Systems and methods for azimuth determination while drilling
A survey tool includes a gyroscope and an accelerometer. The gyroscope can include a multi-axis gyroscope, a reciprocating gyroscope, or a combination thereof. The survey tool is independently rotatable relative to an outer housing and collects gyroscopic measurements and accelerometer measurements during drilling activities. Using the gyroscopic measurements and the accelerometer measurements, the survey tool calculates earth rate components of the rotation of the earth. Using the earth rate components, the survey tool determines the azimuth of the downhole tool.
1. A method for performing a downhole survey, comprising:
rotating a downhole tool;
stabilizing a survey package relative to the rotating downhole tool;
receiving gyroscopic measurements from the survey package, wherein the gyroscopic measurements include x-axis gyroscopic measurements, y-axis gyroscopic measurements, and z-axis gyroscopic measurements;
receiving accelerometer measurements from the survey package;
while rotating the downhole tool, determining a y-axis earth rate rotational component in a direction corresponding to a y-axis of the downhole tool from the y-axis gyroscopic measurements, the z-axis gyroscopic measurements, and a toolface angle of the downhole tool;
while rotating the downhole tool, determining an x-axis earth rate rotational component in a direction corresponding to an x-axis of the downhole tool from the x-axis gyroscopic measurements and the toolface angle of the downhole tool;
based on the y-axis earth rate rotational component and the x-axis earth rate rotational component, determining a tool azimuth of the downhole tool while the downhole tool is rotating; and
adjusting a trajectory of the downhole tool using the tool azimuth.
2. The method of claim 1 , further comprising adjusting at least one drilling parameter based on the tool azimuth.
3. The method of claim 1 , further comprising correcting the gyroscopic measurements for misalignment of the survey package.
4. The method of claim 1 , wherein the downhole tool includes an outer housing and an independently rotatable member, and wherein the survey package is located on the independently rotatable member, the method further comprising:
rotating the survey package relative to an external reference at a different rate than the downhole tool while the survey package collects the gyroscopic measurements and the accelerometer measurements.
5. The method of claim 1 , wherein the survey package is located on a rotary steerable system or is communicatively coupled to the rotary steerable system.
6. The method of claim 1 , wherein the x-axis earth rate rotational component is determined from x-axis gyroscope measurements in a first direction and flipped x-axis gyroscope measurements in a second direction.
7. The method of claim 1 , wherein the y-axis earth rate component is determined over a range of tool face angles from y-axis gyroscope measurements and z-axis gyroscope measurements over the range of tool face angles.
8. The method of claim 1 , wherein the y-axis earth rate component is based on a change in inclination of the downhole tool over time, wherein the change in inclination of the downhole tool over time is determined from the accelerometer measurements.
9. The method of claim 1 , wherein the y-axis earth rate rotational component is determined from a first relationship between the y-axis gyroscopic measurements and tool face angle and a second relationship between the z-axis gyroscopic measurements and tool face angle.
10. The method of claim 9 , wherein the first relationship is of the form:
{circumflex over (ω)} yi =W y cos(Ø i )+ W z sin(Ø i )+ b y ,
wherein {circumflex over (ω)} yi is the y-axis gyroscopic measurements, W y is an uncompensated y-axis earth rate rotational component, W z is a z-axis earth rate rotational component, Ø i is the tool face angle, and by is a y-axis misalignment bias.
11. The method of claim 10 , wherein the second relationship is of the form:
{circumflex over (ω)} zi =W y sin(Ø i )+ W z cos(Ø i )+ b z ,
wherein {circumflex over (ω)} zi is the z-axis gyroscopic measurements, W y is an uncompensated y-axis earth rate rotational component, W z is a z-axis earth rate rotational component, Ø i is the tool face angle, and b z is a z-axis misalignment bias.
12. The method of claim 11 , wherein the y-axis earth rate rotational component is determined by subtracting a change in inclination of the downhole tool over time from the uncompensated y-axis earth rate rotational component W y , wherein the change in inclination of the downhole tool over time is determined from the accelerometer measurements.
13. A downhole drilling system, comprising:
a downhole tool including an outer housing;
a survey tool located in an interior of the outer housing, the survey tool being rotatable independent of the downhole tool, the survey tool including a gyroscopic sensor, and an accelerometer;
a processor and computer-readable storage media, the computer-readable storage media including instructions which, when accessed by the processor, cause the processor to perform operations while the survey tool is rotating independent of the downhole tool, wherein the operations include:
receiving x-axis gyroscopic measurements, y-axis gyroscopic measurements, and z-axis gyroscopic measurements from the gyroscopic sensor;
receiving a tool face angle of the downhole tool;
determining a y-axis earth rate rotational component in a direction corresponding to a y-axis of the downhole tool from the y-axis gyroscopic measurements, the z-axis gyroscopic measurements, and the toolface angle of the downhole tool;
determining an x-axis earth rate rotational component in a direction corresponding to an x-axis of the downhole tool from the x-axis gyroscopic measurements and the toolface angle of the downhole tool; and
determining an azimuth of the downhole tool using the y-axis earth rate rotational component and the x-axis earth rate component; and
adjusting a trajectory of the downhole tool using the azimuth.
14. The downhole drilling system of claim 13 , wherein the survey tool is located on a rotary steerable system.
15. The downhole drilling system of claim 13 , wherein the gyroscopic sensor includes a 3-axis gyroscope.
16. The downhole drilling system of claim 13 , wherein the azimuth is determined using an inclination and a latitude of the downhole tool.
17. The downhole drilling system of claim 13 , wherein the y-axis earth rate component is determined over a range of tool face angles from y-axis gyroscope measurements and z-axis gyroscope measurements over the range of tool face angles.
18. The downhole drilling system of claim 13 , wherein the y-axis earth rate component is based on a change in inclination of the downhole tool over time, wherein the change in inclination of the downhole tool over time is determined from the accelerometer measurements.