垂直姿态位置误差的虚拟正交建模与均衡补偿

Virtual orthogonal modeling of vertical-posture position error and isostatic compensation

垂直钻井工具的姿态测量系统中,轴不正交、不同轴、安装和加工等产生的非线性位置误差显著降低了测量精度。基于各实轴独立的概念,分别以各实轴为中心构造3个虚拟正交仪器坐标系,综合推导出包含9个位置误差参数的姿态测量输出方程。分析补偿校正矩阵的精度影响以及常规校正方法的补偿矩阵数值精度,提出一种校正取值均衡方法,并进行补偿测试。测试结果表明:与常规最大值补偿相比,均衡补偿方法使得垂直姿态的测量精度提高5倍以上,并可消除周期性系统误差。

In the posture measurement system for vertical drilling tools,the nonlinear position errors originated from non-orthogonal axis,axis misalignment,installing and machining lead to a significant reduction in measurement accuracy.Based on the independence of each real axis,three virtual orthogonal coordinate systems were constructed with each real axis as the center respectively,so as to comprehensively derive the posture measurement output equation including 9 position error parameters.The accuracy impact of compensation correction matrix was analyzed,as well as the numerical accuracy of compensation matrix with conventional correction method.Then an isostatic method was put forward for value correction and compensation test was also performed.The test results show that compared with conventional maximum compensation,isostatic compensation is able to increase the vertical posture measurement accuracy by more than 5 times and eliminate the periodic system error.