Dynamic Inclination Measurement And Control System Based On Wavelet-Kalman Filter Algorithm And Dual-core DSP

In the process of drilling,the emergence of rotary-steerable system has greatly improved the production efficiency of drilling operations,Meanwhile,in the application scenarios where the borehole is more complex and the drilling trajectory is required to be smoother,the rotary-steerable system shows unique advantages.Rotary-steerable system is an important part of the need to constantly get the attitude of the tool to update the navigation control algorithm,With the help of the dynamic well inclination measurement technology,the gravity acceleration sensor and magnetic flux sensor are used to collect signals under the severe environment of high temperature,high pressure,vibration,mud erosion and so on.After filtering,the well Angle and azimuth of the drill tool are finally calculated.The harsh working environment of drilling tools and the demanding requirements of dynamic well inclination measurement bring great challenges.The main work of this paper is as follows:1.In this paper,wavelet-Kalman filter algorithm is first proposed to solve the problem of dynamic well inclination measurement,and the algorithm is implemented on the hardware platform of dynamic well inclination measurement and control system based on dual-core DSP chip.In this paper,the existing algorithm in dynamic well inclination measurement is studied.The traditional algorithm in dynamic well inclination measurement usually uses band-pass filter,Kalman filter and other methods to filter the gravitational acceleration sensor.Band-pass filter can eliminate the high and low frequency irrelevant noise,but it can not deal with the noise in the pass band.The Kalman filter algorithm is proposed but there is still something to be optimized.Combining the advantages of both,in this paper,we propose a wavelet-Kalman filter algorithm based on filter bank to solve this problem.Compared with the existing algorithm,the wavelet-Kalman filter algorithm can decompose the signal in multi-resolution while retaining the advantages of the Kalman filter algorithm,improve the accuracy of the solution and still have a better real-time performance.Experimental result shows that the wavelet Kalman filter algorithm can effectively filter out the interference noise in the gravitational acceleration sensor and improve the accuracy of dynamic well deviation measurement.2.In this paper,a hardware solution of dynamic well inclination measurement and control system based on dual core DSP chip TMS320f28377d is proposed for the first time,and the selection of components,the design and drawing of circuit,the welding and debugging of PCB,and the programming of dual core chip under the bare operating system are completed.In recent years,the emergence of a number of dual core high-performance DSP chips,with superior performance and power consumption performance,has gradually emerged in many application scenarios in the embedded field.In the dynamic well deviation measurement and control system,the existing hardware architecture of the dynamic well deviation measurement and control system generally uses single DSP chip or dual DSP chip as the main control chip.Limited by the underground high temperature environment,the optional DSP chips generally have higher power consumption Low,limited computing power,single DSP chip is often short of performance when dealing with complex operations;the scheme of Dual DSP chip has improved in performance,but on the one hand,it is limited by factors such as inter chip communication rate,which makes the improvement of this performance more limited;on the other hand,it is limited by factors such as system stability,PCB size,power consumption,etc.which makes it possible to This scheme pays a high price in exchange for performance.This paper proposes a hardware architecture solution based on dual core DSP chip for the first time,and realizes the independent operation of algorithm,signal acquisition and transmission under the naked operating system through the internal IPC communication mechanism,which greatly displays the performance of the chip.