Study on directional logging attitude measurement with gyroscope

In the field of oil directional logging measurement, aiming at the problem that traditional fluxgate magnetometer can´t make measurement effectively in interference magnetic field or nonmagnetic environment, a type of real-time and all-attitude well-hole trajectory continuous inclinometer based on inertial measurement technology is developed. This system uses a fiber optic gyro and a MEMS accelerometer. Aiming at the problem that the openly published azimuth resolving mathematical model has some flaws, a mathematical model of azimuth angle is deduced based on combining space coordinates transformation and algebraic equation. In addition, the software and hardware implementation scheme, the workflow of the inclinometer and trajectory measurement algorithm are given in this paper. The result shows this scheme can obtain accurate and stable values of azimuth angle and tilt angle; the former precision is superior to 2° and the latter precision is superior to 0.3° .