Attitude Measurement for Drilling Tools Based on Zonotopic Kalman Filter

In the field of oil exploitation, attitude parameters of drilling tools is of great importance, whose measurement is seriously affected by vibration disturbances and gyroscope noises. This paper proposes a state estimation method with state nonlinear constraints to solve the measurement problem. Firstly, the measurement system is modeled with measurement noises and parametric uncertainties which are unknown but bounded. Meanwhile, state nonlinear constraints are linearized as the additional system output, and the linearization error delimitation is utilized. Then, the gravitational components are estimated by a Zonotopic Kalman Filter (ZKF), and the inclination and the Toolface are obtained. Finally, the availability of the ZKF -based proposed method in attitude measurement are demonstrated by the results.