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为实现井眼轨迹自主、高精度测量,提出了基于改进航向姿态参考系统的井眼轨迹测量方案,采用2个单自由度陀螺仪和3个加速度计组成惯性测量单元,由惯性测量单元输出数据计算姿态角,在此基础上利用放下井绳长度已知的特点,采用空间坐标积分的方法,计算井眼轨迹的三维位置信息.仿真结果表明:算法克服了惯性导航定位误差随时间发散的缺点,有很高的定位精度.所述方案减小了测斜仪的体积,降低了成本和功耗,适于井下应用.
In order to achieve autonomous and high-precision measurement of borehole trajectory, a well trajectory measurement scheme based on improved attitude and attitude reference system is proposed. Two single-degree-of-freedom gyroscopes and three accelerometers are used to make up the inertial measurement unit. The inertial measurement unit output data The attitude angle is calculated, and based on this, the 3D position information of borehole trajectory is calculated by the method of integrating the coordinate of space coordinate by using the known characteristics of downhole length.The simulation results show that the algorithm overcomes the shortcomings of inertial navigation and positioning error diverging with time , With high positioning accuracy.The solution reduces the size of the inclinometer, reducing costs and power consumption, suitable for downhole applications.