两轴光纤陀螺连续测斜仪姿态解算方法研究

Research of attitude algorithm method of the two-axis FOG continuous inclinometer

针对小直径光纤陀螺连续测斜仪的应用需求,提出了一种基于改进航向姿态参考系统的连续测斜姿态解算方法。该算法融合航空惯性导航模型和石油测井工程参数,采用2个单自由度光纤陀螺和3个加速度计组成惯性测量单元(IMU),由惯性单元输出数据经该算法计算出动态连续测井的实时姿态角。通过仿真研究表明:该算法解算出的实时姿态角的误差均在1°以内,符合石油测井的技术需求。该算法的优势在于,在实现连续测量功能的同时相对普通惯性测量单元减少了一个光纤陀螺,从而减小了测斜仪的体积、重量,降低了成本。

In view of the small diameter of fiber optic gyro inclinometer application demand,an attitude algorithms of continuous survey system based on an improved attitude heading reference system was proposed.The algorithm fuses aerospace inertial navigation model and petroleum logging parameters,including two optical fiber gyroscopes and three accelerometers to form inertial measurement unit（IMU）.According to inertial navigation principle,an improved attitude heading reference system is extended to the wellbore survey field.Using the output data of IMU after the algorithm calculated,the attitude angles of dynamic continuous logging is calculated by the quaternion method.The algorithm decreases one optical fiber gyroscope than general IMU,thus reduces the volume,weight and cost.The simulation results show that the algorithm meet the demand of oil well logging technology.