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Wang Wei
Tan(GTF)=
I.
INTRODUCTION
II.
Tan(MTF)=
HY
HX
G X2 + GY2
GZ
Orientation sensor plays an important role in MeasurementWhile-Drilling (MWD) of oil drilling, but the high accuracy is
difficult to get, because it works in a harsh condition of strong
vibration and high temperature[1][2]. In this paper, an error
correcting model and algorithm of accuracy compensation have
been put forward to the sensor, and the software and hardware
is realized, thus the accuracy is good enough for MWD.
GY
GX
Tan(AZ)=
G ( H X GY + H Y G X )
H Z (G + G X2 ) H Y GZ GY H X GZ G X
2
Y
4
The accuracy of the MWD system is acceptable when
errors of the above measurement parameters are within the
following threshold values, respectively:
Inclination: 0.1q; Azimuth: 1q; Tool face: 1.5q.
V = SPB
5
Where V is the desired voltage outputted from the sensor; P
is the output of the sensors, among which for the
accelerometers are GX, GY and GZ (g), the gravity components
in X, Y and Z directions, respectively, while for the fluxgate
magnetometers are HX, HY and HZ (Gauss), the magnetic
components in X, Y and Z directions; B represents the zero
drift which is of the same unit as P; S is known as the scale
coefficient with a unit of V/g or V/Gauss.
What can be extracted from the above equation is that any
factor that has an effect on either S or B does affect the sensor
accuracy as well. Practically, the sensors operating temperature
disturbs S and B most, mainly in the forms of scale error and
zero drift error, respectively, and due to its huge variation,
errors caused by the operating temperature must be reduced.
1) Zero drift compensation
Zero drift is defined to be an output offset voltage of the
sensor circuit when inputting a zero-value quantity. Due to the
fact that zero drift varies with temperature, different one
corresponding to different zero drift, error will definitely exist
if applying zero drift to each calculation with the same value,
which is unacceptable in high accuracy measurements. Hence,
it bears great essentiality and significance to make clear of the
correlation between zero drift and temperature, so as to
maximally eliminate the temperatures impact on accuracy.
Based on a set of zero drift values measured at different
temperatures, a suggested method for the elimination is to
construct a best match function f(T), which could optimally
approach the true zero drift curve. Thus the zero drift value at
any specific temperature, which is a necessity for
compensating sensors during practical angles measurement,
can be yielded according to the match function f(T).
Here is an
magnetometer.
example
of
the
X-direction
fluxgate
(7)
Temperature
Zero drift
(Gauss)
Temperature
Zero drift
(Gauss)
27.10
52.16
77.41
-0.0003
-0.0006
-0.0010
-0.0013
100.82
126.84
150.00
-0.0013
-0.0012
-0.0013
-4
-2
Zero Drift Value(Gauss)
III.
x 10
Zero Drift
Best Match Function
-4
-6
-8
-10
-12
-14
0
50
100
Temperature(deg C)
150
Figure 2. Zero Drift and Its Fitting Function Curves of X-direction Fluxgate
Magnetometer
Relative scale
Coefficient
Temperature
Relative scale
Coefficient
27.10
52.16
77.41
0.9668
0.9651
0.9636
0.9625
100.82
126.84
150.00
0.9609
0.9586
0.9571
follows:
KXY=1.3849286e-3,
KXX=1.0000000
KXZ=
-2.2113571e-3,
(8)
G X 1
G = K
YX
Y
GZ K ZX
K XY
1
K ZY
K XZ 1 / S X (T )
0
0 V X G0 X (T )
K YZ 0
1 / SY (T )
0 VY G0Y (T )
1 0
0
1 / S Z (T ) VZ G0 Z (T )
(10)
Matrix model for the three-axis fluxgate magnetometers:
H X 1
H = K '
YX
Y
'
H Z K ZX
'
K XY
1
'
K ZY
'
'
1 / S X' (T )
K XZ
0
0 V X H 0 X (T )
'
'
'
K YZ 0
1 / S Y (T )
0 VY H 0Y (T )
1
0
0
1 / S Z' (T ) VZ' H 0 Z (T )
(11)
0.97
Relative Scale Factor
0.968
0.966
0.964
0.962
0.96
0.958
0.956
0
50
100
Temperature(deg C)
150
H X = K XX H X 0 + K XY H Y 0 + K XZ H Z 0
(9)
V. SYSTEM SOFTWARE
In order to assure the efficiency, readability and portability
of the procedures, the system adopts C as its programming
language. With the help of the ISP function on the
MSP430F149 chip, it becomes more convenient either to write
codes into MCU through the USB port, without getting devices
off the PCB board, or to modify the programs downloaded to
MCU in real-time just under the PC environment. The system
flow chart and error compensation flow chart are both shown in
Fig.5.
initialization
Data aquisition
A/D sampling
for N times
Error
compensation
Low-pass
filtering
Angle
computation
Y
Data
transmission
End
(b)
Figure 5. Main program (a) and Error Compensation program (b) flow chart
GTF
(degree)
TABLE IV.
Temperature
GTF
(degree)
INC
(degree)
AZ
(degree)
Gravity
(g)
25
205.4
89.5
271.2
1.0011
50
205.4
89.5
270.8
1.0012
75
205.4
89.5
270.6
1.0013
100
205.3
89.6
270.7
1.0017
110
205.3
89.6
270.8
1.0018
120
205.3
89.6
270.8
1.0017
130
205.4
89.6
270.7
1.0014
135
205.3
89.6
270.8
1.0014
150
205.4
89.6
270.8
1.0015
REFERENCES
Theoretical
AZ(degree)
Save results
(a)
TABLE III.
start
start
Measurement
AZ(degree)
Theoretical
INC(degree)
Measurement
INC(degree)
0
0
0.0
15
15.0
90
45
44.8
30
30.0
180
90
90.0
45
45.0
270
135
135.2
60
60.0
0
180
180.3
75
75.1
90
225
225.4
90
90.0
180
270
270.3
120
119.9
270
315
315.2
145
145.0
As is shown in Table.3, when measuring in different
attitudes at room temperature, the maximal error range for the
inclination, azimuth and tool face angle is f0.1e, f1eand
[1]
[2]
[3]
[4]