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首页> 外文期刊>Sensor Letters: A Journal Dedicated to all Aspects of Sensors in Science, Engineering, and Medicine >Testing a New Integrated Solution for MEMS Inertial Measurement Unit Used for Measurement-While-Drilling in Rotary Steerable System
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Testing a New Integrated Solution for MEMS Inertial Measurement Unit Used for Measurement-While-Drilling in Rotary Steerable System

机译：测试用于旋转转向系统的测量-随钻测量的MEMS惯性测量单元的新集成解决方案

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摘要

Trajectory surveying in drilling application applications in oil fields, especially using the Rotary Steerable System (RSS) require the Measurement-While-Drilling (MWD) tool to have exact attitude measurements. Currently, inertial systems based on gyroscopes and accelerometers are widely used in different fields such as the field of flight navigation and land vehicle positioning. Gyroscopes-based method of measuring orientation is not sensitive to the earth's magnetic field or surrounding magnetic interference which is the main shortage of the current magnetometers-based MWD tools. This is the reason that inertial technology shows great potential for drilling surveying applications. MEMS-based Inertial Measurement Unit (IMU) is regarded as a perfect candidate for MWD because of two reasons. Firstly, due to its small size the MEMS IMU can be installed directly with the RSS package into one collar which makes the MWD tool very close to the drill bit. Secondly, when surveying sensors get close to the drill bit, the harsh environment becomes very challenging where low-cost MEMS makes it affordable to lose and replace the sensors without considerable cost. Unfortunately, current MEMS sensors have low precision which leads to large errors in surveying results that accumulate with time. As known in general, for an inertial system to have good accuracy in long-term navigation, it has to either have precise gyroscopes (but usually expensive), or to benefit from other high precision aiding system (like GPS in land vehicle). However, similar aiding sources are extremely limited in drilling applications. Therefore, an appropriate aiding scheme for MEMS IMU must be carefully explored as well as a suitable solution. This paper aims at studying a practical solution to update the MEMS measurements. A Kalman Filter (KF) scheme is designed to optimally estimate and compensate for inertial errors, where only the forward axial speed of the drill pipe that can be measured at all time is applied as the moving update. Laboratory experiments and emulation results indicated that this new integrated KF solution significantly improved the MEMS performance.
机译：油田钻井应用中的轨迹测量，尤其是使用旋转可控系统（RSS）的轨迹测量，需要随钻测量（MWD）工具进行精确的姿态测量。当前，基于陀螺仪和加速度计的惯性系统已广泛用于不同领域，例如飞行导航和陆地车辆定位领域。基于陀螺仪的定向测量方法对地球磁场或周围的电磁干扰不敏感，这是当前基于磁力计的MWD工具的主要不足。这就是惯性技术在钻探测量应用中显示出巨大潜力的原因。基于MEMS的惯性测量单元（IMU）被认为是MWD的理想选择，这有两个原因。首先，由于其尺寸小，MEMS IMU可以与RSS包一起直接安装在一个套环中，这使得MWD工具非常靠近钻头。其次，当测量传感器靠近钻头时，恶劣的环境变得非常具有挑战性，而低成本的MEMS使其能够负担得起的损失和更换传感器而无需花费大量成本。不幸的是，当前的MEMS传感器的精度较低，这会导致随时间累积的测量结果出现较大的误差。众所周知，惯性系统要在长期导航中具有良好的精度，就必须配备精密的陀螺仪（但通常价格昂贵），或者要受益于其他高精度辅助系统（如陆地车辆中的GPS）。但是，类似的辅助源在钻井应用中极为有限。因此，必须仔细探索适用于MEMS IMU的合适方案以及合适的解决方案。本文旨在研究一种实用的解决方案来更新MEMS测量。卡尔曼滤波器（KF）方案旨在优化估计和补偿惯性误差，其中仅将可随时测量的钻杆的前进轴向速度用作移动更新。实验室实验和仿真结果表明，这种新的集成KF解决方案显着提高了MEMS性能。

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