摘要
为提高随钻姿态测量精度,提出一种基于旋转霜冰优化器(RFIO)的等效反向旋转随钻陀螺仪误差参数识别方法。首先对等效反向旋转惯导进行误差分析,以随钻姿态误差构造等效反向旋转误差目标函数,以钻停时角速度、加速度和磁场强度关系构造等效反向旋转误差约束条件,通过RFIO算法辨识误差参数。其次,根据历史目标函数、莱维飞行及RFIO迭代次数设计一种动态上下界策略,提高了目标函数的识别速度;根据当前目标函数值与最优值之间距离设计一种旋转游走策略,提高了误差参数识别精度。实验结果表明,工具面角和井斜角误差控制在±0.4°左右,方位角误差控制在±0.8°左右。与未等效反向旋转相比,工具面角精度提升约60%,井斜角精度提升约66.7%,方位角精度提升约70.4%。
In order to improve the accuracy of attitude measurement while drilling,an error parameter identification method of equivalent reverse rotating gyroscopes while drilling based on rotating frost ice optimizer(RFIO)is proposed.Firstly,the error analysis of equivalent reverse rotating inertial navigation system is carried out.The objective function of equivalent reverse rotation error is constructed based on the attitude error while drilling.The constraint conditions of equivalent reverse rotation error are constructed based on the relationship among angular velocity,acceleration and magnetic field strength when drilling tool stops.The error parameters are identified by RFIO algorithm.Secondly,a dynamic upper and lower bound strategy is designed according to the historical objective function,Lévy flights and the number of RFIO iterations to improve the recognition speed of the objective function.Based on the distance between the current objective function value and the optimal value,a rotating wandering strategy is designed to improve the accuracy of error parameter identification.The experimental results show that the error of tool face angle and well inclination angle is controlled within±0.4°,and the error of azimuth angle is controlled within±0.8°.Compared with no equivalent reverse rotation,the accuracy of tool face angle is improved by about 60%,the accuracy of well inclination angle is improved by about 66.7%,and the accuracy of azimuth angle is improved by about 70.4%.
作者
杨金显
王赛飞
袁旭瑶
YANG Jinxian;WANG Saifei;YUAN Xuyao(School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo 454000,China;Henan Key Laboratory of Intelligent Detection and Control of Coal Mine Equipment,Jiaozuo 454003,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2024年第5期441-448,456,共9页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(41672363)
河南省自然科学基金资助项目(232300421152)。
关键词
随钻姿态误差
等效反向旋转
旋转霜冰优化器
旋转游走策略
attitude error while drilling
equivalent reverse rotation
rotating frost ice optimizer
rotating wandering strategy
