Research On Numerical Solution Method Of Euler Angle Attitude Equation Of Steering Drilling Tool

The development of human society is increasingly dependent on petroleum resources.The exploitation of complex oil and gas fields such as unconventionality,low-permeability,deep stratum,and deep water has gradually become the normalcy,which puts forward higher requirements for oil drilling technology.Rotary steering drilling technology is currently the most mature and widely used drilling technology in petroleum drilling.In recent years,dynamic attitude measurement,which can effectively improve drilling efficiency,has gradually become a research hotspot and difficulty in the field of steering drilling,and it can realize drilling tool attitude control and borehole trajectory tracking without stopping drilling.This paper mainly studies the numerical solution method of the attitude parameters of the steering drilling tools.The specific research contents are as follows:1^st.In this paper,the attitude measurement model is established by studying the attitude measurement system of steering drilling tools and analyzing the principle and application situation of the measurement system composed of different attitude sensors.The application situation and advantages and disadvantages of common attitude solution algorithms were studied,and according to the traditional Euler Angle method,the attitude equation of Euler Angle based on fluxgate sensor is derived.2^nd.The output signal characteristics of fluxgate sensor at full attitude Angle are studied.An error correction model was established for the errors existing in the measurement process,and the quadrant correction method was used to correct the errors,so as to reduce the influence of measurement errors on the accuracy of attitude parameter solution.3^rd.Euler Angle attitude equation and measured value are established to solve the equations of attitude parameters.According to the least square principle,it was transformed into the problem of solving the minimum objective function,and a numerical solution method based on Euler Angle attitude equation was proposed to solve the attitude parameters of downhole tools.4^th.The characteristics of fluxgate insensitive to vibration signal are verified by vibration test.The existence of the numerical solution of the minimum objective function is verified by MATLAB numerical simulation,and the flow chart of its solution is established.The output signals of the sensor of the indoor simulated downhole attitude test system were collected,and the attitude parameters were solved by the numerical solution method of Euler Angle attitude equation.The theoretical attitude recorded by inclinometer is compared to verify the validity of the numerical solution method.The experimental data show that the attitude sensor measurement values are corrected by quadrant correction,and the objective function is solved according to the attitude parameters established in this paper.The relative error of the attitude parameters calculated by the numerical method is less than 1.5%,and the method is also suitable for the whole attitude Angle calculation of continuous measurement.In this paper,through theoretical research,scheme design,experimental test and data simulation,the numerical solution of Euler Angle attitude equation for steering drilling tool attitude parameters is realized.