!phi!]-[!phi!]c,and

B) information comparison difference output speed B unit ZKB=Vx-VxcVy-VycVz-Vzcand

C) information comparison difference output speed C unit ZKC=Vx-0Vy-0Vz-0,Discrete Kalman filter using the received information the state variable data fusion X= [δr_x, δr_y, δr_z, δv_x, δv_y, δv_z, η_x, η_y, η_z, δf_x, δf_y, δf_z, δω_x, δω_y, δω_z] of the optimal estimation, according to the estimated state variable inertial measurement states Strapdown to the on-line error compensation, the output compensation of the posture information shaft prospecting tubeψ0[!theta!]0[!phi!]0=ψ-ηx[!theta!]-ηy[!phi!]-ηzTo the computer display interface 101.

In the formula, δr_x said local geographical coordinate system O_t X_t Y_t Z_t the X axis component of the position error, δr_y said local geographical coordinate system O_t X_t Y_t Z_t the Y axis component of the position error, δr_z said local geographical coordinate system O_t X_t Y_t Z_t the Z axis component of the position error, δv_x said local geographical coordinate system O_t X_t Y_t Z_t the X axis component of the velocity error, δv_y said local geographical coordinate system O_t X_t Y_t Z_t the Y axis component of the velocity error, δv_z said local geographical coordinate system 0_t X_t Y_t Z_t the Z axis component of the velocity error, η_x ψ error azimuth angle said, η_y said tilt angle error θ, η_z said roll angle error φ, δf_x said X-axis accelerometer error, δf_y said Y-axis accelerometer error, δf_z said Z-axis accelerometer error, δω_x said X-axis optical fiber gyro error, δω_y said Y-axis optical fiber gyro error, δω_z said Z-axis optical fiber gyro error.

Kalman filter of the invention 105 to the filtering processing uses discrete Kalman filtering the basic equation, the initial value of the state variable is set to zero.

Five, information comparison

In the present invention, the information comparison information comparing A unit 106, information comparison B unit 107 and information comparison C unit 108 composition, wherein

Information comparison A unit 106, the used for finishing to the inertial measurement states Strapdown 102 the output of the azimuth attitude information shaft prospecting tube ψ, φ cross roll angle, an inclined angle θ with the magnetic measuring 103 output of the azimuth angle of the posture information shaft prospecting tube ψ_c, roll angle φ_c, inclination angle θ_c subtraction output posture difference value ZKA=ψ-ψc[!theta!]-[!theta!]c[!phi!]-[!phi!]cThe Kalman filter 105;

Information comparison B unit 107, the used for finishing to the inertial measurement states Strapdown 102 output of the information on the speed of shaft prospecting tube V_x, V_y, V_z measuring the movement speed of the optical fiber cable 104 output speed information V_xc, V_yc, V_zc subtraction output speed difference ZKB=Vx-VxcVy-VycVz-VzcThe Kalman filter 105;

Information comparison C unit 108, the used for finishing to the inertial measurement states Strapdown 102 output of the information on the speed of shaft prospecting tube V_x, V_y, V_z and the lower shaft prospecting tube 10 output static quantity by subtracting the zero-speed information output speed difference ZKC=Vx-0Vy-0Vz-0The Kalman filter 105.

Six, zero speed correction

Zero speed correction means in the all-optical digital inclinometer shaft prospecting tube when in the rest position, its speed is zero the phenomenon of strapdown inertial measurement output to correct the speed error. The "zero speed correction" is realized by setting a key, see Figure 2A illustrated. When using the states zero fast correction mode, the running speed of the actual shaft prospecting tube to zero as the output to the information comparison comparative information C unit.

Strapdown inertial combined measurement of this invention control apparatus can provide four combined measuring mode of operation, each mode through in Figure 2A in the interface of a corresponding key to realizing. Wherein

Mode a: length + strapdown inertial measurement (measurement mode is set in the (1))

The combined measurement mode is used for conventional cable logging the quick and continuous measuring, especially suitable for the cased well or with magnetic substances interference measuring track of the well hole.

The information needed by the combined measurement of the flow: 1st path information, strapdown inertial measurement first receiving A) optical fiber gyro output of the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b the angular speed information; and B) an accelerometer to output the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b of the specific information; and then the the angular velocity information and the states compared to the strength information after processing by track projections, output C) of the speed information for the shaft prospecting tube V_x, V_y, V_z; finally the speed information V_x, V_y, V_z B unit output to the information comparison. 2nd path information, through the counter recording length of the cable, is obtained by the coordinate conversion of the running speed of an information exploring V_xc, V_yc, V_zc B unit output to the information comparison. The information comparison unit B 2nd 1st path information in the path information after comparing the speed difference is output to the Kalman filter processing. 3rd path information, the Kalman filtering the output of the state variable X is used for the on-line compensation of measurement error of the inertial states Strapdown , its compensation after the output of the posture information shaft prospecting tube for azimuth ψ₀, roll angle φ₀, inclination angle θ₀. The posture information is outputted to the computer display interface drawing display, in order to facilitate real-time monitoring of the operator. 4th path information, the posture information is outputted to the vertical well depth to the calculating unit to vertical well depth calculation, and output well depth parameter to the computer display interface display, in order to facilitate real-time monitoring of the operator.

Mode II: strapdown inertial measurement + zero speed correction (measurement mode is set in the (2))

The combined measurement mode is used in the well logging is not required in the process of continuous measurement, can be used in logging while drilling (MWD) in the process, real-time monitoring of the drilling direction of the drill bit.

The information needed by the combined measurement of the flow: 1st path information, strapdown inertial measurement first receiving A) optical fiber gyro output of the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b the angular speed information; and B) an accelerometer to output the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b of the specific information; and then the the angular velocity information and the states compared to the strength information after processing by track projections, output C) of the speed information for the shaft prospecting tube V_x, V_y, V_z; finally the speed information V_x, V_y, V_z C unit output to the information comparison. 2nd path information, the actual shaft prospecting tube is zero as the operating speed of the output to the information comparison comparative information C unit. C unit in the information compared with the 2nd 1st path information in the path information after comparing the speed difference is output to the Kalman filter processing. 3rd path information, the Kalman filtering the output of the state variable X is used for the on-line compensation of measurement error of the inertial states Strapdown , its compensation after the output of the posture information shaft prospecting tube for azimuth ψ₀, roll angle φ₀, inclination angle θ₀. The posture information is outputted to the computer display interface drawing display, in order to facilitate real-time monitoring of the operator. 4th path information, the posture information is outputted to the vertical well depth to the calculating unit to vertical well depth calculation, and output well depth parameter to the computer display interface display, in order to facilitate real-time monitoring of the operator.

Mode three: strapdown inertial measurement + magnetic measurement (measurement mode is set in the (3))

The combined measurement mode for logging operation of the non-magnetic environment interference, to realize high-accuracy continuous measurement.

The information needed by the combined measurement of the flow: 1st path information, strapdown inertial measurement first receiving A) optical fiber gyro output of the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b the angular speed information; and B) an accelerometer to output the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b of the specific information; and then the the angular velocity information and the states compared to the strength information after processing by track projections, output C) said azimuth angle of the posture information shaft prospecting tube ψ, φ cross roll angle, tilt angle θ; finally the attitude information is outputted to the information comparison A unit. 2nd path information, first receives measuring magnetic flux gate A) flux gate assembly output of the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b geomagnetic under the component information; and B) an accelerometer to output the coordinate system of the organism shaft prospecting tube O_b X_b Y_b Z_b information specific under; then to the geomagnetic the component information and the calculated information is invisibly states compared to the strength , and sets the calculated relative to the magnetic north azimuth angle conversion with respect to true north azimuth angle of the ψ_c the rear, under the output of the azimuth angle of the posture information shaft prospecting tube ψ_c, roll angle φ_c, inclination angle θ_c; finally the attitude information is outputted to the information comparison A unit. The information comparison A single $2nd 1st path information in the path information after comparing the posture difference value output to the Kalman filter processing. 3rd path information, the Kalman filtering the output of the state variable X is used for the on-line compensation of measurement error of the inertial states Strapdown , its compensation after the output of the posture information shaft prospecting tube for azimuth ψ₀, roll angle φ₀, inclination angle θ₀. The posture information is outputted to the computer display interface drawing display, in order to facilitate real-time monitoring of the operator. 4th path information, the posture information is outputted to the vertical well depth to the calculating unit to vertical well depth calculation, and output well depth parameter to the computer display interface display, in order to facilitate real-time monitoring of the operator.

Mode four: strapdown inertial measurement + length + + zero speed amendment magnetic measurement (measurement mode is set in the (4))

The combined measurement mode is used for auxiliary length and no continuous measuring requirements of various types of logging environment, the use of data integration technology, can provide accurate estimation and compensation strapdown inertial error, which can provide highly accurate measurement result. Its structure see Figure 2B illustrated, the combined measurement of information flow in the specification a detailed account has been associated, is not described here.

In the present invention, state variables states Calman filter to the real-time on-line estimation. Four kinds of different relevant measurement mode in the Kalman filter processing of the output of the state variable X is the same, but the use of the observed quantity is different.

A mode when the selected, its corresponding gaugingH1=000000100000000000000010000000000000001000000,After compensation under the posture information shaft prospecting tube that the output of the ψ0[!theta!]0[!phi!]0=ψ-ηx[!theta!]-ηy[!phi!]-ηz.

HKCEC mode when the selected, its corresponding gaugingH2,3=000100000000000000010000000000000001000000000,After compensation under the posture information shaft prospecting tube that the output of the ψ0[!theta!]0[!phi!]0=ψ-ηx[!theta!]-ηy[!phi!]-ηz.In this invention, the mode II to mode three gauging is the same, the same is output, that is, the mode three to mode two speed difference as the observed quantity.

When mode IV when the selected, its corresponding gaugingH4=000100000000000000001000000000000000010000000000000000100000000000000001000000000000000010000000,After compensation under the posture information shaft prospecting tube that the output of the ψ0[!theta!]0[!phi!]0=ψ-ηx[!theta!]-ηy[!phi!]-ηz.

Lower shaft prospecting tube 10 is provided with a fiber optic gyro assembly includes the X-axis optical fiber gyro 1001, Y-axis optical fiber gyro 1002 and Z-axis optical fiber gyro 1003, three optical fiber gyro output angular speed information; accelerometer assembly includes a X-axis accelerometer 1004, Y-axis accelerometer 1005 and Z-axis accelerometer 1006, three accelerometer output specific information; magnetic flux magnetic flux gate door assembly including the X axis, Y axis and Z axis magnetic flux door magnetic flux gate , three magnetic flux gate output geomagnetic the component information.

The present invention is through the initial aligning state of the two positions under the shaft prospecting tube 10 on the parameters of sensing device outputs of the different coordinate parameter difference comparison, shaft prospecting tube to obtain the 10 azimuth ψ, φ cross roll angle, tilt angle θ, so as to introduce to the known coordinate conversion matrix shaft prospecting tube calculated under 10 reach the target reservoir 1007 is at the time of logging track 1008 measurement precision. By the parameter difference comparison is wanting to carry out the task of initially aligning the control program stored in the whole optical fiber digital inclinometer in the memory of a computer, use of inertial measurement software system under monitoring shaft prospecting tube 7 initial aligning operation state.

Initial aligning method of the present invention, is the initial alignment tasks wanting to carry out the control program stored in the full optical fiber digital slope level in the memory of a computer, its initial alignment of the inertial measuring system enters the state of the measuring work before, its initial alignment includes the following alignment step (see Figure 2F shown):

1st step: after system power-on, detecting lower shaft prospecting tube 10 of the working state is normal;

2nd step: in normal working state, shaft prospecting tube setting of 10 (see Figure 2C shown) where the position of the present position is 1st F, shaft prospecting tube setting of 10 around its spindle oz_b rotating 180° to the position after the 2nd position S;

3rd step: shaft prospecting tube F current collecting 1st position 10 of the assembly output sensor on the X-axis optical fiber gyro data XFOG1, Y-axis optical fiber gyro data YFOG1, Z-axis optical fiber gyro data ZFOG1, X-axis accelerometer data XA1, Y-axis accelerometer data YA1, Z-axis accelerometer data ZA1, and the collected data is output to the full optical fiber digital inclinometer measuring the inertia of the system;

Nowadays S shaft prospecting tube collecting 2nd position 10 of the assembly output sensor on the X-axis optical fiber gyro data XFOG2, Y-axis optical fiber gyro data YFOG2, Z-axis optical fiber gyro data ZFOG2, X-axis accelerometer data XA2, Y-axis accelerometer data YA2, Z-axis accelerometer data ZA2, and the collected data is output to the full optical fiber digital inclinometer measuring the inertia of the system;

4th step: step of the above-mentioned 2nd and 3rd step of the sensory data to the central control processing unit for comparison between two positions, to obtain lower shaft prospecting tube 10 azimuth ψ, φ cross roll angle, inclination angle θ, thus obtaining lower shaft prospecting tube 10 body coordinate system O_b X_b Y_b Z_b with local geographical coordinate system O_t X_t Y_t Z_t the transformation matrix between the Ctb=cosψcos[!phi!]+sinψsin[!theta!]sin[!phi!]-sinψcos[!phi!]+cosψsin[!theta!]sin[!phi!]-cos[!theta!]sin[!theta!]sinψcos[!theta!]cosψcos[!theta!]sin[!theta!]cosψsin[!theta!]-sinψsin[!theta!]cos[!phi!]-sinψsin[!phi!]-cosψsin[!theta!]cos[!phi!]cos[!theta!]cos[!phi!].

In the present invention, the representative shaft prospecting tube 10 posture ψ the initial azimuth angle, φ cross roll angle, tilt angle θ can be in the following order by three times: that is,

Local geographical coordinate system 1st transition coordinate system 2nd transition coordinate system The body coordinate system O_b X_b Y_b Z_b

In the formula, O_b1 X_b1 Y_b1t Z_b1 said local geographical coordinate system O_t X_t Y_t Z_t around shaft O_t Z_t ψ-azimuth angle of rotation obtained after 1st transition coordinate system;

O_b2 X_b2 Y_b2 Z_b2 coordinate system of that transition 1st O_b1 X_b1 Y_b1t Z_b1 around shaft O_b1 X_b1 rotate the elevation angle θ of the coordinate system of the 2nd transition.

Three coordinate conversion of the conversion matrix a can be obtained:

Ctb=cosψcos[!phi!]+sinψsin[!theta!]sin[!phi!]-sinψcos[!phi!]+cosψsin[!theta!]sin[!phi!]-cos[!theta!]sin[!theta!]sinψcos[!theta!]cosψcos[!theta!]sin[!theta!]cosψsin[!theta!]-sinψsin[!theta!]cos[!phi!]-sinψsin[!phi!]-cosψsin[!theta!]cos[!phi!]cos[!theta!]cos[!phi!]

In the formula, b show the shaft prospecting tube 10 body coordinate system 12, t said local geographical coordinate system 13, T is to b is that of the conversion matrix, ψ said azimuth angle, φ said tool face angle, said well deviation angle θ.

Furthermore, local geographical coordinate system O_t X_t Y_t Z_tshaft prospecting tube with the 7 body coordinate system O_b X_b Y_b Z_b the relationship between the two coordinate system is expressed as xbybzb=Ctbxtytzt.

See Figure 2C, Figure 2D, Figure 2E shown, lower shaft prospecting tube 10 assembly of the sensor in the X-axis optical fiber gyro 1001, Y-axis optical fiber gyro 1002, Z-axis optical fiber gyro 1003, X-axis accelerometer 1004, Y-axis accelerometer 1005 and Z-axis accelerometer 1006 shaft prospecting tube for respectively driving the input of the 10 body coordinate system O_b X_b Y_b Z_b each of the axial, shaft prospecting tube keep the 10 is stationary, the position of the shaft 1st F when the output of the fiber optic gyro and accelerometer are as follows:

XFOG1=KFOGX[ωey(cosψsin[!theta!]sin[!phi!]-sinψcos[!phi!])-ωezsin[!phi!]cos[!theta!]]+εx---(1)

YFOG1=KFOGY[ωeycosψcos[!theta!]+ωezsin[!theta!]]+εy---(2)

ZFOG1=KFOGZ[ωey(-sinψsin[!phi!]-cosψsin[!theta!]sin[!phi!])+ωezcos[!theta!]cos[!phi!]]+εz---(3)

XA1=-KAXcos[!theta!]sin[!phi!]+ΔX---(4)

YA1=KAYsin[!theta!]+ΔY---(5)

ZA1=KAZcos[!theta!]cos[!phi!]+ΔZ---(6)

In the formula:

Said rotation angular rate of the earth at the north direction of the component,

Said the day approaches the rotation of the components of the angular speed,

Said local latitude of the well to be measured,

ω_ie said rotation angular speed of the earth,

Said X-axis optical fiber gyro 1001 of the scale factor,

Said Y-axis optical fiber gyro 1002 of the scale factor,

Said Z-axis optical fiber gyro 1003 of the scale factor,

ε_x said X-axis optical fiber gyro 1001 the constant drift of,

ε_y said Y-axis optical fiber gyro 1002 the constant drift of,

ε_z said Z-axis optical fiber gyro 1003 the constant drift of,

Said X-axis accelerometer 1004 of the scale factor,

Said Y-axis accelerometer 1005 of the scale factor,

Said Z-axis accelerometer 1006 of the scale factor,

Δ_X said X-axis accelerometer 1004 null bias,

Δ_Y said Y-axis accelerometer 1005 null bias,

Δ_Z said Z-axis accelerometer 1006 null bias.

Uptodate shaft prospecting tube 10 around its spindle oz_b rotation after 180 °, arrived at the designated position, the 2nd position is kept resting S, at this moment the-axis optical fiber gyro and accelerometer output data are:

XFOG2=KFOGX[-ωey(cosψsin[!theta!]sin[!phi!]-sinψcos[!phi!])+ωezsin[!phi!]cos[!theta!]]+εx---(7)

YFOG2=KFOGY[-ωeycosψcos[!theta!]-ωezsin[!theta!]]+εy---(8)

ZFOG2=KFOGZ[ωey(-sinψsin[!phi!]-cosψsin[!theta!]sin[!phi!])+ωezcos[!theta!]cos[!phi!]]+εz---(9)

XA2=KAXcos[!theta!]sin[!phi!]+ΔX---(10)

YA2=-KAYsin[!theta!]+ΔY---(11)

ZA2=KAZcos[!theta!]cos[!phi!]+ΔZ---(12)

Represented by aboving (1)-(12) can derive the X-axis optical fiber gyro 1001 the constant drift of ε_x, Y-axis optical fiber gyro 1002 the constant drift of ε_y, Z-axis optical fiber gyro 1003 the constant drift of ε_z, X-axis accelerometer 1004 the zero-bias Δ_X, Y-axis accelerometer 1005 the zero-bias Δ_Y, Z-axis accelerometer 1006 the zero-bias Δ_Z and lower shaft prospecting tube 10 the initial azimuth ψ, φ cross roll angle, tilt angle θ, the position of the two coordinate parameter conversion is as follows:

[!theta!]=arcsin[(YA1-YA2)/2KAY]---(13)

[!phi!]=arcsin[-(XA1-XA2)/2KAXcos[!theta!]]---(14)

ψ=arccos[(YFOG1-YFOG2)/2KFOGYcos[!theta!]-ωeztan/ωey]---(15)

ε_x = (XFOG1 +XFOG2)/ 2     (16)

ε_y = (YFOG1 +YFOG2)/ 2     (17)

εZ=ZFOG1-KFOGZ[ωey(-sinψsin[!phi!]-cosψsin[!theta!]sin[!phi!])+ωezcos[!theta!]cos[!phi!]]---(18)

Δ_X = (XA1 +XA2)/ 2     (19)

Δ_Y = (YA1 +YA2)/ 2     (20)

ΔZ=ZA2-KAZcos[!theta!]cos[!phi!]---(21)

The above formula (13)-(15) value into the conversion matrix In, shaft prospecting tube can be under 10 body coordinate system to the local geographical coordinate system transformation from the array, at the same time the calibrating out the constant drift of shaft optical fiber gyroscope and the-axis accelerometer of the constant bias, is a simple and effective method for the initial alignment.

Signal processor 2

In the present invention, signal processor 2 is used for realizing the downhole data receiving the decoding of the well and issuing control instructions and optical cable length encoding and transmitting of data.

Signal processor 2 by the FPGA logic processor 201, power amplifying circuit 202, and a photoelectric conversion circuit 203 form, FPGA logic processor 201 received by the central processor 1 L output of the optical cable length (length from the measured wellhead 7 to lower shaft prospecting tube 10 at the current position of the optical cable through the cable winch 4 length, its length by the counter 3 read, and the output to the signal processor 2) and the lower shaft prospecting tube 10 running state command, and sends the information encoded in accordance with the Manchester encoded format is then output to the power amplifying circuit; power amplification circuit for amplifying the coding information, filtering processing is output to the photoelectric conversion circuit, the photoelectric conversion circuit for converting an electrical signal to an optical signal, the light intensity signal through the optical cable coupler is coupled into the optical cable 8 (seven mchp armored cable) transferred to the lower shaft prospecting tube 10.

Signal processor 2 is connected with the hardware circuit: FPGA logic processor 201 Pa is connected to the output end of the resistance R3 is connected in the amplifier U11 the inverting terminal of the 2, FPGA logic processor 201 Pb is connected to the output end of the resistance R4 is connected in the amplifier U11 multiple transceivers complying of 3, amplifier U11 the output of 6 and that of the photoelectric conversion circuit 23 with the transistor Q1 is connected with the base electrode of the; transistor Q1 the collector ground, transistor Q1 and the emitter of transistor Q3 collector, transistor Q2 is connected with the emitting electrode of the, transistor Q3 and the emitter of the emitter through a resistor R23 is connected with -5V voltage, transistor Q3 the base and sliding rheostat R25 coupling; transistor Q2 the emitter of the laser the LD 2 end connection, laser of LD 1 end is grounded, transistor Q2 VBB the base electrode of which is connected with a reference voltage; a transistor Q4 LD the collector of the of the laser 2 is connected to, the emitter through a resistor R22 and -5V voltage associated, base and the amplifier U12 the output of the 6 coupling; amplifier U12 the inverting terminal of the 2 and the slide rheostat R24 end connection, the sliding rheostat multiple transceivers complying R24 is connected with one end of the, sliding rheostat R24 to ground the other end of the, amplifier U12 the output of 6 and the inverting terminal 2 through a resistor R21 connected, amplifier U12 the inverting terminal of the 2 and the diode PD the 1 other end is connected, the diode PD 2 end is connected to the ground. Photoelectric conversion circuit 203 the power amplifying circuit 202 to provide the voltage of the driving signal is converted into the current required for the laser light source, the laser diode drive current offset LD, an offset current is generated. When the data is higher than V_BB expressed when the voltage of the, transistor Q1 through a current in, diode LD closed; when the data lower than the V_BB expressed when the voltage of the, transistor Q2 in a current is passed through the, diode LD conduction. Generation of the electrical signal from the transmitted data is modulated into a laser light intensity of said optical signal, and then to be coupled into the optical fiber (optical cable 8 of the optical fiber in) for transmission.

shaft prospecting tube under 10

The present invention lower shaft prospecting tube 10 mechanical framework has the relations between the three-dimensional coordinate system, and the multi-section type structure, that is, the upper connecting piece 102a a section of, the lower connecting piece 106a a section of, the downhole power supply frame a and is used for mounting a sensor assembly of the skeleton body (Figure 5B shown) for a period of. The invention of the mechanical framework shaft prospecting machine by an upper connecting piece 102a, the lower connecting piece 106a, underground power frame and a sensor assembly frame (see Figure 5, graph 5B shown), the upper connecting piece 102a through joint 104a and the sensor assembly framework of the pressure-proof shell 101a is connected with one end of the, joint 104a and the other is connected with one threaded end of a hook 103a, optical cable 8 is fixed on the hook 103a is, and the via hole 105a passes through; the lower connecting piece 106a with the sensor assembly frame through the joint of the pressure-proof shell 101a the other end is connected with the; underground power frame mounting the sensor assembly framework of the pressure-proof shell 101a inner (see Figure 5A shown). The skeleton body thereof which is used to fix the sensor assembly and the fixed shield a plurality of threaded holes; sensor assembly are respectively installed at different positions on the mechanical frame, and then the plurality of shield cover and the frame body is connected with the screw hole.

See Figure 5D shown, in the present invention, downhole power source frame is used for mounting of the power supply needed to provide well AC/DC module (AC/DC module is fixed to the 2nd positioning plate 111 upper) and filtering circuit board (filter circuit board is fixed in the 1st positioning plate 110 on), its well as the needed power supply ± 15V, ± 5 V. Downhole power supply frame is an integrated part, its 1st positioning plate 110 and the thermos 107a connected with one threaded end of a, 2nd positioning plate 111 into the upper connecting piece 102a through hole 105a inner. 1st positioning plate 110 is an annular right end of the one end of the frame 112, on the board surface is provided with a strip-shaped hole 114, the mounting holes 115, 1st positioning plate 110 to transition the other end of the circular frame 116, transition circular frame 116 of the central hole 117, transition circular frame 116 and the annular the left end frame 113 is between the front side plate 111, a rear side plate 118, 1st transformer 119 and 2nd transformer 120 in parallel and is fixedly mounted on the front side 111 and a rear side plate 118 on.

See Figure 5B shown, in the present invention, the skeleton body sensor assembly which is used to fix the sensor assembly (sensor assembly generally has three optical fiber gyro and three accelerometer) and the fixed shield (shield is composed of a plurality of arc-shaped steel plate are respectively through mechanical framework connected to form the screw hole) a plurality of threaded holes; sensor assembly are respectively installed at different positions on the mechanical frame, and then the plurality of shield cover and the frame body is connected with the screw hole, with a plurality of shielding cover the outer shell of the mechanical frame, not only reduces the mutual interference signal between the devices, is also convenient for at the same time in different parts of the sensor assembly, is also reduced the volume of the mechanical frame. Mechanical frame is designed to have between three-dimensional coordinate system, is to ensure the data acquisition range of the sensor assembly, the design of the two-stage mechanical frame is a mounting position of the accelerometer and the continuous fiber gyrolevel for the design of other parts.

Sensor assembly of this invention in which the framework of the as a reference plane, of the coordinate axes, is fixedly mounted on the framework of the three fiber optic gyro and three accelerometer, a plurality of circuit boards and, is axial as the datum level of the Z is axially divided. Please igur 5B shown, the skeleton comprises positioning the 1st 4a, 2nd positioning drum 5a, X axial mounting table 6a, Y axial mounting table 7a, X axial rectangular cavity 8a, Y axial rectangular cavity 9a and is used for the installation of a circuit board plate 1st 1a, 2nd fixed plate 2a and 3rd fixed plate 3a ., 1st fixed plate 1a is connected with the 1st positioning drum 4a one end of the, 1st positioning drum 4a and the X axis to the rectangular cavity 8a Y is between the axial mounting table 7a and X axial mounting table 6a, X axial rectangular cavity 8a to the rectangular cavity with the Y shaft 9a is between 2nd fixed plate 2a, Y axial rectangular cavity 9a and 2nd positioning drum 5a is between 3rd fixed plate 3a.

See Figure 5C shown, in the plate 1st 1a is an annular right end of the two ends of the frame 11a, annular left end frame 12a, is provided with a strip-shaped hole on the board surface 13a and the convex hole 14, a convex hole 14 is arranged on the annular right end frame 11a of the inner side, an annular left end frame 12a is connected with the 1st positioning drum 4a and the plane of the inner cavity of the 43 contact, an annular left end frame 12a with the outer diameter of the 1st positioning drum 4a adapted to the inner diameter; the fixed plate 1st 1a which is used for fixing optical fiber gyro inclinometer for oil well downhole instruments in part for a system processor, such as can be used for fixing the circuit board DSP+FPGA, power supply driving circuit board or the like. On the surface of the strip-shaped hole 13a and the convex hole 14 through the connecting line is used.

In 1st positioning drum 4a is provided with a mounting surface 42, plane 43 and wedge-shaped hole 41, which is used to install the outside groove flat cable 44 ; 1st positioning drum 4a is used for the inner cavity of the axial accelerometer is of Z, Z axial accelerometer is fixed on the mounting surface 42 of the, mounting surface 42 to the mounting surface 71 of the vertical design ensure that Z axial acceleration meter and Y axial accelerometer orthogonal to the sensitive axis, the axial accelerometer of the connection line Z by the wedge-shaped hole 41 extending, groove 44 flat cable can be installed in, the groove 44 for covering the upper part of the shielding cover.

In Y axial mounting table 7a the mounting surface 71 is arranged on the Y axis for placing the round hole of the accelerometer 72. X axial mounting table 6a mounting surface 61 is provided with a for placing X axial accelerometer round hole 62. Mounting surface 71 to the mounting surface 61 of the vertical design ensure the Y axial accelerometer and X axial accelerometer orthogonal to the sensitive axis. In the present invention, the mounting surface 42 to the mounting surface 71 vertical, the mounting surface 71 to the mounting surface 61 vertical, the mounting surface 42 to the mounting surface 61 vertical, through the fixed position of the acceleration meter three accelerometer orthogonal to the sensitive axis.

In 2nd fixed plate 2a is provided with an oval cavity 21, the cavity 21 with the center of a strip-shaped hole 22 ; 2nd fixed plate 2a the concave cavity of the two panels 21 are respectively provided with the circuit board, the circuit board and the connecting line of the optical fiber of the fiber optic gyro from the strip-shaped hole 22 through the in. Oval cavity 21 the design of the bending loss of the optical fiber is reduced.

The X axial rectangular cavity 8a of the upper panel 81 and the lower panel 82 and in parallel with the three-dimensional coordinate system X axis perpendicular, X axial rectangular cavity 8a of the circular end frames 84 is provided with a notch 83. Y axial rectangular cavity 9a of the left face plate 91 and the right panel 92 and the three-dimensional coordinate system is parallel to Y axis vertical, right panel 92 is provided with a on walks the filament trough 96, Y axial rectangular cavity 9a of the upper annular end frame 93 and the lower annular end frame 94 is provided with a notch 95. X axial rectangular cavity 8a and Y axial rectangular cavity 9a is perpendicular to the opening direction, two optical fiber gyro respectively put into the X axial rectangular cavity 8a and Y axial rectangular cavity 9a cavity, through the fixed in different panel position of the optical fiber gyro has an acquisition X-axis direction or Y-axis direction and the character of the data. The notch 83, the notch 95, walks the filament trough 96 walks the filament path of the design optimization, fiber-optic signal transmission loss is reduced.

In 3rd fixed plate 3a is provided with an elliptical cavity 31, 3rd fixed plate 3a and the 2nd positioning drum 5a the joint provided with a strip-shaped groove 32, the strip 32 is fixed in the optical fiber coupler, 3rd fixed plate 3a the concave cavity of the two panels 31 are respectively provided with the circuit board, the circuit board and the connecting line of the optical fiber from the fiber optic gyro from the strip 32 through the in. Oval cavity 31 the design of the bending loss of the optical fiber is reduced.

In 2nd positioning drum 5a is provided with a mounting face 53, mounting surface 53 a is opened on the center of the round hole 52, which is used to install the outside groove flat cable 51, groove 51 for covering the upper part of the shielding cover. 2nd positioning drum 5a is arranged in the axial direction of the fiber optic gyro Z, Z axial ifog fixed on the installing surface 53 on, connecting through a round hole 52 extends out to the 3rd fixed plate 3a. Y axial rectangular cavity 9a of the left face plate 91 and the right panel 92 and 2nd positioning drum 5a mounting surface 53 vertical, Y axial rectangular cavity 9a of the left face plate 91 and the right panel 92 to the rectangular cavity with the X shaft 8a of the upper panel 81 and a lower panel 82 are respectively perpendicular to each other, to the rectangular cavity X shaft 8a of the upper panel 81 and a lower panel 82 and the 2nd positioning drum 5a mounting surface 53 vertical ensures the three fiber optic gyroscope orthogonal to the sensitive axis.

Mechanical frame structure of the present invention by a power distribution of the signal acquisition and filtering circuit board + + + + + circuit board of the circuit board of the top of the top of the top three + + + circuit board only accelerometer, reasonable layout, so that the space utilization is good; the wire and the optical fiber line short is reasonable and, signal interference is small; and such a structure increases the strength of the structure; the space on the basis of the position precision, to be separated from the top part and adds the table signal interference is reduced, and the distribution of the circuit becomes reasonable.

Optical cable 8

In the present invention, the optical cable 8 is composed of six cable 803, one optical cable 804, the protective layer 802 and the outer protective jacket 801 composition, six cable 803 surrounds the cable 804 ambient, and filler 805 to fill the space, six cable 803 external is provided with a protective layer 802, the protective layer 802 is arranged in the outer sheath 801 inner. The optical cable 804 by the optical fiber 844 (using single-mode optical fiber), an elastic corrugated tube 843, steel wire (diameter is 0.5-1.5 mm) and the elastic sheath 841 composition, optical fiber 844 external wrapped with an elastic corrugated tube 843, an elastic corrugated tube 843 of the external sleeve with an elastic sheath 841, elastic sheath 841 formed steel wire is wound outside the armored steel wire layer 842. The cable 803 is composed of a cable core 831 (the copper wire), the steel wire (diameter is 0.5-1.5 mm) and the elastic sheath 831 composition, cable core 831 external sleeve with an elastic sheath 831, elastic sheath 831 formed steel wire is wound outside the armored steel wire layer 832. The protective layer 82 is made of PE material; the outer sheath 801 is a polypropylene material, filler 805 is asphalt.

In this invention, the reading device 3 martin a generation of gram cable is long counter is selected. Derrick 6 selected the typical logging lifting platform Honeywell, is fixed on the same matched with tension sensor 5, tension sensor 5 used for monitoring the optical cable 8 the tension of the bearing, prevent the optical cable 8 by excessive stretching damage.

The present invention provides a rapid and high-precision measuring wellbore trajectory, the logging information can be uploaded at a high speed the whole optical fiber digital inclinometer; using an optical cable transmission effectively solves the problem that the existing well logging instruments because the traditional logging cable caused by the low transmission speed, a large number of logging information can upload the shortcoming of not; in addition, this invention adopts the design of the bus structure of digital instruments, the combination of a plurality of well logging instrument provides a platform use, can effectively improve the work efficiency of the well logging operation.