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首页> 外文会议>SPE/IADC Middle East Drilling Technology Conference and Exhibition >Continuous Measurement-While-Drilling Surveying System Utilizing Low-Cost SINS
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Continuous Measurement-While-Drilling Surveying System Utilizing Low-Cost SINS

机译：连续测量 - 钻井测量系统利用低成本罪行

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In the oil and gas drilling process, measurement-while-drilling (MWD) systems are usually used to provide real-time monitoring for the position and orientation of the bottom hole assembly (BHA). The current MWD systems can be categorized into magnetometer-based systems and gyroscope-based systems, which both compute the wellbore trajectory based on stationary surveys at the desired station using a mathematical model with certain assumptions. This current technology neglects the actual trajectory between surveying stations. This research proposed a system using low-cost strapdown inertial navigation system (SINS) to avoid the limits of traditional methods. Demands have been rising for a continuous survey that captures the actual trajectory between the stationary surveying stations, especially in case of directional drilling process. Based on this technology, "dogleg" along the trajectory can be estimated more accurately. Therefore, a low-cost SINS consisting of three MEMS accelerometers and three MEMS gyroscopes is proposed to estimate the trajectory and satisfy the cost demand of commercial companies. This MWD surveying system could eliminate the size constraint of conventional inertial sensors and thus can be used in small well drilling. The core algorithms in the system are SINS mechanization and unscented Kalman filtering (UKF). Due to the large noise in MEMS sensors especially under large shocks and high vibrations, this wellbore survey system will exhibit an unlimited growth of position, inclination, tool face angle and azimuth errors if there are no external observations to update the surveying system. The following external aiding information can be used as updates for the MEMS-based INS in the drilling procedure: the length and velocity information of the total pipelines, the zero velocity information during periodic stop intervals and azimuth information from the magnetometers. Performances the following different solutions: (1) MEMS sensors; (2) MEMS sensors + length/velocity update; (3) MEMS sensors + length/velocity update + ZUPT; and (4) MEMS sensors + length/velocity update + ZUPT + mag-based heading were analyzed. The proposed method was validated by 4 different simulation cases with respect to a typical wellbore trajectory: build, hold and drop wellbore profde. Situations of external aiding information being temporarily unavailable were considered in the simulation. The performance and feasibility of the presented continuous borehole surveying method had been demonstrated in this paper.
机译：在石油和气体钻井过程中，测量 - 钻孔（MWD）系统通常用于为底部孔组件（BHA）的位置和取向提供实时监测。目前的MWD系统可以分类为基于磁力计的系统和基于陀螺系统，它们在使用具有某些假设的数学模型的情况下基于所需站的固定调查来计算井筒轨迹。该目前的技术忽略了测量站之间的实际轨迹。该研究提出了一种使用低成本拟计惯性导航系统（SINS）的系统，以避免传统方法的限制。不断调查的要求一直在捕捉到静止测量站之间的实际轨迹，特别是在定向钻井过程的情况下。基于该技术，可以更准确地估计轨迹的“Dogleg”。因此，提出了由三个MEMS加速度计和三个MEMS陀螺仪组成的低成本血清，以估计轨迹并满足商业公司的成本需求。该MWD测量系统可以消除常规惯性传感器的尺寸约束，因此可以用于小孔钻孔。系统中的核心算法是SINS机械化和Unscented Kalman滤波（UKF）。由于MEMS传感器的噪音较大，特别是在较大的冲击和高振动下，如果没有外部观察以更新测量系统，这种井筒调查系统将表现出无限的位置，倾斜，刀具面部角度和方位角误差的增长。以下外部辅助信息可以用作钻孔过程中基于MEMS的INS的更新：总管道的长度和速度信息，来自磁力计的周期止挡间隔和方位角信息期间的零速度信息。性能以下不同的解决方案：（1）MEMS传感器; （2）MEMS传感器+长度/速度更新; （3）MEMS传感器+长度/速度更新+ ZUPT; （4）MEMS传感器+长度/速度更新+ ZUPT +基于杂志的标题进行了分析。所提出的方法通过4种不同的模拟案例验证了典型的井筒轨迹：构建，举起和下降井筒产品。在模拟中考虑了暂时无法使用的外部辅助信息的情况。本文已经证实了呈现的连续钻孔测量方法的性能和可行性。

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