垂直导向钻井工具安装误差的单象限校正

Single quadrant correction of installation error for vertical steering drilling tool

井下钻具姿态惯性测量单元（IMU）的安装误差降低了近垂直姿态的测量与解算精度。基于近垂直姿态下测量值与理论值之间的关系矩阵,推导其关系矩阵各项的相对误差,分析表达式各项相对误差特征,提出一种单象限校正方法。近垂直姿态下,采用单一象限内相对均匀的三组测量值得到一个校正矩阵,并对该象限内全部测量数据进行校正。姿态解算结果表明,与传统方法相比,单象限校正方法能有效提高姿态参数解算精度3.3倍以上。

The inertial measurement unit（IMU） installation error of down-hole drilling tools lowers the accuracy of measurement and computation under the near-vertical attitude. Based on the relationship matrix between the sensor output measurement value and the corresponding theoretical value,a relative error matrix model is deduced theoretically. The characteristics of the relative errors are analyzed. One kind of single quadrant correction method is proposed in this study. Under the near-vertical attitude,three sets of relatively symmetrical measured values in the single quadrant are utilized to achieve the correction matrix. The total original measurement data are corrected in the quadrant. Compared with the traditional method,the experimental results show that the single quadrant correction method is able to increase the near vertical attitude measurement accuracy more than 3. 3 times.