Experimental feasibility of the in-drilling alignment method for inertial navigation in measurement-while-drilling

IEEE Transactions on Instrumentation and Measurement

Volumn 60, Issue 3, 2011, Pages 1080-1090

  Jurkov, Alexander S ^a   Cloutier, Justin ^a   Pecht, Efraim ^b   Mintchev, Martin P ^a  

^a UNIVERSITY OF CALGARY   (Canada)

^b RAFAEL   (Israel)

Author keywords

Adaptive Kalman filtering; error compensation; in drilling alignment (IDA); inertial navigation; measurements while drilling (MWDs)

Indexed keywords

ADAPTIVE KALMAN FILTERING; ALIGNMENT METHODS; AZIMUTH ANGLES; BOTTOM HOLE ASSEMBLY; CONVENTIONAL METHODS; DOWNHOLE CONDITIONS; DOWNHOLES; DRILL COLLAR; DRILLING ASSEMBLY; DRILLING BIT; ERROR GROWTH; EXPERIMENTAL TESTING; FILTER-BASED; IN-DRILLING ALIGNMENTS; INERTIAL NAVIGATIONS; LABORATORY CONDITIONS; MEASUREMENT WHILE DRILLINGS; NONMAGNETICS;

ALIGNMENT; DRILLS; ERROR COMPENSATION; INERTIAL NAVIGATION SYSTEMS; KALMAN FILTERS; MAGNETOMETERS; MOLECULAR WEIGHT DISTRIBUTION; NAVIGATION; SURVEYS;

HORIZONTAL DRILLING;

EID: 79951681958     PISSN: 00189456     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIM.2010.2064631     Document Type: Article

References (40)

1. J. Burkmann and N. Nickels, "Directional, navigational and horizontal drilling techniques," Geothermal Resour. Council Bull., vol. 19, no. 4, pp. 106-112, 1990.
2. S. D. Joshi and W. Ding, "The cost benefits of horizontal drilling techniques," in Proc. Amer. Gas Assoc., Arlington, VA, 1991, pp. 679-684. (Pubitemid 23601820)
3. E. K. Fisher and M. R. French, "Drilling the first horizontal well in the Gulf of Mexico: a case history of East Cameron block 278 well B-12," in Proc. 66th SPE Annu. Tech. Conf. Exhib., Dallas, TX, 1991, pp. 111-123. (Pubitemid 21709759)
4. B. A. Shelkholeslami, B. W. Schlottman, F. A. Siedel, and D. M. Button, "Drilling and production aspects of horizontal wells in the Austin Chalk," J. Petroleum Technol., vol. 43, no. 7, pp. 773-779, Jul. 1991. (Pubitemid 21714817)
5. T. Torkildsen, I. Edvardsen, A. Fjogstad, A. Saasen, and T. Omland, "Drilling fluid affects MWD magnetic azimuth and wellbore position," in Proc. SPE/IADC Drilling Conf., Dallas, TX, 2004, pp. 595-602.
6. Stockholm Precision Tools AB, GyroTracer Tool Datasheet. [Online]. Available: www.stockholmprecisiontools.com
7. iMAR, iDrillGuide Datasheet. [Online]. Available: www.drillguide.com
8. S. M. Kohler, "Inertial Navigation System for Directional Surveying," Sandia Nat. Lab, Albuquerque, NM, Rep. SAND-82-1668, Sep. 1982.
9. E. Pecht, "In-drilling alignment," Ph.D. dissertation, Dept. Elect. Eng., Univ. Calgary, Calgary, AB, Canada, 2006.
10. R. A. Estes and D. M. Epplin, "Development of a robust gyroscopic orientation tool for MWD operations," presented at the SPE Annu. Tech. Conf. Exhib., Dallas, TX, 2000, 63274-MS.
11. A. Noureldin, H. Tabler, D. Irvine-Halliday, and M. P. Mintchev, "Quantitative study of the applicability of fiber-optic gyroscopes for MWD borehole surveying," SPE J., vol. 5, no. 4, pp. 363-370, Dec. 2000. (Pubitemid 32272520)
12. M. L. ElGizawy, "Continuous measurement-while-drilling surveying system utilizing MEMS inertial sensors," Univ. Calgary, Calgary, AB, Canada, UCGE Rep. 20284, Feb. 2009.
13. L. Ojeda and J. Borenstein, "Personal dead-reckoning system for GPSdenied environments," in Proc. IEEE Int. Workshop Safety Security Rescue Robot., Rome, Italy, 2007, pp. 1-6.
14. Y.-Y. Ben, F. Sun, W. Gao, and M.-H. Chen, "Study of zero velocity update for inertial navigation," J. Syst. Simul., vol. 20, no. 17, pp. 4639- 4642, Sep. 2008.
15. E. Pecht and M. P. Mintchev, "Modeling of observability during indrilling alignment for horizontal directional drilling," IEEE Trans. Instrum. Meas., vol. 56, no. 6, pp. 1935-1945, Oct. 2007. (Pubitemid 47455921)
16. L. Rong, Z. Jianhui, and L. Fan, "Accuracy improvements of gyrobased measurement-while-drilling surveying instruments by a lasertesting method," in Proc. Int. Soc. Opt. Eng., Beijing, China, 2009, pp. 738 22J-1-738 22J-8.
17. J. Maehs, D. MacAfee, S. Renne, G. Cellos, and A. Srinivasan, "Successful relief well drilling utilizing gyroscopic MWD (GMWD) for re entry into an existing cased hole," presented at the SPE Annu. Tech. Conf. Exhib., Denver, CO, 2008, 116274-MS.
18. J. J. de Bruinl and E. L. von Hinueber, "Most accurate drilling guidance by dead-reckoning using high precision optical gyroscopes," in Proc. Int. NoDig Conf., Brisbane, Australia, 2006.
19. M. El-Gizawy, A. Noureldin, and N. El-Sheimy, "Performance analysis of tactical grade inertial system for MWD process," in Proc. IEEE/IONS PLANS, San Diego, CA, 2006, pp. 16-22. (Pubitemid 44930257)
20. J. L. Thorogood and D. R. Knot, "Surveying techniques with a solid state magnetic multi-shot device," in Proc. SPE/IADC Drilling Conf., New Orleans, LA, 1989, pp. 841-856.
21. A. Noureldin, "New measurement-while-drilling surveying technique utilizing a set of fiber-optic rotation sensors," Ph.D. dissertation, Dept. Elect. Eng., Univ. Calgary, Calgary, AB, Canada, 2002.
22. W. Gravely, "Review of downhole measurement-while-drilling systems," J. Petroleum Technol., vol. 35, no. 9, pp. 1439-1445, Aug. 1983.
23. D. H. Titterton and J. L. Weston, Strapdown Inertial Navigation Technology. London, U.K.: Peregrinus, 1997.
24. G. R. Pitman, Inertial Guidance. New York: Wiley, 1962.
25. A. Noureldin, D. Irvine-Halliday, and M. P. Mintchev, "Accuracy limitations of FOG-based continuous measurement-while-drilling surveying instruments for horizontal wells," IEEE Trans. Instrum. Meas., vol. 51, no. 6, pp. 1177-1191, Dec. 2002.
26. A. A. Sutherland, Jr., "The Kalman filter in transfer alignment of inertial guidance systems," J. Spacecr. Rockets, vol. 5, no. 10, pp. 1175-1180, Oct. 1968.
27. E. Pecht and M. P. Mintchev, "On azimuth observability during INS alignment in horizontal drilling," in Proc. Inst. Navig. Nat. Tech. Meeting, San Diego, CA, 2005, pp. 276-281. (Pubitemid 41616024)
28. A. T. Bourgoyne, K. K. Millheim, and M. E. Chenever, Applied Drilling Engineering. Richardson, TX: Soc. Petroleum Eng., 1986, ser. Textbook Series Volume 2.
29. H. S. Hong, J. G. Lee, and C. G. Park, "Performance improvement of inflight alignment for autonomous vehicle under large initial heading error," Proc. Inst. Elect. Eng.-Radar Sonar Navig., vol. 151, no. 1, pp. 57-62, Feb. 2004.
30. G. Siouris, Aerospace Avionics Systems: A Modern Synthesis. Portland, OR: Academic, 1993.
31. K. Ogata, Modern Control Engineering. Upper Saddle River, NJ: Prentice-Hall, 1997.
32. A. S. Djurkov, J. Cloutier, and M. P. Mintchev, "Mathematical model and simulation of a pneumatic apparatus for inertial navigation unit during horizontal well drilling," Int. J. Inf. Theories Appl., vol. 2, pp. 366-376, Jun. 2007.
33. P. Aggarwal, Z. Syed, X. Niu, and N. El-Sheimy, "Standard testing and calibration procedure for low cost MEMS inertial sensors and units," J. Navig., vol. 61, no. 2, pp. 323-326, 2008.
34. L. Schimelevich and R. Naor, "New approach to coarse alignment," in Proc. IEEE Position Location Navig. Symp., Atlanta, GA, 1996, pp. 324-327.
35. A. B. Chatfield, Fundamentals of High Accuracy Inertial Navigation. Washington, DC: AIAA, 1997.
36. N. El-Sheimy, Inertial Surveying and INS/GPS Integration. Calgary, AB, Canada: Dept. Geomatics Eng., Univ. Calgary, 2005.
37. A. Gelb, Applied Optimal Estimation. Cambridge, MA: MIT Press, 1974.
38. H. S. Williamson, "Accuracy prediction for directional MWD," presented at the SPE Annu. Tech. Conf. Exhib., Houston, TX, 1999, 56702-MS.
39. C. R. Chia and B. C. de Lima, "MWD survey accuracy improvements using multistation analysis," in Proc. SPE/IADC Asia Pacific Drilling Technol. Conf., Kuala Lumpur, Malaysia, 2004, pp. 143-150. (Pubitemid 40062560)
40. E. Nyrnes and T. Torkildsen, "Analyses of the accuracy and reliability of magnetic directional surveys," in Proc. SPE/IADC Middle East Drilling Technol. Conf. Exhib., Dubai, United Arab Emirates, 2005, pp. 35-54.