Design of Attitude Solving System for Rotary Steerabled Drilling Tools Based on Kalman Filter

In the process of rotary steerable drilling, the attitude measurement parameters are inaccurate due to the strong vibration and other interference caused by the bit-cutting rock stratum. The attitude measurement approach based on Kalman filter is proposed to eliminate the impact of noise on measurement accuracy. In this paper, the attitude measurement model based on the Euler angle is established to research the relationship between the motion state of the steerable drilling tool and the vibration acceleration. The Kalman filter method is used to filter out the interference signal, and then the attitude parameters of the steerable drilling tool are calculated. Through simulation calculation and accurate drilling data test, the results show that the proposed system can effectively reduce the calculation error of inclination and tool face angle, and can obtain downhole attitude parameters in real-time, which provides convenient conditions for obtaining the operation status of steerable drilling tool and drawing engineering parameter curves.