柱塞气举工艺下基于重力观测的MEMS全姿态位姿测量系统
MEMS full attitude pose measurement system based on gravity observation under plunger gas lift technology
邱晓宁 1武泰安 2冯金双 1许春晖 2吴杰 1鲍作帆1
作者信息
- 1. 中国石油集团渤海钻探工程有限公司工程技术研究院,天津 300450
- 2. 天津市旗领测控科技有限责任公司,天津 300131
- 折叠
摘要
为解决柱塞小体积自主高精度位姿测量的难题,针对柱塞气举工艺,设计了一种基于重力观测的微机电系统(MEMS)全姿态位姿测量系统.首先,利用柱塞工作过程中大部分时间不存在非重力运动加速度的特性,设计了基于重力观测的自主导航算法提高位姿测量精度;其次,考虑到柱塞垂直运动过程中俯仰翻转时无解的问题,设计了全姿态解算算法.最后,对所设计的位姿测量系统进行了实物实验.实验结果表明:所设计的位姿测量系统进行作业时,水平姿态精度不大于 0.05 °、航向漂移小于 0.5 °/h、短时位置精度不大于 0.8 m,验证了该系统可解决柱塞目前存在的小体积自主高精度位姿测量难题.
Abstract
To solve the problem of small volume autonomous high-accuracy pose measurement for plunger,a MEMS full attitude pose measurement system based on gravity observation is designed for plunger gas lift technology.Firstly,utilizing the characteristic that there is no non-gravity acceleration during most of the working process of the plunger,an autonomous navigation algorithm based on gravity observation is designed to improve the accuracy of pose measurement.Secondly,considering the unsolvable problem of pitch flipping during the vertical movement of the plunger,a full attitude solution algorithm is designed.Finally,a physical experiment is conducted on the designed pose measurement system.The experimental results show that when the designed pose measurement system is used for operation,the horizontal attitude accuracy is no more than 0.05 °,the heading drift is less than 0.5 °/h,and the short-term position accuracy is no more than 0.8 m,which verifies that the system can solve the current problem of small volume autonomous high-accuracy pose measurement for the plunger.
关键词
柱塞气举/微机电系统/位姿测量/重力观测Key words
plunger air lift/MEMS/attitude and position measurement/gravity observation引用本文复制引用
基金项目
中国石油集团研发重大专项(2023ZD14F)
出版年
2024
NETL
NSTL
万方数据