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Dynamic Toolface Measurement for Dynamic Directional Rotary Steerable Drilling Based on a Fusion Filtering Algorithm

Peng Wang  Shurong Li  Huaijun Zhu  
【摘要】:In order to accurately control the trajectory of dynamic directional rotary steerable drilling,the accurate measurement for toolface of the steerable drilling tool is the premise.However,the near-bit has strong environmental interference such as vibration,impact,pressure and high temperature,which leads to a large error in the calculated toolface.In this paper,a nonlinear model based on quaternion for the dynamic toolface measurement is established.According to the model and noise characteristics,a fusion filtering algorithm(FFA) based on complementary filtering and unscented Kalman filtering(UKF) is proposed.The more accurate measurement value of toolface obtained by a complementary filter is used to improve the filtering effect of the UKF to calculate the more accurate toolface.Complementary filtering,extended Kalman filtering(EKF) and UKF are used as comparative algorithms to verify the superiority of the FFA for dynamically calculating toolface.The simulation is carried out and shows that the FFA can greatly reduce the influence of strong vibration,impact and gyroscope drift on the dynamic toolface measurement.The toolface error calculated by the FFA is less than 4°.The effectiveness of the FFA for dynamic measurement of the near-bit toolface is verified.

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