基于微惯性传感器的测斜仪姿态算法的研究

Research on attitude algorithm of drilling inclinometer based on micro inertial sensors

测斜仪在石油勘探、地质勘查等方面已成为一种有力的工具,但基于磁通门的测斜仪存在着易受磁场干扰的缺点,导致其测量精度降低,甚至无法工作。为了解决这一问题,提出了一种基于捷联惯性导航原理的连续测斜算法。算法利用微惯性传感器MPU6050获取姿态数据,采用四元数方法进行姿态解算,最终得到钻探过程中的倾斜角、方位角以及工具面角等数据。通过仿真验证,得到测量误差曲线。仿真结果表明,该算法可以实现全方位井眼轨迹连续测量,提高了测量效率。

Inclinometer has become a powerful tool in oil exploration, geological prospecting, etc. , but the inclinometer based on fluxgate is very vulnerable to magnetic interference, resulting in low accuracy and even can＇t work. In order to solve this shortcoming, an attitude algo- rithm of inclinometer based on the principle of strapdown inertial navigation （SINS） was proposed. The algorithm uses micro inertial sensor MPU6050 to acquire attitude data, and the attitude angles is calculated by the quaternion method. Finally the angle of inclination, azimuth, and tool face angle during the drilling are obtained. The simulation results show that the algorithm can achieve all-round well trajectory continu- ous measurement, greatly improve the measure efficiency.