基于MGMA的随钻陀螺仪误差在线补偿

针对随钻测量MEMS陀螺仪输出精度低的问题，提出一种基于磁 重力蜉蝣算法(MGMA)的陀螺误差在线补偿方法。首先，分析随钻陀螺误差来源并推导出误差补偿模型；其次，利用MEMS加速度计无累积误差的特点，根据重力向量叉乘得到向量夹角作为目标函数；此外，考虑到实际钻进时强振动和冲击对加速度计输出的不利影响，利用MEMS磁强计抗振的特点，设计磁模值相对误差约束条件。然后，在MA基础上，针对随钻恶劣环境影响下的陀螺误差参数不断变化问题，根据陀螺和磁强计输出之间的关系自适应确定搜索上下界；并利用重力模值相对误差设计惯性权重，平衡算法的全局探索和局部开发能力；最后，利用磁 重力模值相对误差在子代中引入变异扰动策略，减小陷入局部最优的可能。实验结果表明，经MGMA补偿后的陀螺输出误差明显减小，井斜角误差由9.75°降低至1.52°，且相比于PSO和MA算法具有速度快、精度高的优势。

Online error compensation of gyroscope while drilling based on MGMA

To solve the problem of low output accuracy of MEMS gyro in MWD, an online gyro error compensation method based on magnetic-gravity ephemera algorithm (MGMA) is proposed. Firstly, the error source of GYRO while drilling is analyzed and the error compensation model is derived. Secondly, the objective function of MEMS accelerometer is obtained by using the cross product of gravity vector. In addition, considering the adverse effects of strong vibration and impact on the accelerometer during drilling, the relative error constraint of the magnetic mode value is designed based on the strong anti-vibration ability of MEMS magnetometer. Then, on the basis of MA, the search upper and lower bounds are determined adaptively according to the relationship between the gyro and the magnetometer output, aiming at the constant change of gyro error parameters under the influence of harsh environment while drilling. The relative error of gravity mode value is used to design the inertia weight and balance the global exploration and local development ability of the algorithm. Finally, according to the relative error of the magnetic-gravity mode value, the variation perturbation strategy is introduced in the children to reduce the possibility of falling into the local optimal. The experimental results show that the gyro error after MGMA compensation is obviously reduced, and the well inclination error is reduced from 9.75° to 1.52°, and compared with PSO and MA algorithm, it has the advantages of fast speed and high precision.