METHOD FOR OBTAINING DATA AT A BOTTOM-OF-WELL LOCATION IN A WELL

Abstract

A downhole drilling system for drilling a well through an underground formation and a method for obtaining data from a downhole location. A bottom hole assembly (BHA) may be located in the well. A gravity sensor is operated to measure the local gravity of the earth with respect to the BHA in three gravity vector coordinates. A magnetic sensor is operated to measure a local magnetic field with respect to the BHA in three magnetic vector coordinates. A downhole processor may be located in the well and operated to, if the magnetic or gravity measurements are not taken in a selected orientation of the BHA, process the downhole measurements by rotating the measured gravity and measured magnetic field around the z-axis to align a gravity vector or a magnetic vector with the selected orientation of the BHA.

Description

DRILLING SYSTEM WITH DIRECTIONAL LIFT TRANSMISSION SYSTEM AND TRANSMISSION METHODS BACKGROUND

[0001] This section is intended to provide relevant background information to facilitate a better understanding of the various aspects of the described embodiments. Accordingly, these statements should be read in this sense and not as admissions of prior art.

[0002] Wells drilled into underground formations can allow the recovery of desirable fluids (e.g., hydrocarbons) using any number of different techniques. Currently, drilling operations can identify underground formations using measurements from a bottom hole assembly (BHA). A measurement assembly in the BHA can also operate and / or function to determine the position and trajectory of the BHA in a well within an underground formation. For a variety of reasons, operating companies need to know the location of their wells as they are drilled. Many of today's deviated and horizontal wells no longer simply penetrate a reservoir zone but must be navigated laterally to contact as much of the reservoir as possible.Precise well trajectory placement is necessary to optimize hydrocarbon recovery, determine the location of each well relative to the reservoir, and avoid collisions with other wells. To achieve these objectives, drillers require directional accuracy to within a fraction of a degree.

[0003] To achieve this level of accuracy, drillers use tools including accelerometers and magnetometers that detect the Earth's gravitational and magnetic fields. Directional surveys are typically static surveys taken at intervals of about 100 feet and require halting drilling operations for several minutes to obtain the survey. These are then performed at pipe connections when there is a natural pause in the drilling process. This limits the number of surveys that can be practically performed, as pauses in drilling operations extend well construction time and can cause additional practical difficulties in managing pressure. 1937894 of 18 well and other parameters. Therefore, there is a need to provide surveys while drilling that limit or eliminate the need for static surveys and can be provided much more often to help guide the well trajectory.

[0004] Surveys generally provide six measurements: three gravity vector measurements in the Cartesian coordinate directions x, y, and yz, and three magnetic vector measurements in the Cartesian coordinate directions x, y, and yz, where the z-axis of the coordinates is along or parallel to the centerline of the bottom hole assembly (BHA) in the downhole direction. The x-coordinate corresponds to the high-side mark on the BHA used to control the drilling direction. Triaxial accelerometers measure the local gravity of the earth along the three orthogonal axes. These measurements provide the inclination of the BHA axis along the wellbore, as well as the tool orientation with respect to the high side of the BHA. Similarly, triaxial magnetometers measure the strength of the earth's magnetic field along three orthogonal axes.

[0005] These six vectors are then used to calculate the dip and azimuth directions of the BHA and, therefore, the wellbore. These are qualitatively verified against predicted, modeled, or measured total field values ​​for gravity and the Earth's magnetic field, and against the magnetic field dip angle. Because the Earth's magnetic field is relatively dynamic, field references are often necessary. These references involve continuously monitoring the Earth's magnetic field to provide the best possible reference. Additionally, drilling BHAs contain magnetic materials that can interfere with measurements. Therefore, appropriate correction algorithms are employed on the surface to correct the measurements to the reference total field and dip angle.In some cases, additional corrections are made to account for buckling and other BHA behaviors to obtain accurate wellbore orientation results. This generally requires transmitting x, y, and z measurements of gravity and the magnetic field to the surface.

[0006] While drilling, the BHA is often rotating, and currently, any continuous orientation measurements are generally calculated downhole using the directional sensor. Only the resulting calculated inclination and azimuth are transmitted to the surface, providing some limited information about the quality of the measurements as they are determined downhole. Because the calculations are performed downhole, they rely on the 2 238704 1937894 of 18 information is provided at the surface before drilling begins to perform any quality checks. Because the magnetic field is dynamic, the information may be outdated by the time drilling begins. Furthermore, downhole computing resources are limited and cannot detect parameters known only at the platform surface. These include up-to-date magnetic field and inclination angle, and parameters that can affect BHA behavior, such as weight on bit, torque, etc. Therefore, it is preferable to transmit the x, y, and z measurements to the surface for processing. Generally, all six measurements are obtained and transmitted: three gravity and three magnetic.In the case of drilling systems, communication bandwidth is often limited, and the accuracy requirements for surveying necessitate the transmission of high-resolution values, which requires a significant amount of communication bandwidth. This generally results in the transmission of all six values ​​only occasionally, for example, during pipe connection or on demand, which limits the density of real-time directional measurements, especially if all six values ​​are transmitted. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The embodiments of the system and the methods of directional lift transmission are described with reference to the following figures. The same or sequentially similar numbers are used in all the figures to refer to similar features and components. The features shown in the figures are not necessarily shown to scale. Certain features of the embodiments may be shown exaggerated to scale or in a somewhat schematic form, and some details of the elements may be omitted for the sake of clarity and conciseness.

[0008] Figure 1 illustrates coordinate systems for a directional survey model;

[0009] Figure 2 illustrates a workflow for determining survey data to be transmitted; and

[0010] Figure 3 illustrates an example system used with a drilling system to avoid well collision or intersection range. DETAILED DESCRIPTION

[0011] This disclosure describes a drilling system with a directional hoist transmission system and transmission methods. The system of 3 238704 The 1937894 drilling rig includes a bottom hole assembly (BHA) that can perform directional surveys and transmit the survey results to the surface. The surveys provide six measurements: three gravity vector measurements in the Cartesian coordinate directions x, y, and yz, and three magnetic vector measurements in the Cartesian coordinate directions x, y, and yz, where the z-axis of the coordinates is along or parallel to the BHA centerline in the downhole direction. The x-coordinate corresponds to the high-side mark on the BHA used to control the drilling direction. The triaxial accelerometer measures the local gravity of the earth along three orthogonal axes. These measurements provide the inclination of the BHA axis along the wellbore, as well as the tool orientation with respect to the high-side of the BHA.Similarly, a triaxial magnetometer measures the strength of the earth's magnetic field along three axes orthogonal to the BHA.

[0012] To minimize the use of communication bandwidth between the BHA and the surface, the number of bits transmitted is reduced while preserving the information necessary for the accurate calculation of inclination, azimuth, and quality factors at the surface. As illustrated in Figure 1, the directional survey includes the values ​​Gx, Gy, and Gz, in Cartesian coordinates, for gravity measurement, and the values ​​Bx, By, and Bz, in Cartesian coordinates, for magnetic field measurement. These six values ​​are measured downhole using a gravity sensor and a magnetic sensor, respectively.However, because the BHA tilt and azimuth are generally independent of the BHA's rotational, or tool, orientation, and all six values ​​contain the tool orientation information, the amount of transmitted information can be reduced by choosing to send the information for an arbitrarily selected fixed BHA orientation. For example, by choosing a fixed high-side (gravity) tool orientation (GTF) of 0°, the six measured values ​​can be adjusted to the fixed tool orientation by rotating the measured vectors around the z-axis with respect to the 0° high-side tool orientation. This will make the By measurement zero, and it is not necessary to transmit that value, as it is always zero by design. Any other fixed tool orientation value, either high-side or magnetic, can be used for the selected BHA orientation.Alternatively, the measurements can be adjusted to the magnetic tool orientation (MTF) of 0°, which makes the By component always fixed at 0 and, in the same way, does not transmit the known value. 238704 1937894 of 18 Either of these methods will decrease the transmission from six values ​​to five values, reducing the bandwidth requirement to approximately 1 / 6 of the original value (17%). The orientation of the fixed tool need not be specified; if it is known, then it will not be necessary to transmit one of the X and Y components.

[0013] As an example, when calculating the downhole gravity tool orientation (GTF) by using a downhole processor, the xy-axis and y-axis measurements can then be rotated to obtain a new set of Gx', Gy', Bx', and By' measurements rotated as follows: ÍGJ _ eos (GTE) “ -sin(GTF) sin(GTF)1 ΓόΛeos (GTE). Eq. 1 and B' _ ' eos (GTF) -sin(GFF) sin(GTF)) |Aeos (GTE). B. Eq. 2 Therefore, by definition of GTF, the Gy' component is zero within a predefined accuracy and does not need to be transmitted to the surface, reducing the set of measurements to be transmitted to five values: Gx', Gz, Bx', By', and Bz. A surface processor on the receiving surface can add the missing Gy' value, since it is predefined to be zero, to complete the measurements to a total of six.

[0014] As an alternative example, when calculating the downhole magnetic tool (MTF) orientation by using a downhole processor, the xy-axis measurements and y-axis measurements can then be rotated to obtain a new set of Gx', Gy', Bx', and By' measurements rotated as follows: Lg'J cos(AÍTF) sin(MTF)l [G^ - sin(AfTF) cosíMTfJ ' l_Gy. Eq. 3 and B' _ ' cos(AÍTF) “ sin(AfTF) sin(MTF)l |Acos(AfTF)J ' Eq. 4 Therefore, by definition of GTF, the By' component is zero within a predefined accuracy and does not need to be transmitted, reducing the set to five values: Gx', Gy', Gz, Bx', and Bz. A surface processor on the receiving surface that transmits the data can add the missing By' value, since it is predefined to be zero, to complete the measurements to a total of six. 238704 1937894 of 18

[0015] In the case of a rotating BHA, such as while drilling a well, the GTF and MTF are constantly changing, so measurements can be continuously adjusted to the orientation of the selected tool (either gravity or magnetic) or can be selected so that the GTF or MTF, at the time of measurement, is 0. Multiples of such adjusted measurements can be averaged or filtered. For example, a simple average can be used: g;=g¿ = z27=1g;é, g;= ¿·ς^ ec.5= b' = ±·Σ=1^ Eq. 6 If the measurements are adjusted for MTF=0, then By' = 0 and averaging is not necessary. Conversely, if the samples are adjusted for GTF=0, then Gy' = 0 and averaging is not necessary.

[0016] Alternatively, one can calculate a Goxy, Boxyy φ = GTF-MTF and then, by choosing GTF = 0° (or any other predefined value), or by choosing MTF = 0° (or any other predefined value), the same five values ​​can be obtained for calculating the inclination and azimuth, either downhole or surface. For GTF = 0°: G^G^G^O Eq. 7 So: _ Γ cos(p) sin((p)l _ Γ^ / L-sin(^) cos(^)J lAy. Ecclesiastes 8 Where: Bx = Boxy and By = 0. Then, Bx' = Boxycos((p) and By' = Boxysin(cp). The set of five adjusted measurements can then be transmitted to the surface.

[0017] When surveys are transmitted frequently, the set of five values ​​may be followed by the differences in value from the five transmitted values. Because changes in inclination and azimuth are relatively slow, the differences in value may have a limited range, further decreasing the telemetry bandwidth requirements for the surveys. For example, if a 14-bit resolution is assumed for the surveys, then the full 14-bit resolution set of five values ​​is followed by an 8-bit set of five values ​​containing only the differences in value of the new survey compared to the previously transmitted 14-bit survey. The 8-bit resolution of the differences in value may be the same as 14 bits, but then the range of differences will be limited. However, if 238704 If, in case 1937894 of 18, the differences in value between a previous 14-bit survey and a new survey exceed the 8-bit delta value range, a new set of 14-bit values ​​can be transmitted, followed again by the differences in value from the new 14-bit survey. Alternatively, a new set of 14-bit values ​​can be transmitted after a specified time period, a break in transmission, or any other selected condition. In these examples, the choices of 14-bit and 8-bit are arbitrary and may differ depending on the telemetry, resolution, and range requirements.

[0018] To ensure the integrity and synchronization of full-range surveys with limited-range survey deltas, it may be necessary for the transmitted values ​​to contain a sequence / identification number, as well as other status or error indicators. This enables the efficient transmission of gravity and magnetic field measurements for wellbore or drill string orientation. Since the measured components are transmitted, any corrections due to drill string interference, magnetic modeling, field referencing, and the like can be performed at the surface using existing standard methods. In the case of frequent directional survey measurements, this method allows for higher frequency transmission of the measured field components for the same telemetry bandwidth.

[0019] The example sequence is shown graphically in Figure 2, where in step 200, a survey is obtained using gravity and magnetic sensors. The measurements are then processed to obtain the five measurement vectors to be transmitted to the surface in step 202. If the survey is taken after a pump in the condition indicating the restart of operations after a connection, the full range of the survey is transmitted. Otherwise, in step 204, the downhole processor determines whether a full-range, five-value survey has been transmitted to the surface recently, for example, within the last 10 minutes, in step 204. If it has not, the full-range, five-value survey from step 202 is transmitted to the surface in step 206.The downhole processor then calculates the value differences between the current full-range lift and the previous full-range lift at stage 208. The processor then determines if the value differences are greater than the value differences of the limited-range lift at stage 210. If not, then the limited-range lift value differences are 7 238704. 1937894 of 18 are transmitted to the surface at stage 212. If this was done, then the full-range five-value survey from stage 202 is transmitted to the surface at stage 206. Occasionally, after transmitting the full-range five-value survey at stage 206 or the value differences from the limited-range survey at 212, the process is repeated at stage 200 when obtaining another survey.

[0020] Figure 3 illustrates an example of a drilling system 100 for transmitting directional lift to a surface 108. As illustrated, a drilled well 102 may extend from a wellhead 104 into and through a subsurface formation 106 from the surface 108. In general, the drilled well 102 may include horizontal, vertical, inclined, curved, and other types of well geometry and orientations. For example, although Figure 3 illustrates a vertical or low-angle well, a high-angle or horizontal well and equipment location is also possible. The well 102 may be cased or uncased. In some examples, the well 102 may include a metallic member. For example, the metallic member may be casing, short casing, tubing, or other elongated steel tubular disposed in the well 102.

[0021] It should also be noted that, although Figure 3 generally represents onshore operations, people of mid-level skill may recognize that the principles described herein are equally applicable to subsea operations employing drilling rigs and floating or offshore platforms, without departing from the scope of disclosure.

[0022] As illustrated, a drilling rig 110 can support a derrick 112 having a movable block 114 for raising and lowering a drill string 116. The drill string 116 may include, but is not limited to, drill pipe and coiled tubing, generally known to persons of the middle-level trade. A drill stem 118 can support the drill string 116 as it can be lowered via a rotary table 120. A drill bit 122 can be attached to the distal end of the drill string 116 and can be driven by a downhole motor and / or by rotating the drill string 116 from the surface 108. Without limitation, the drill bit 122 can include rotary cone bits, PDC bits, natural diamond bits, any type of hole openers, grinders, core bits, and the like.As the drill bit 122 rotates, it can create and extend the well 102 that penetrates various underground formations 106. A pump 124 can circulate the drilling fluid through a feed pipe 126, through 8 238704. 1937894 of 18 of the drill stem 118, to the bottom of the well through the inside of the drill string 116, through holes in the drill bit 122, back to the surface 108 through a ring 128 surrounding the drill string 116, and to a holding pool 132.

[0023] Drill string 116 may start at wellhead 104 and may pass through well 102. Drill barrier 122 may be attached to a distal end of drill string 116 and may be driven, for example, by a downhole motor and / or by rotating drill string 116 from the surface 108. Drill bit 122 may be part of bottom hole assembly (BHA) 130 at a distal end of drill string 116. It is worth noting that BHA 130 may also be referred to as a downhole tool. In addition, BHA 130 may include tools for anticipatory resistivity applications. As those of a mid-level trade will appreciate, BHA 130 may be a measurement-while-drilling (MWD) or logging-while-drilling (LWD) system.The BHA 130 can also include directional drilling and measuring equipment, such as a rotating steerable system for pushing the drill bit or pointing the drill bit, for example.

[0024] Without limitation, BHA 130 may be connected to and / or controlled by an information processing system 138, which may be disposed at the surface 108. The information processing system 138 may communicate with BHA 130 via a communication line (not illustrated) disposed in (or on) the drill string 116. In some examples, wireless communication may be used to transmit information to and from between the information processing system 138 and BHA 130. The information processing system 138 may transmit information to BHA 130 and may also receive and process information recorded by BHA 130. In some examples, a downhole information processing system (not illustrated) may include, among other things, a microprocessor or other suitable circuitry for estimating, receiving, and processing signals from BHA 130.The downhole data processing system (not illustrated) may also include additional components, such as memory, input / output devices, interfaces, and the like. For example, although not illustrated, the BHA 130 may include one or more additional components, such as an analog-to-digital converter, filter, and amplifier, among others, which can be used to process measurements from the BHA 130 before they can be transmitted to the surface 108 using a transmission system that may be part of the BHA 130. Alternatively, 9 238704. 1937894 of 18 raw measurements from BHA 130 can be transmitted to surface 108 using the transmission system.

[0025] Any suitable technique may be used to transmit signals from BHA 130 to surface 108, including, but not limited to, wireline pipe telemetry, mud pulse telemetry, acoustic telemetry, and electromagnetic telemetry. Although not separately illustrated, BHA 130 may include the transmission system capable of transmitting telemetry data to surface 108. At surface 108, pressure transducers (not shown) may convert the pressure signal into electrical signals for a digitizer (not illustrated). Other sensors at the surface may also be used to receive data transmitted from downhole. The digitizer may provide a digital form of the telemetry signals to the information processing system 138 via a communication link 140, which may be either wired or wireless.Then, the telemetry data can be analyzed and processed by the information processing system 138.

[0026] As illustrated, a communication link 140 (which may be wired or wireless, for example) can be provided that can transmit data from the BHA 130 to the information processing system 138 at the surface 108. The information processing system 138 may also include a personal computer 141, a video display 142, a keyboard 144 (i.e., other input devices), and / or non-transient computer-readable media 146 (e.g., optical disks, magnetic disks) that can store code representative of the methods described herein. In addition, or instead of processing at the surface 108, processing may take place downhole.

[0027] The information processing system 138 can be used to perform methods for determining the properties of the BHA 130 and the wellbore. The information can be used to produce an image, which can be generated in a two-dimensional or three-dimensional model of the underground formation 106. These models can be used for well planning (e.g., to design a desired trajectory for well 102). Additionally, they can be used to plan the location of drilling systems within a defined area. This can enable more efficient drilling operations to reach a subsurface structure. During drilling operations, measurements taken with the surface tracking system 100 can be used to adjust the geometry of well 102 or to rotate the 238704 1937894 of 18 drilling system 101, in real time to reach or avoid a non-geological target, such as another well.

[0028] As an example, BHA 130 may comprise any number of tools, transmitters, and / or receivers for performing downhole measurements. For example, BHA 130 may include a measurement assembly 134. It should be noted that measurement assembly 134 may constitute at least a part of BHA 130. Without limitation, any number of different and / or similar measurement systems, communication or transmission systems, and battery systems may form BHA 130 with measurement assembly 134. Additionally, measurement assembly 134 may form BHA 130 by itself.

[0029] In examples, the measurement assembly 134 may comprise at least one gravity sensor and at least one magnetic sensor for performing directional surveys as discussed above. The gravity sensor measures gravity gradients of the subsurface formation 106, which can be used to determine the inclination and azimuth of the BHA 130 and, therefore, the trajectory of the borehole 102 being drilled. The data measured by the gravity sensor can then be transmitted to the surface using a transmission system that is part of the BHA 130 and communicated to the information processing system 138 via the communication link 140, which can be either wired or wireless. The transmitted data can include reduced data sets of five values, the difference between a current survey and a previous survey, or the differences in survey values ​​within a limited range.The data can then be processed by the information processing system 138 to determine the inclination and azimuth of BHA 130 and the trajectory of the well being drilled 102. This information can then be used to send control commands back to the downhole relative to BHA 130 to adjust the trajectory of well 102 by adjusting the trajectory of BHA 130.

[0030] Systems and methods can also be used to avoid a non-geological target, such as another previously drilled well. For example, as shown in Figure 3, a second well 150 extends through formation 106. By knowing the inclination and azimuth of well 102, the trajectory of BHA 130 can be controlled in a manner that can be used for geosteering applications in directional drilling to avoid crossing the second well 150. For example, commands can be transmitted to the downhole to maintain drill bit 122 on its current trajectory or to steer it in a different direction. Thus, 11 238704 1937894 of 18 information processing system 138 can control the trajectory of BHA 130 and therefore well 102 to avoid the second well 150 by using the steering capabilities of BHA 130.

[0031] Examples of disclosure include the following:

[0032] Example 1. A method for obtaining data at a downhole location, comprising measuring the local gravity of the earth with respect to a bottomhole assembly (BHA) at the downhole location in three gravity vector coordinates by using a downhole gravity sensor, wherein a gravity z-axis vector is parallel to the centerline of the BHA in the downhole direction. The example method also comprises measuring the local magnetic field of the earth with respect to the BHA in three magnetic vector coordinates by using a downhole magnetic sensor, wherein a magnetic field z-axis vector is parallel to the centerline of the BHA in the downhole direction.If measurements are not taken in a selected orientation of the BHA, the measurements are processed downhole by using a downhole processor by rotating the measured gravity and measured magnetic field around the z-axis to align a gravity vector or a magnetic vector with the selected orientation of the BHA.

[0033] Example 2. The method according to Example 1, further comprising transmitting the non-aligned gravity vectors and the non-aligned magnetic vectors to the surface by using a transmission system without transmitting the aligned gravity vector or the aligned magnetic vector.

[0034] Example 3. The method according to Example 2, further comprising calculating continuous downhole BHA orientation measurements with a surface processor by using data transmitted with the transmission system and the selected BHA orientation to determine the BHA inclination and azimuth.

[0035] Example 4. The method according to Example 1, further comprising taking and processing multiple magnetic and gravity measurements and averaging the processed measurements by using the downhole processor.

[0036] Example 5. The method according to Example 4, further comprising transmitting the averaged non-aligned gravity vectors and the averaged non-aligned magnetic vectors to the surface without transmitting the aligned gravity vector or the aligned magnetic vector. 238704 1937894 of 18

[0037] Example 6. The method according to Example 1, further comprising taking measurements while drilling a well through an underground formation.

[0038] Example 7. The method according to Example 3, further comprising taking the measurements while the sensors are rotating about the z-axis.

[0039] Example 8. The method according to Example 1, wherein the selected BHA orientation is either a gravity tool orientation or a magnetic tool orientation.

[0040] Example 9. The method according to Example 1, further comprising taking and processing multiple magnetic and gravity measurements and averaging the processed measurements by using the downhole processor.

[0041] Example 10. The method according to Example 1, further comprising taking and processing additional magnetic and gravity measurements; determining the differences in value between two different measurements; if the differences in value are outside a range of differences, transmitting the non-aligned gravity vectors and the non-aligned magnetic vectors of one of the measurements to the surface by using the transmission system without transmitting the aligned gravity vector or the aligned magnetic vector; and if the differences in value are within a range of differences, transmitting only the differences in value between the two distinct measurements to the surface by using a transmission system.

[0042] Example 11. A downhole drilling system for drilling a well through an underground formation, comprising: a bottom hole assembly (BHA) that can be placed in the well; a gravity sensor that can be operated to measure the local gravity of the earth with respect to the BHA in the underground formation in three gravity vector coordinates, wherein a gravity z-axis vector is parallel to the centerline of the BHA in the downhole direction; a magnetic sensor that can be operated to measure a local magnetic field with respect to the BHA in the underground formation in three magnetic vector coordinates, wherein a magnetic field z-axis vector is parallel to the centerline of the BHA in the downhole direction;and a downhole processor that can be located in the well and operated to, if magnetic or gravity measurements are not taken in a selected orientation of the BHA, process the downhole measurements by rotating the measured gravity and measured magnetic field around the z-axis to align a gravity vector or a magnetic vector with the selected orientation of the BHA. 238704 1937894 of 18

[0043] Example 12. The system according to Example 11, further comprising a transmission system that can be operated to transmit the non-aligned gravity vectors and the non-aligned magnetic vectors to the surface by using a transmission system without transmitting the aligned gravity vector or the aligned magnetic vector.

[0044] Example 13. The system according to Example 12, further comprising a surface processor located at the surface and capable of being operated to calculate continuous downhole BHA orientation measurements by using data transmitted with the transmission system and the selected orientation of the BHA to determine the inclination and azimuth of the BHA.

[0045] Example 14. The system according to Example 11, wherein the gravity sensor and the magnetic sensor can be operated to perform multiple measurements and the downhole processor can be operated to process multiple magnetic and gravity measurements and average the processed measurements.

[0046] Example 15. The system according to Example 14, further comprising a transmission system that can be operated to transmit the averaged non-aligned gravity vectors and the averaged non-aligned magnetic vectors to the surface without transmitting the aligned gravity vector or the aligned magnetic vector.

[0047] Example 16. The system according to Example 11, wherein the gravity sensor and the magnetic sensor can be operated in addition to taking measurements while drilling the well through an underground formation.

[0048] Example 17. The system according to Example 11, wherein the gravity sensor and the magnetic sensor can be operated in addition to taking measurements while the sensors rotate about the z-axis.

[0049] Example 18. The system according to Example 11, wherein the selected BHA orientation is either a gravity tool orientation or a magnetic tool orientation.

[0050] Example 19. A method for drilling a well through an underground formation, comprising: drilling the well using a drill bit that is part of a bottom hole assembly (BHA); measuring the local gravity of the earth with respect to the BHA in three gravity vector coordinates using a gravity sensor at the bottom of the well, wherein a gravity z-axis vector is parallel to the centerline of the BHA in the bottom-hole direction. 1937894 of 18 well; measure the local magnetic field of the earth with respect to the BHA at three magnetic vector coordinates by using a downhole magnetic sensor, wherein a magnetic field z-axis vector is parallel to the BHA center axis in the downhole direction; if measurements are not taken at a selected BHA orientation, process the downhole measurements by using a downhole processor by rotating the measured gravity and measured magnetic field around the z-axis to align a gravity vector or a magnetic vector with the selected BHA orientation; transmit the misaligned gravity vectors and misaligned magnetic vectors to the surface by using a transmission system without transmitting the aligned gravity vector or the aligned magnetic vector;Calculate continuous downhole BHA orientation measurements with a surface processor at the surface by using data transmitted with the transmission system and the selected BHA orientation to determine the BHA inclination and azimuth; and transmit commands from the surface processor to the BHA to steer the BHA and drill the well further.

[0051] Example 20. The method according to Example 19, further comprising processing the downhole measurements by rotating the measured gravity and measured magnetic field about the z-axis to align both the gravity vectors and the magnetic vectors with the selected orientation of the BHA.

[0052] Example 21. The method in accordance with Example 19, which further comprises taking measurements while drilling a well through an underground formation.

[0053] Example 22. The method according to Example 19, which further comprises taking measurements while the sensors are rotating.

[0054] Certain terms are used throughout the description and claims to refer to particular features or components. As someone of average skill will appreciate, different people may refer to the same feature or component by different names. This document does not purport to distinguish between components or features that differ in name but not in function.

[0055] For the preceding embodiments and examples, a non-transient, computer-readable medium may comprise instructions stored therein, which, when executed by a machine, cause the machine to perform operations, wherein the operations comprise one or more features similar or identical to the features of the methods and techniques described above. The structures 15 238704 1937894 of 18 physical instructions such as these can be executed by one or more processors. A system for implementing the described algorithm may also include an electronic device and a communications unit. The system may also include a bus, where the bus provides electrical conductivity between the system components. The bus may include an address bus, a data bus, and a control bus, each configured independently. The bus may also use common conductor lines to provide one or more address, data, or control lines, the use of which may be regulated by one or more processors. The bus may be configured so that the system components can be distributed. The bus may also be arranged as part of a communication network that allows communication with control sites located remotely from the system.

[0056] In various embodiments of the system, peripheral devices such as displays, additional storage memory, and / or other control devices are included, which can operate in conjunction with one or more processors and / or memory modules. The peripheral devices can be arranged to operate in conjunction with the display units, with instructions stored in the memory module to implement the user interface for managing the display of anomalies. Such a user interface can be operated in conjunction with the communications unit and the bus. Various system components can be integrated in such a way that processing identical or similar to the processing schemes analyzed can be carried out with respect to various embodiments herein.

[0057] Although compositions and methods are described herein in terms of “comprising” various components or steps, compositions and methods may also “consist essentially of” or “consist of” the various components and steps.

[0058] Unless otherwise stated, all numbers expressing quantities of ingredients, properties such as molecular weight, reaction conditions, etc., used in this specification and associated claims shall be understood to be modified in all cases by the expression “around”. Accordingly, unless otherwise stated, the numerical parameters set forth in the specification below and accompanying claims are approximations and may vary depending on the desired properties sought to be obtained by the embodiments of the present invention. At a minimum, and not as an attempt to limit the application of the doctrine of 16 238704 1937894 of 18 equivalent to the scope of the claim, each numerical parameter must be interpreted at least in light of the number of significant digits reported and by applying customary rounding techniques accepted by people of average skill.

[0059] The disclosed embodiments should not be construed or otherwise used as limiting the scope of the disclosure, including the claims. It should be fully recognized that the different teachings of the embodiments discussed may be employed separately or in any combination suitable for producing the desired results. Furthermore, a person of average skill will understand that the description has broad application, and the discussion of any embodiment is intended to be only one example of that embodiment and is not intended to suggest that the scope of the disclosure, including the claims, is limited to that embodiment. 238704 1937894 of 18 20225952036 CRISTIAN DANIEL BITTEL - 20225952036 Digitally signed by PORTALTRAMITES - INPI Date: 2022.08.30 15:58:20 -03:00 Reason: Digitally Signed by the INPI Location: Buenos Aires, Argentina 1937894

Claims

1. A method for obtaining data at a downhole location in a well, characterized in that it comprises: performing multiple surveys, wherein each survey comprises: taking a gravity measurement of the local gravity of the earth with respect to a bottom hole assembly (BHA) at the downhole location in three gravity vector coordinates by using a gravity sensor in the downhole, wherein a gravity z-axis vector is parallel to a center axis of the BHA in a downhole direction; and taking a magnetic field measurement of the local magnetic field of the earth with respect to the BHA in three magnetic vector coordinates by using a downhole magnetic sensor, wherein a magnetic field z-axis vector is parallel to the center axis of the BHA in the downhole direction;and if the measurements are not taken in a selected orientation of the BHA, process the downhole surveys using a downhole processor by: rotating the gravity vectors and magnetic vectors of each survey around the z-axis to align a chosen gravity or magnetic vector with the selected orientation of the BHA, so that each survey is aligned with the selected orientation; and averaging the vectors of the aligned surveys by measurement and by axis. Seven claims follow;