基于MICOA的随钻加速度计误差在线补偿
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河南理工大学

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TP927;TE242

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国家自然科学基金(41672363)项目资助(所有资助必须提供项目编号),河南省自然科学基金(232300421152)


Online compensation of acceleration on error while drilling based on MICOA
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    摘要:

    为了提高随钻加速度计测量精度,设计一种基于磁惯性长鼻浣熊算法的加速度计误差在线补偿方法?首先,根据误差来源建立误差补偿模型;利用陀螺仪和磁强计建立重力夹角与磁重力夹角约束条件;将加速度真值与理论值模值之差设置为目标函数?其次,在长鼻浣熊算法基础上,根据递推重力加速度确定误差参数的初始搜索边界,同时根据当前误差参数?最优误差参数?边界值三者的相对距离缩小边界;再设计分界点筛选初始误差参数,使算法最初就朝着高质量解的方向搜索,同时保留部分劣解以增加误差参数多样性;接着在算法的全局探索阶段设计参数使其根据加速度计当前误差参数与误差参数平均值之间的误差来调整加速度计误差参数的搜索范围;最后,将重力模值之比设为深度开发阈值,构造高斯变异个体向量使加速度计误差参数跳出局部最优?实验结果表明:经MICOA补偿之后,加速度误差减小,井斜角范围降低了约62.5%,不同钻进角度下,井斜角均方根误差与标准差均能保持在1°以下?

    Abstract:

    (研究的问题)To improve the measurement accuracy of the downhole accelerometer, a method for online compensation of accelerometer errors based on a magnetic-inertial coati optimization algorithm is designed. (研究的过程和方法)Firstly, an error compensation model is established based on the sources of error; the constraint conditions of the gravity angle and the magnetic-gravity angle are established using a gyroscope and a magnetometer; the difference between the true value of the acceleration and the modulus of the theoretical value is set as the objective function. Secondly, based on the coati optimization algorithm, the initial search boundary for error parameters is determined according to the recursive gravity acceleration, and the boundary is narrowed based on the relative distance among the current error parameters, the optimal error parameters, and the boundary values; a boundary point selection is designed to screen the initial error parameters, enabling the algorithm to initially search in the direction of high-quality solutions while retaining some inferior solutions to increase the diversity of error parameters; in the global exploration stage of the algorithm, parameters are designed to adjust the search range of accelerometer error parameters based on the error between the current error parameters and the average error parameters. Finally, the ratio of the modulus of gravity is set as the threshold for deep development, and a Gaussian mutation vector is constructed to enable the accelerometer error parameters to break out of local optima. (研究结果)Experimental results show that after MICOA compensation, the accelerometer error decreases, and the range of inclination angle decreases by approximately 62.5%; at different drilling angles, the root mean square error and standard deviation of the inclination angle can be maintained below 1°.

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  • 收稿日期:2024-03-13
  • 最后修改日期:2024-07-09
  • 录用日期:2024-07-12
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