测井技术2009，Vol.33Issue(3)：279-283,5.
陀螺测斜仪随钻对准中的可观测性研究
On Observability Analysis for MWD Alignment of Gyro Inclinometer
摘要
Abstract
Developed is a gyro inclinometer/sensor integrated navigation system. Based on consid-ering the underground narrow space, three attitude errors are estimated using the Kalman filter method with the observations of linear velocity of the drill bit and the true vertical depth in three mobile modes, that is, straight line motion, rotation, straight line motion plus rotation. The characteristic value method is used in this system. Data are provided by the horehole track gener-ater and then computed with the PWCS observability analysis algorithm, from which the observ-ability matrix SOM is obtained before filter. The bigger the SOM, the better the system observ-ability, and the more precise the estimated errors. The results showed that the drilling axial rota-tion, which is the easiest operation in practice, can improve the system observability effectively, and the simulation curves verify the conclusions of the analysis.关键词
陀螺测斜仪/随钻对准/可观测性/卡尔曼滤波Key words
gyro inclinometer/ MWD alignment/ observability/ Kalman filter分类
信息技术与安全科学引用本文复制引用
赵建辉,王鹏鹏,李帆,李荣..陀螺测斜仪随钻对准中的可观测性研究[J].测井技术,2009,33(3):279-283,5.基金项目
国家自然科学基金(No.50674005)和中国石油中青年创新基金联合资助 （No.50674005）
