Development of Fully Rotating Attitude Measurement System for Follow Drilling
A full-rotation attitude measurement system for follow drilling was proposed to address the problems of low space utilisation caused by the installation of the existing attitude measurement equipment inside the non-magnetic drill collar.The full-rotation attitude measurement system took three-axis accelerometer,three-axis magnetometer and three-axis gyroscope as the main measurement structure.The multi-core processor with AMP operation mode composed of FPGA chip and MCU chip as the control core.At the same time,it adopted the performance improvement measures of UKF filtering and error correction.At last,it applies the quaternion method to solve the inclination angle,azimuth angle,and the tool face angle of the well.The workpiece experimen-tal platform was built to verify the feasibility of the system.The experimental results show that at the speed of 1 r/min and 1.5 r/min,the well inclination angle of 45° and the azimuth angle of 135° have the largest measurement errors,and the errors of well inclination angle and azimuth angle are 2.24° and 3.16°,respectively.When the well inclination angle is 45° and the azi-muth angle is 0°,the absolute error of tool face angle at 4 r/min is the largest,and the absolute error of tool face is 3.22°.The measurement system can measure and solve the three attitude angles in real time on the tooling platform.
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