Opportunistic sensor fusion algorithm for autonomous guidance while drilling
Described is a system for estimating a trajectory of a borehole. The system processes signals of sensor streams obtained from an 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 Kalman 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.
1. A system for estimating a trajectory of a borehole for drilling, the system comprising:
an inertial sensor system; and
one or more processors and a non-transitory computer-readable medium having executable instructions encoded thereon such that when executed, the one or more processors perform operations of:
processing signals of sensor streams obtained from the inertial sensor system, resulting in a set of processed signals;
using the set of processed signals, determining whether a drill is in a survey mode state or a continuous mode state;
using the set of processed signals, determining a measured depth of the borehole;
applying a set of survey mode positioning algorithms to the set of processed signals when the drill is stationary;
applying a set of continuous mode navigation algorithms to the set of processed signals when the drill is non-stationary;
using at least one Kalman filter, combining results of the set of survey mode positioning algorithms and the set of continuous mode navigation algorithms; and
generating an estimate of a borehole trajectory and corresponding ellipse of uncertainty (IOU) using the combined results.
2. The system as set forth in claim 1 , further comprising an environmental sensor system, wherein the one or more processors further perform an operation of processing signals of sensor streams obtained from the environmental sensor system.
3. The system as set forth in claim 1 , wherein the one or more processors further perform operations of:
combining the set of survey mode positioning algorithms for estimating a first borehole trajectory and EOU using a survey mode Kalman filter;
combining the set of continuous mode navigation algorithms for estimating a second borehole trajectory and EOU using a continuous mode Kalman filter, and
combining the first borehole trajectory and EOU and the second borehole trajectory and EOU into a final borehole trajectory and EOU.
4. The system as set forth in claim 1 , wherein the inertial sensor system comprises at least three axes of microelectromechanical systems (MEMS) gyroscopes, at least three axes of MEMS accelerometers, and at least three axes of magnetometers.
5. The system as set forth in claim 2 , wherein the environmental sensor system comprises at least three axes of microelectromechanical systems (MEMS) gyroscopes, at least three axes of MEMS accelerometers, a drilling fluid pressure transducer, and a drilling fluid temperature sensor.
6. The system as set forth in claim 1 , wherein the set of survey mode positioning algorithms comprises a gyromagnetic geopositioning algorithm, a magnetic compass surveying algorithm, and a gyrocompass surveying algorithm.
7. The system as set forth in claim 1 , wherein the set of continuous mode navigation algorithms comprises a magnetometer-based incremental trajectory estimation algorithm, a groscope-based incremental trajectory estimation algorithm, and an open-loop inertial navigation system algorithm.
8. A computer implemented method for estimating a trajectory of a borehole for drilling, comprising an act of causing one or more processors to execute instructions stored on a non-transitory memory such that upon execution, the one or more processors perform operations of:
processing signals of sensor streams obtained from an inertial sensor system, resulting in a set of processed signals;
using the set of processed signals, determining whether a drill is in a survey mode state or a continuous mode state;
using the set of processed signals, determining a measured depth of the borehole;
applying a set of survey mode positioning algorithms to the set of processed signals when the drill is stationary;
applying a set of continuous mode navigation algorithms to the set of processed signals when the drill is non-stationary;
using at least one Kalman filter, combining results of the set of survey mode positioning algorithms and the set of continuous mode navigation algorithms; and
generating an estimate of a borehole trajectory and corresponding ellipse of uncertainty (IOU) using the combined results.
9. The method as set forth in claim 8 , wherein the one or more processors further perform an operation of processing signals of sensor streams obtained from an environmental sensor system.
10. The method as set forth in claim 8 , wherein the one or more processors further perform operations of:
combining the set of survey mode positioning algorithms for estimating a first borehole trajectory and EOU using a survey mode Kalman filter;
combining the set of continuous mode navigation algorithms for estimating a second borehole trajectory and EOU using a continuous mode Kalman filter; and
combining the first borehole trajectory and EOU and the second borehole trajectory and EOU into a final borehole trajectory and EOU.
11. The method as set forth in claim 8 , wherein the inertial sensor system comprises at least three axes of microelectromechanical systems (MEMS) gyroscopes, at least three axes of MEMS accelerometers, and at least three axes of magnetometers.
12. The method as set forth in claim 9 , wherein the environmental sensor system comprises at least three axes of microelectromechanical systems (MEMS) gyroscopes, at least three axes of MEMS accelerometers, a drilling fluid pressure transducer, and a drilling fluid temperature sensor.
13. The method as set forth in claim 9 , wherein the set of survey mode positioning algorithms comprises a gyromagnetic geopositioning algorithm, a magnetic compass surveying algorithm, and a gyrocompass surveying algorithm.
14. The method as set forth in claim 9 , wherein the set of continuous mode navigation algorithms comprises a magnetometer-based incremental trajectory estimation algorithm, a gyroscope-based incremental trajectory estimation algorithm, and an open-loop inertial navigation system algorithm.
15. A computer program product for estimating a trajectory of a borehole for drilling, the computer program product comprising:
computer-readable instructions stored on a non-transitory computer-readable medium that are executable by a computer having one or more processors for causing the processor to perform operations of:
processing signals of sensor streams obtained from an inertial sensor system, resulting in a set of processed signals;
using the set of processed signals, determining whether a drill is in a survey mode state or a continuous mode state;
using the set of processed signals, determining a measured depth of the borehole;
applying a set of survey mode positioning algorithms to the set of processed signals when the drill is stationary;
applying a set of continuous mode navigation algorithms to the set of processed signals when the drill is non-stationary;
using at least one Kalman filter, combining results of the set of survey mode positioning algorithms and the set of continuous mode navigation algorithms; and
generating an estimate of a borehole trajectory and corresponding ellipse of uncertainty (EMI using the combined results.
16. The computer program product as set forth in claim 15 , further comprising instructions for causing the one or more processors to further perform an operation of processing signals of sensor streams obtained from an environmental sensor system.
17. The computer program product as set forth in claim 15 , further comprising instructions for causing the one or more processors to further perform operations of:
combining the set of survey mode positioning algorithms for estimating a first borehole trajectory and EOU using a survey mode Kalman filter;
combining the set of continuous mode navigation algorithms for estimating a second borehole trajectory and EOU using a continuous mode Kalman filter; and
combining the first borehole trajectory and EOU and the second borehole trajectory and EOU into a final borehole trajectory and EOU.
18. The computer program product as set forth in claim 15 , wherein the inertial sensor system comprises at least three axes of microelectromechanical systems (MEMS) gyroscopes, at least three axes of MEMS accelerometers, and at least three axes of magnetometers.
19. The computer program product as set forth in claim 16 , wherein the environmental sensor system comprises at least three axes of microelectromechanical systems (MEMS) gyroscopes, at least three axes of MEMS accelerometers, a drilling fluid pressure transducer, and a drilling fluid temperature sensor.
20. The computer program product as set forth in claim 13 , wherein the set of survey, mode positioning algorithms comprises a gyromagnetic geopositioning algorithm, a magnetic compass surveying algorithm, and a gyrocompass surveying algorithm.
21. The computer program product as set forth in claim 13 , wherein the set of continuous mode navigation algorithms comprises a magnetometer-based incremental trajectory estimation algorithm, a gyroscope-based incremental trajectory estimation algorithm, and an open-loop inertial navigation system algorithm.
22. The system as set forth in claim 1 , wherein the estimated borehole trajectory and corresponding EOU are used to locate one of an oil reserve and a gas reserve.