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Opportunistic sensor fusion algorithm for autonomous guidance while drilling

A navigation algorithm and inertial sensor technology, applied in the system field of estimating borehole trajectory, can solve the problem of lack of high-performance magnetometer

Active Publication Date: 2019-06-14
HRL LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, the system is only suitable for conventional shafts and lacks a high-performance magnetometer

Method used

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  • Opportunistic sensor fusion algorithm for autonomous guidance while drilling
  • Opportunistic sensor fusion algorithm for autonomous guidance while drilling
  • Opportunistic sensor fusion algorithm for autonomous guidance while drilling

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Embodiment Construction

[0028] The present invention relates to systems for estimating wellbore trajectories, and more particularly, to systems for estimating wellbore trajectories by combining various sensor streams. The following description is presented to enable one of ordinary skill in the art to make and use the invention, and to incorporate it in the context of a particular application. Various modifications and multiple uses for different application aspects will be apparent to those skilled in the art, and the general principles defined herein may be applied to a wide variety of aspects. Thus, the invention is not intended to be limited to the aspects presented but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0029] In the following detailed description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to those skilled in the art that t...

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Abstract

Described is a system for estimating a trajectory of a borehole. The- system processes signals of sensor streams obtained from art inertial sensor system. Using the set of processed signals, the system determines whether a drill is in a survey mode state or a continuous mode state, and a measured depth of the borehole is determined. A set of survey mode positioning algorithms is applied when the drill, is stationary. A set of continuous mode navigation algorithms is applied when the drill is non-stationary. Using at least one Kalrnan filter, results of the set of survey mode positioning algorithms and the set of continuous mode navigation algorithms are combined. An estimate of a borehole trajectory and corresponding ellipse of uncertainty (EOU) is generated using the combined results.

Description

[0001] Cross References to Related Applications [0002] This is a continuation-in-part of US Application No. 15 / 387,435, filed in the US on December 21, 2016, entitled "Gyromagnetic Geopositioning System," the entire contents of which are hereby incorporated by reference. [0003] This is also a non-provisional patent application of US Provisional Application No. 62 / 427,561, entitled "Incremental Trajectory Estimation Based on Real Time Inertial Sensing," filed in the United States on November 29, 2016, the entire contents of which are hereby incorporated by reference. [0004] This is also a non-provisional patent application of US Provisional Application No. 62 / 451,019, entitled "Opportunistic Sensor Fusion Algorithm for Autonomous Guidance While Drilling," filed in the United States on January 26, 2017, the entire contents of which are hereby incorporated by reference. technical field [0005] The present invention relates to systems for estimating borehole trajectories, a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/08G01V7/06G01R33/02G01P15/18
CPCG01C21/08G01R33/02G01R33/0286E21B44/00E21B44/005
Inventor L·D·索伦森A·V·巴比基安D·张K·S·康纳D·L·沃尔特王槊秦H·阮R·佩拉亚
Owner HRL LAB