| 杨金显,杨潇健,张颖,蔺钰柯.基于FREKF的随钻磁力计在线校准[J].电子测量与仪器学报,2026,40(2):145-151 |
| 基于FREKF的随钻磁力计在线校准 |
| On-line calibration of magnetometer while drilling based on FREKF |
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| DOI： |
| 中文关键词: 磁力计 FREKF 在线校准 方位角 |
| 英文关键词:magnetometer FREKF online calibration azimuth angle |
| 基金项目:河南省自然科学基金(232300421152)、国家自然科学基金(41672363)项目资助 |
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| Author | Institution |
| Yang Jinxian | 1.School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454000, China;
2.Henan Key Laboratory of Intelligent Detection and Control of Coal Min Equipment, Jiaozuo 454003, China |
| Yang Xiaojian | 1.School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454000, China;
2.Henan Key Laboratory of Intelligent Detection and Control of Coal Min Equipment, Jiaozuo 454003, China |
| Zhang Yin | 1.School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454000, China;
2.Henan Key Laboratory of Intelligent Detection and Control of Coal Min Equipment, Jiaozuo 454003, China |
| Lin Yuke | 1.School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454000, China;
2.Henan Key Laboratory of Intelligent Detection and Control of Coal Min Equipment, Jiaozuo 454003, China |
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| 中文摘要: |
| 针对随钻磁力计测量误差引起的钻具方位角解算严重失真问题，提出基于联邦循环扩展卡尔曼滤波(FREKF)的随钻磁力计在线校准方法。首先建立钻具地磁信息的联邦融合框架，基于随钻磁力计误差校准模型构建非线性测量方程作为主滤波器，分别与加速度计观测地磁矢量模型组成子滤波器1，与陀螺仪递推地磁矢量模型组成子滤波器2。其次，在子滤波器测量更新过程中使用状态估计结果和状态估计协方差矩阵作为一步预测结果和一步预测协方差矩阵进行循环滤波，提高状态估计精度。然后对循环滤波的子系统进行联邦融合，实现随钻磁力计的高精度校准。最后设计模拟实验和实钻实验，实验结果表明，使用FREKF算法能够有效校准随钻磁力计误差，校准后结解算的方位角平均误差可控制在0.8°以内。 |
| 英文摘要: |
| Aiming the serious distortion problem caused by the measurement error of measurement while drilling (MWD) magnetometer, an online calibration method of MWD magnetometer based on federated recursion extended Kalman filter (FREKF) is proposed. Firstly, the federated fusion framework of drilling tool geomagnetic information is established. Based on the error calibration model of magnetometer while drilling, the nonlinear measurement equation is constructed as the main filter, and the sub-filter 1 is formed with the observed geomagnetic vector model of accelerometer and the sub-filter 2 is formed with the recurrent geomagnetic vector model of gyroscope. Secondly, during the sub-filter’s measurement update, we use state estimation results and its covariance matrix as one-step prediction results and covariance matrix to improve state estimation accuracy. Then the subsystem of cyclic filtering is federated to realize the high precision calibration of magnetometer. Finally, the simulation experiment and real drilling experiment are designed. The experimental results show that the FREKF can effectively calibrate the magnetometer error while drilling. Following calibration, the azimuth mean error can be controlled within 0.8°. |
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