CN102536208B - Device and method for temperature compensation of accelerometer and fluxgate for underground directional-measuring instrument - Google Patents
Device and method for temperature compensation of accelerometer and fluxgate for underground directional-measuring instrument Download PDFInfo
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- CN102536208B CN102536208B CN201110461007.XA CN201110461007A CN102536208B CN 102536208 B CN102536208 B CN 102536208B CN 201110461007 A CN201110461007 A CN 201110461007A CN 102536208 B CN102536208 B CN 102536208B
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Abstract
The invention relates to a device and method for the temperature compensation of an accelerometer and a fluxgate for an underground directional-measuring instrument. The device comprises a multi-path analog switch, an AD (Analog to Digital) converting circuit and a singlechip, wherein the multi-path analog switch is connected with the AD converting circuit and the singlechip, and the AD converting circuit is connected with the singlechip; and the multi-path analog switch is also connected with an X-axis accelerometer-measuring circuit, a Y-axis accelerometer-measuring circuit, a Z-axis accelerometer-measuring circuit, an X-axis fluxgate-measuring circuit, a Y-axis fluxgate-measuring circuit, a Z-axis fluxgate-measuring circuit and a temperature-measuring circuit of the underground directional-measuring instrument, and the singlechip is also connected with an outward interface of the underground directional-measuring instrument. The technical problem that the measuring precision of the traditional accelerometer and the traditional fluxgate is influenced by temperature change is solved.
Description
Technical field
The present invention relates to a kind of directional measure in the silo instrument acceleration and take into account fluxgate temperature compensation means and method.
Background technology
In the various attitude angle measurement processes of oil drilling industry, need to use accelerometer and fluxgate sensor to realize the measurement in gravitational field and earth's magnetic field, and realize orientation parameter by certain mathematical model method and measure, be i.e. the measurement of hole angle, azimuth, tool face azimuth, angle, Magnetic tools face, gravitational field total amount and earth's magnetic field total amount.
In oil drilling industry, the instrument used by well track measurement is more, and current measurement while drilling mainly adopts accelerometer and fluxgate sensor jointly to form measuring unit and measures.In drilling measuring process, along with the increase temperature of well depth also can increase accordingly, thus acceleration is caused to take into account the change of the certainty of measurement that fluxgate produces because of variations in temperature.Traditional acceleration takes into account fluxgate measuring circuit as shown in Figure 1, and three acceleration take into account three fluxgate sensors all can variation with temperature and the change of certainty of measurement occurs; Except the certainty of measurement change of accelerometer itself, accelerometer measures circuit, fluxgate measuring circuit, voltage reference and AD conversion etc. all can vary with temperature, thus have an impact to certainty of measurement.
Summary of the invention
Taking into account the technical problem of certainty of measurement by influence of temperature change of fluxgate in order to solve traditional acceleration, the invention provides directional measure in the silo instrument acceleration and taking into account fluxgate temperature compensation means.
Take into account the technical problem of certainty of measurement by influence of temperature change of fluxgate to solve traditional acceleration, the present invention also provides directional measure in the silo instrument acceleration to take into account fluxgate temperature compensation.
The technical solution adopted in the present invention is: directional measure in the silo instrument acceleration takes into account fluxgate temperature compensation means, comprise multiway analog switch, A/D converter circuit and single-chip microcomputer, multiway analog switch is connected with A/D converter circuit and single-chip microcomputer, and A/D converter circuit is connected with single-chip microcomputer; Wherein multiway analog switch is also connected with the X-axis accelerometer measures circuit of directional measure in the silo instrument, Y-axis accelerometer measures circuit, Z axis accelerometer measures circuit, X-axis fluxgate measuring circuit, Y-axis fluxgate measuring circuit, Z axis fluxgate measuring circuit and temperature measuring circuit, and single-chip microcomputer is also connected with the external interface of directional measure in the silo instrument.
Take into account the temperature compensation of fluxgate temperature compensation means based on above-mentioned directional measure in the silo instrument acceleration, comprise the following steps:
The output valve of S1, reading A/D converter circuit;
The temperature value output of S2, reading temperature measuring circuit;
S3, judge whether temperature value output exceeds temperature compensation range, if then by external interface output error code, then proceed to step S4 if not;
S4, according to temperature value output, the temperature-compensating formula of accelerometer zero, the temperature-compensating formula of accelerometer response, the temperature-compensating formula of Magnetic Sensor zero-bit, the temperature-compensating formula of Magnetic Sensor sensitivity is adopted to calculate corresponding temperature compensation parameter respectively;
S5, according to step S1 read the output valve of A/D converter circuit and the temperature compensation parameter of step S4 gained, the acceleration after calculation compensation takes into account the output numerical value of fluxgate;
The temperature-compensating formula of described accelerometer zero is: G0 (t)=b0+b1*t+b2*t
2; The temperature-compensating formula of accelerometer response is: GS (t)=f0+f1*t+f2*t
2; The temperature-compensating formula of Magnetic Sensor zero-bit is: BO (t)=B0+B1*t+B2*t
2; The temperature-compensating formula of Magnetic Sensor sensitivity is: BS (t)=F0+F1*t+F2*t
2;
The temperature-compensating formula of described accelerometer zero, the temperature-compensating formula of accelerometer response are the conic section accelerometer zero recorded under condition of different temperatures and sensitivity least square method fitted to respectively; The temperature-compensating formula of Magnetic Sensor zero-bit and the temperature-compensating formula of Magnetic Sensor sensitivity are the conic section that the fluxgate zero-bit that recorded by diverse location under condition of different temperatures and sensitivity least square method fit to respectively.
Described temperature compensation range is between-20 DEG C ~ 175 DEG C.
Described temperature compensation parameter is kept in the nonvolatile memory of circuit.
The temperature measuring point of described accelerometer zero and sensitivity comprises: 25 DEG C, 70 DEG C, 85 DEG C, 105 DEG C, 125 DEG C, 150 DEG C and 175 DEG C.
Compared with prior art, advantage of the present invention and beneficial effect are: can demarcate the temperature coefficient that acceleration takes into account fluxgate, and then obtain zero-bit and the sensitivity that acceleration takes into account fluxgate, the temperature compensation parameter of each sensor is calculated again further according to the output valve of A/D converter circuit, finally realize temperature-compensating, eliminate the impact that temperature drift produces certainty of measurement.In addition, temperature compensation parameter can install in the non-volatile sensor in device below.
Accompanying drawing explanation
Fig. 1 is the circuit diagram of traditional directional measure in the silo instrument;
Fig. 2 is the circuit diagram that acceleration of the present invention takes into account fluxgate temperature compensation means;
Fig. 3 is embodiment of the present invention temperature-compensating positional point, provides 4+4x4x4=68 location point altogether;
Fig. 4 is the flow chart of temperature-compensating of the present invention.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
The acceleration that this example adopts takes into account fluxgate measuring circuit as shown in Figure 2.Traditional directional measure in the silo instrument comprises fluxgate exciting circuit, BX sensor, BY sensor, BZ sensor, X-axis fluxgate measuring circuit, Y-axis fluxgate measuring circuit, Z axis fluxgate measuring circuit, GX sensor, GY sensor, GZ sensor, X-axis accelerometer measures circuit, Y-axis accelerometer measures circuit, Z axis accelerometer measures circuit, temperature pick up and temperature measuring circuit, GX sensor is connected with X-axis accelerometer measures circuit, and GY sensor is connected with Y-axis accelerometer measures circuit, and GZ sensor is connected with Z axis accelerometer measures circuit, fluxgate exciting circuit and BX sensor, BY sensor and BZ sensor connect, BX sensor is connected with X-axis fluxgate measuring circuit, and BY sensor is connected with Y-axis fluxgate measuring circuit, and BZ sensor is connected with Z axis fluxgate measuring circuit, temperature pick up is connected with temperature measuring circuit, X-axis fluxgate measuring circuit, Y-axis fluxgate measuring circuit, Z axis fluxgate measuring circuit, axis accelerometer measuring circuit, Y-axis accelerometer measures circuit, Z axis accelerometer measures circuit and temperature measuring circuit are connected with external interface.The present invention takes into account on the basis of fluxgate measuring circuit at conventional acceleration, set up multiway analog switch, A/D converter circuit, single-chip microcomputer and the SCM peripheral circuit be connected with single-chip microcomputer, wherein multiway analog switch and X-axis accelerometer measures circuit, Y-axis accelerometer measures circuit, Z axis accelerometer measures circuit, X-axis fluxgate measuring circuit, Y-axis fluxgate measuring circuit, Z axis fluxgate measuring circuit, temperature measuring circuit, A/D converter circuit and single-chip microcomputer connect, A/D converter circuit is connected with single-chip microcomputer, the gating of each road analog signal that single-chip microcomputer uses 3 I/O ports to realize exporting for multiway analog switch after decoding, 3 I/O ports realize 8 select 1 after input A/D converter circuit, single-chip microcomputer is connected as external output interface with external serial line interface simultaneously.
Need first to obtain the temperature coefficient of acceleration and the temperature coefficient of fluxgate in temperature-compensating overall procedure of the present invention.
ACTE coefficient adopts extremum method to demarcate.Namely its output valve is recorded in the maximum value position exported at each sensor and minimum value position, and calculates its parameter according to output valve.Six positions that extremum method demarcates the temperature coefficient of accelerometer are as shown in table 1, and temperature measuring point comprises: 25 DEG C, 70 DEG C, 85 DEG C, 105 DEG C, 125 DEG C, 150 DEG C and 175 DEG C.
Table 1 accelerometer data collection position
| Numbering | Hole deviation | Tool-face | Recording parameters |
| 1 | 0±0.5° | X | GZ |
| 2 | 180±0.5° | X | GZ |
| 3 | 90±0.5° | 0±0.5° | GX |
| 4 | 90±0.5° | 90±0.5° | GY |
| 5 | 90±0.5° | 180±0.5° | GX |
| 6 | 90±0.5° | 270±0.5° | GY |
Under 25 DEG C, 70 DEG C, 85 DEG C, 105 DEG C, 125 DEG C, 150 DEG C and 175 DEG C of condition of different temperatures, required for temperature coefficient 6 positions measuring fluxgate are as shown in table 2.
Table 2 magnetic sensor data collection position
| Sequence number | Hole deviation | Azimuth | Tool face azimuth |
| 1 | 90 | 90 | Magnetic dip angle-90 |
| 2 | 90 | 90 | Magnetic dip angle |
| 3 | 90 | 90 | Magnetic dip angle+90 |
| 4 | 90 | 90 | Magnetic dip angle-180 |
| 5 | 90-magnetic dip angle | 0 | Arbitrarily |
| 6 | 90+ magnetic dip angle | 180 | Arbitrarily |
Demarcated by extremum method, under condition of different temperatures, record maximum value GXmax and minimum value GXmin that accelerometer exports, with following formulae discovery accelerometer zero GX0 and accelerometer response GXS:
Under condition of different temperatures, diverse location records the maximum value BXmax and minimum value BXmin that fluxgate exports, and records the magnetic induction density B a of laboratory environment with magnetometer, with following formulae discovery fluxgate zero-bit BX0 and fluxgate sensitivity BXS:
Although can adopt select temperature parameter close to and sensor within the scope of certain difference ensures the relative accuracy of the calculating angle after measuring.But gravitational field total amount and magnetic field total amount measurement can cause larger difference because of the change of temperature.The zero-bit of temperature major effect accelerometer and fluxgate and sensitivity.
The fluxgate zero-bit that diverse location under the accelerometer zero recorded under condition of different temperatures and sensitivity, condition of different temperatures records by the present embodiment and sensitivity least square method fit to conic section respectively, obtain formula 5-8:
The temperature-compensating formula of accelerometer zero is: G0 (t)=b0+b1*t+b2*t
2formula 5
The temperature-compensating formula of accelerometer response is: GS (t)=f0+f1*t+f2*t
2formula 6
The temperature-compensating formula of Magnetic Sensor zero-bit is: BO (t)=B0+B1*t+B2*t
2formula 7
The temperature-compensating formula of Magnetic Sensor sensitivity is: BS (t)=F0+F1*t+F2*t
2.Formula 8
The calculating of above formula by directional measure in the silo instrument chip microcontroller, and is stored into calculating acquired results in the memory space of single-chip microcomputer.
Position 1 described in table 1 and position 2,25 DEG C, 70 DEG C, 85 DEG C, 105 DEG C, 125 DEG C, 150 DEG C and 175 DEG C of temperature spots is selected to measure the output valve of two positions, formula 1 and formula 2 is utilized to calculate accelerometer zero and the sensitivity of different temperature points respectively, the zero-bit of 5 temperature spots and sensitivity data, fit to formula 5 and formula 6 respectively, determine the temperature-compensating of accelerometer GZ axle by the method, GX axle and GY axle are roughly the same.B0, b1, b2 are the coefficient of accelerometer zero conic section, and f0, f1, f2 are the coefficient of accelerometer response conic section.
Position 1 described in table 2 and position 2,25 DEG C, 70 DEG C, 85 DEG C, 105 DEG C, 125 DEG C, 150 DEG C and 175 DEG C of temperature spots is selected to measure the output valve of two positions, formula 3 and formula 4 is utilized to calculate fluxgate zero-bit and the sensitivity of diverse location respectively, the zero-bit of 5 temperature spots and sensitivity data, fit to formula 7 and formula 8 respectively, determine the temperature-compensating of accelerometer BZ axle by the method, BX axle and BY axle are roughly the same.B0, B1, B2 are the coefficient of fluxgate zero-bit conic section, and F0, F1, F2 are the coefficient of fluxgate sensitivity conic section.
Install in the nonvolatile memory of single-chip microcomputer under after coefficient b0, b1, b2 and f0, f1, f2.
As shown in Figure 2, the main flow that the present embodiment realizes temperature-compensating comprises the following steps:
S1, reading AD conversion value, namely read the output valve of A/D converter circuit.The error that the temperature drift due to sensor and circuit brings is comprised in read original AD conversion value.Namely temperature-compensating is the temperature drift wanting compensation sensor and circuit.
The temperature value output of S2, reading temperature sensor.The temperature value output of temperature pick up is exported by temperature measuring circuit.
S3, judge whether temperature value output exceeds temperature compensation range, if then by external interface output error code, then proceed to step S4 if not.Described temperature compensation range is between-20 DEG C ~ 175 DEG C.
S4, according to temperature value output accounting temperature compensating parameter.According to the temperature data that temperature sensor measurement arrives, adopt the temperature-compensating formula of the temperature-compensating formula of the temperature-compensating formula of accelerometer zero described above, accelerometer response, Magnetic Sensor zero-bit, the temperature-compensating formula of Magnetic Sensor sensitivity calculates corresponding temperature compensation parameter respectively, corresponding 2 temperature compensation parameters of each sensor, 3 acceleration take into account 3 fluxgate sensors totally 12 temperature compensation parameters.
S5, according to step S1 read the output valve of A/D converter circuit and the temperature compensation parameter of step S4 gained, the acceleration after calculation compensation takes into account the output numerical value of fluxgate.These data are take into account fluxgate numerical value through the acceleration of temperature-compensating.
Acceleration after S6, output compensate takes into account the output numerical value of fluxgate.
Take into account fluxgate numerical value through the acceleration of temperature-compensating above externally to export through external digital interface, be finally supplied to user for engineering survey and judgement.After acceleration after being compensated takes into account the output numerical value of fluxgate, in order to verify the correctness exporting numerical value, can do the measurement under condition of different temperatures under the location point condition of 68 shown in accompanying drawing 3, survey mark comprises 25 DEG C, 85 DEG C, 105 DEG C, 125 DEG C, 150 DEG C, 175 DEG C.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (4)
1. directional measure in the silo instrument acceleration takes into account the temperature compensation of fluxgate temperature compensation means, directional measure in the silo instrument acceleration is taken into account fluxgate temperature compensation means and is comprised multiway analog switch, A/D converter circuit and single-chip microcomputer, multiway analog switch is connected with A/D converter circuit and single-chip microcomputer, and A/D converter circuit is connected with single-chip microcomputer; Wherein multiway analog switch is also connected with the X-axis accelerometer measures circuit of directional measure in the silo instrument, Y-axis accelerometer measures circuit, Z axis accelerometer measures circuit, X-axis fluxgate measuring circuit, Y-axis fluxgate measuring circuit, Z axis fluxgate measuring circuit and temperature measuring circuit, single-chip microcomputer is also connected with the external interface of directional measure in the silo instrument, it is characterized in that, comprise the following steps:
The output valve of S1, reading A/D converter circuit;
The temperature value output of S2, reading temperature measuring circuit;
S3, judge whether temperature value output exceeds temperature compensation range, if then by external interface output error code, then proceed to step S4 if not;
S4, according to temperature value output, the temperature-compensating formula of accelerometer zero, the temperature-compensating formula of accelerometer response, the temperature-compensating formula of Magnetic Sensor zero-bit, the temperature-compensating formula of Magnetic Sensor sensitivity is adopted to calculate corresponding temperature compensation parameter respectively;
S5, according to step S1 read the output valve of A/D converter circuit and the temperature compensation parameter of step S4 gained, the acceleration after calculation compensation takes into account the output numerical value of fluxgate;
The temperature-compensating formula of described accelerometer zero is: G0 (t)=b0+b1*t+b2*t
2; The temperature-compensating formula of accelerometer response is: GS (t)=f0+f1*t+f2*t
2; The temperature-compensating formula of Magnetic Sensor zero-bit is: BO (t)=B0+B1*t+B2*t
2; The temperature-compensating formula of Magnetic Sensor sensitivity is: BS (t)=F0+F1*t+F2*t
2; B0, b1, b2 are the coefficient of accelerometer zero conic section, and f0, f1, f2 are the coefficient of accelerometer response conic section, and B0, B1, B2 are the coefficient of fluxgate zero-bit conic section, and F0, F1, F2 are the coefficient of fluxgate sensitivity conic section;
The temperature-compensating formula of described accelerometer zero, the temperature-compensating formula of accelerometer response are the conic section accelerometer zero recorded under condition of different temperatures and sensitivity least square method fitted to respectively; The temperature-compensating formula of Magnetic Sensor zero-bit and the temperature-compensating formula of Magnetic Sensor sensitivity are the conic section that the fluxgate zero-bit that recorded by diverse location under condition of different temperatures and sensitivity least square method fit to respectively;
Wherein demarcated by extremum method, under condition of different temperatures, record maximum value GXmax and minimum value GXmin that accelerometer exports, with following formulae discovery accelerometer zero GX0 and accelerometer response GXS:
Under condition of different temperatures, diverse location records the maximum value BXmax and minimum value BXmin that fluxgate exports, and records the magnetic induction density B a of laboratory environment with magnetometer, with following formulae discovery fluxgate zero-bit BX0 and fluxgate sensitivity BXS:
2. temperature compensation according to claim 1, is characterized in that, described temperature compensation range is between-20 DEG C ~ 175 DEG C.
3. temperature compensation according to claim 1, is characterized in that, described temperature compensation parameter is kept in the nonvolatile memory of circuit.
4. temperature compensation according to claim 1, is characterized in that, the temperature measuring point of described accelerometer zero and sensitivity comprises: 25 DEG C, 70 DEG C, 85 DEG C, 105 DEG C, 125 DEG C, 150 DEG C and 175 DEG C.
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