Method and apparatus for wellbore survey using inertial sensors.

(54) Title: METHOD AND APPARATUS FOR SURVEY STUDY USING INERTIAL SENSORS. (54) Title: METHOD AND APPARATUS FOR WELLBORE SURVEY USING INERTIAL SENSORS.

(57) Summary

A sensor apparatus comprising a housing, two or three gyroscopic units, and three accelerometer units. The gyroscopic units are orthogonally oriented relative to each other and mounted inside the housing. Each gyroscopic unit includes a plurality of gyros with input axes parallel to each other. The accelerometer units are orthogonally oriented relative to each other and mounted inside the housing. Each accelerometer unit includes a plurality of accelerometers with detection axes parallel to each other.

(57) Abstract

A sensor apparatus comprising a housing, two or three gyroscope units and three accelerometer units. The gyroscope units are oriented orthogonally respective to each other and mounted within the housing. Each gyroscope unit ineludes a plurality of gyroscopes with input axes parallel to each other. The accelerometer units are oriented orthogonally respective to each other and mounted within the housing. Each accelerometer unit ineludes a plurality of accelerometers with detection axes parallel to each other.

METHOD AND APPARATUS FOR SURVEY STUDY USING SENSORS

INERTIALS I

FIELD OF THE INVENTION

The present invention generally relates to methods and apparatus for probing study using inertial sensors such as gyros and accelerometers. More specifically, some of the aspects described herein are directed to measurement methods and apparatus for sounding studies such as sounding path measurements, azimuth measurements, and borehole navigation during Wire Rope (WL) drilling operations. , Drilling Diagram operations (LWD) and Measurement During Drilling operations (MWD!).

¹⁵ !

BACKGROUND OF THE INVENTION - I!

Drill survey systems used for geological survey and drilling of oil and gas wells generally map or schematize the path of a borehole by determining borehole azimuth and borehole inclination at various points along the borehole. Azimuth can be considered, for current purposes, to be directional pitch with respect to a reference coordinate, such as north. The inclination of the borehole can be considered, also for current purposes, the deviation from the vertical.

In WL imaging operations, an imaging system (tool) is transported in a borehole after drilling. The imaging tool mounts some sensors such as gyros, accelerometers, and magnetometers. Gyroscopes and accelerometers are used for continuous measurements of the imaging tool's position with respect to the direction of gravity at each position in the probe. The magnetometer is used for continuous azimuth measurements at each of the survey tool in the survey. By position processing data from the sensors, the position of the charting tool with respect to the direction of gravity and azimuth at each position of the charting tool carried in the probe is determined. The travel distance totLl of the imaging tool from the probe input is determined by measuring the length of the cable between the imaging tool and the probe input. The path of travel of the imaging tool in the borehole can be determined based on continuously measured data of posture and total travel distance of the imaging tool.

In drilling operations such as LWD and MWD operations it is important to monitor the azimuth and tilt of a drill and to continuously determine the position and direction of the drill tool to drill the drill as planned prior to drilling. The bore azimuth and bore of the bore can be monitored to measure the posture and azimuth of the drilling tool. For this monitoring, the inclination and azimuth of the drilling tool located in the borehole!

Drilling is measured by using the aforementioned sensors such as gyros, accelerometers, and magnetometers mounted on the drilling tool. j

Some navigation systems for sounding studies use gyroscopes and accelerometers have been described. For example, a fixed inertial navigation system is described in US Patent No. 6,453,239, issued on September 17, 2002 to Schlumberger Telhnology

Corporation as assignee to inventors j Ichiro Shirasaka, et al. This system uses three accelerometers mounted inside a housing and three Coriolis vibrating mass gyros, rigidly mounted inside the housing.

In the probing study using gyroscopes and accelerometers, it is difficult to obtain a stable result and

accurate of the sensors under the ground due to the environment t

severe such as high temperature. Therefore, there is a need for sensor apparatus to make accurate azimuth and tilt measurements for sounding study.

I using gyroscopes and accelerometers even sji such sensors are used, for example, in oil fields and any other severe environment.

As will become apparent from the following description and discussion, the present invention provides an improved sensor apparatus capable of stable and accurate operation in a harsh environment such as high temperature.

BRIEF SUMMARY OF THE INVENTION

In one aspect of the present invention, a method for measuring azimuth for sounding studies comprises moving a sensor apparatus in a sounding. The sensor apparatus includes two or three orthogonally oriented gyroscopic units respective to each other and three orthogonally oriented accelerometer units respective to each other. Each of the two or three gyroscopic units has a plurality of gyros with pjaralel input axes.

I to each other and each of the three accelerometer units has a plurality of accelerometers with detection axes parallel to each other. Simple J output data is generated based on the results of the plurality of gyroscopes included in each of the two or three gyro scopes and simple output data is generated based on the results of the plurality of accelerometers included in each of the three accelerometer units, t> garlic a stationary condition. The azimuth of a target direction from the north direction in a horizontal plane perpendicular to a direction of gravity is then determined based on the output data generated from the three accelerometer units and the output data generated from of the two or three gyroscopic units.

In another aspect of the present invention, a method of measuring posture for sounding study comprises starting a sensor apparatus under a stationary condition. The sensor apparatus includes two or more gyroscopic units

I oriented orthogonally respective to each other ¹ in three

respective orthogonally oriented accelerometer units. Each of the two or three Units i

I gyroscopic has a plurality of gyroscopes with input axes parallel to each other and each of the three unikades of accelerometers has a plurality of accelerometers with detection axes parallel to each other. The sensor apparatus moves in a probe after starting. Simple output data is generated based on the results of the plurality of gyroscopes included in each of the three gyroscopic units and simple output data is generated based on the results of the plurality of accelerometers included in each of the three accelerometer units . Then three orthogonal increment rates for the

The sensor is determined based on the output data generated from the three accelerometer units, and three orthogonal rotation and increment angles for the sensor apparatus are determined based on the output data generated from the three gyroscopic units. The posture and position of the sensor apparatus in the probe is determined based on the three increment rates and the three increment rotation angles.

In yet another aspect, the invention is an apparatus for

I

I sensor comprising a housing, two or three orthogonally oriented gyroscopic units respective to each other, and three orthogonally oriented accelerometer units respective to each other. The gyroscopic units are mounted within the housing and each of the gyroscopic units includes a plurality of gyros with axes.

input parallel to each other. The accelerometer units are mounted within the housing and each of the accelerometer units includes a plurality of accelerometers with detection axes parallel to each other.

In yet another aspect of the present invention, the disclosure provides a system for a sounding study comprising a sensor apparatus, a controller for ...

controlling the sensor apparatus and a data processing unit to process data produced from the apparatus, sensor. The sensor apparatus includes a housing, two or three orthogonally oriented gyroscopic units respective to each other, and three orthogonally oriented accelerometer units respective to each other. The gyroscopic units are mounted within the housing and each of the gyroscopic units includes a plurality of gyros with input axes parallel to each other. The accelerometer units

are mounted within the housing and each of the accelerometer units includes a plurality of accelerometers with

I detection axes parallel to each other.

I

In understanding the scope of the present invention, the term "move as used" herein means that it changes position and / or posture or causes it to be in a different position and / or posture. The term moves can also be interpreted as including change of position and / or posture - such as tilt, roll and swing when transporting or maneuvering. !

Additional advantages and novel features of the invention will be set forth in the description which! follows or can be learned by those with experience in the technique of

0 through reading the materials herein or

I practicing the invention. The advantages of the invention can be achieved through means set forth in the appended claims. I

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings illustrate preferred embodiments of the present invention and are part of the specification. Along with the following description, the drawings demonstrate and explain the principles of the present invention.

FIGURE 1 is a flow chart of an exemplary method for measuring the azimuth of a sensor apparatus in accordance with the description herein;

FIGURE 2 is a flow chart of an exemplary method 10 for measuring the posture of a sensor apparatus in accordance with the description herein;

FIGURE 3 is an illustration of an apparatus of!

exemplary sensor according to the description herein;

FIGURE 4 is a schematic diagram of the sensor apparatus of FIGURE 3 in greater detail; FIGURE 5 is a schematic diagram of exemplary data processing for generating gyro output estimates from the sensor apparatus in accordance with the description herein;

FIGURE 6 is a schematic diagram of another exemplary sensor apparatus in accordance with the description herein;

FIGURE 7 is a schematic diagram of an exemplary azimuth measurement unit according to the description herein;

with FIGURE 8 is an illustration of an exemplary sensor apparatus shown in FIGURE 7; FIGURE 9 is a schematic diagram | of another exemplary azimuth measurement unit in accordance with the description herein; j FIGURE 10 is an illustration of an exemplary sensor apparatus shown in FIGURE 9;

FIGURE 11 is a perspective illustration of i

an exemplary configuration of the gyroscopic units according to the description herein; FIGURE 12 is a perspective illustration of another exemplary configuration of gyro units!

in accordance with the description herein;

FIGURE 13 is a perspective illustration of another exemplary configuration of gyroscopic units in accordance with the description herein;

FIGURE 14 is a perspective illustration of some other exemplary configuration of gyroscopic units in accordance with the description herein;

FIGURE 15 is a schematic diagram of an exemplary system in accordance with the description herein; yi

FIGURE 16 is a schematic diagram of exemplary data processing for tool path determination in accordance with the description, but not acceptable herein.

Throughout the drawings, identical reference numbers indicate similar, necessarily identical elements. Although the invention is its various modifications and alternative forms, specific embodiments have been shown by way of example, in the drawings and will be described in detail in the present text. However, it should be understood that the invention is not intended to be limited to the particular forms described. In fact, the information is to cover all modifications, equivalents, and alternatives that fall within the scope of the invention as defined by the appended claims.

DETAILED DESCRIPTION OF THE INVENTION í

Modalities and illustrative aspects of the present description are described below. For the sake of clarity, not all the features of a current implementation are described in the specification. Of course, it will be appreciated that in the development of any current modality, numerous specific implementation decisions must be made to achieve specific developer goals, such as compliance with trade-related and system-related restrictions, which will vary from an implementation will hear. However, it will be appreciated that such a development effort can be complex and time consuming, although it may not hinder it can be a routine undertaking for those of ordinary skill in the art who have benefited from the disclosure herein.

!

In one of the exemplary applications of a sensor apparatus according to the description herein, a

The fixed sensor apparatus is installed inside a tool such as a corded logging tool! steel and

I a drilling tool used for oilfield operations to determine the azimuth and trajectory of the tool in a borehole. In the case of a fixed configuration, the sensor apparatus is rigidly fixed ^ in a predetermined position of a body member such as a tool housing. The sensor apparatus can be used in studio operations that can be classified

I as described in US Patent No. fe, 453,239 which is incorporated herein by reference in its entirety. For example, the acoustic sensor apparatus with

The description herein can be used in studio operations classified as: j (i) multi-catch compass turn along the

I

I Probing in Drilling Diagram (LWD) and 'Measurement

I

During Drilling (MWD);

ί (ii) multi-capture compass twist along the sounding in Steel Cable Diagram (WL); (Iii) Zero Speed ​​Update (ZUPT) correction for inertial navigation in LWD and MWD; !

(iv) ZUPT correction for inertial navigation in WL diagrams;

(v) continuous cable-aided inertial navigation in WL log. ¹

Using the various types of inertial sensors, the posture and trajectory of a WL imaging tool in probing are determined in study operations, for example as the following procedures. Before transporting or maneuvering the survey tool in the borehole from the borehole of the borehole, initial data for latitude, longitude, and depth (= 0 m) at the borehole input are entered into a system for mapping operations with WL and an azimuth with respect to the coordinates defined on a reference face i

The default tool for the survey tool is measured at the probe input under a stationary condition of the survey tool. The measured azimuth data is also entered into the system. After starting the downward motion of the diagnostic tool, the position of the imaging tool with respect to the direction of gravity, azimuth, and cable length is

I continuously measure at every point in the poll. Posture is determined based on the results of gyroscopes and

I accelerometers. To determine the azimuth, magnetometers, and

Gyroscopes commute with each other according to the situation. Magnetometers are mainly used for azimuth measurements, and gyros are used when

Magnetometers are useless under a specific situation such as the location in or near a metal casing. Each measurement using gyroscopes is performed under a stationary condition of the imaging tool. Each of the data measured with the sensors is stored in a memory in the charting tool and / or transmitted over a Armaao cable to supply a processor on the ground. By processing the data from the sensors, the position of the imaging tool with respect to the direction of gravity and the azimuth at each position of the transported or maneuvered imaging tool in the survey. The total travel distance of the charting tool from the survey input is

Determines based on cable length data between the logging tool and the probe input. The travel path of the imaging tool in the borehole can be determined based on continuously measured data on posture and the total travel distance of the imaging tool. The imaging tool can be stopped at a predetermined time to measure the sensor deviation error and azimuth under a stationary condition. The measured deviation error data is used for correction of output data from the sensors. The time for the deviation error measurements can be determined based on the desired total accuracy of the posture and trajectory measurements and the maximum deviation error between the sensors. Measurements for posture and trajectory determination can be performed while the imaging tool is moving up from the bottom of the bore as well as moving down to obtain twice as much data for the same bore and further improve the accuracy of i measurements

posture and trajectory.

Exemplary Modalities of a Method in Accordance with the

Present Invention j

FIGURE 1 illustrates one embodiment of an azimuth measurement method for sounding study using an inertial sensor apparatus in accordance with the description herein. Method 1000 begins moving a sensor apparatus in a probe, as stated in box 1010.

The sensor unit can be moved, for example, to the i

transporting or maneuvering the sensor apparatus in the survey. The i

sensor apparatus includes two or three orthogonally oriented gyroscopic units respective to each other and three i

Accelerometer units oriented o'rtogonally respective to each other. Each of the two or three gyroscopic units having the plurality of gyros; with the input axes parallel to each other and each of the three i

accelerometer units having a plurality of 5 accelerometers with the detection axes parallel to each other.

MEMS-type sensors (microelectromechanical systems) can be used as gyros and accelerometers.

Method 1000 continues as set out in the

Boxes 1020 and 1030, by generating simple output data based on the results of the plurality of gyros included in each of the two or three gyroscopic units under stationary condition and generating simple output data based on the results of the plurality of accelerometers included in each of the three accelerometer units under a stationary condition. The output data from the gyroscopic units and the accelerometer units can be generated by Kalman filtration as

described in US Patent No. 6,882,964 which is incorporated herein by reference in its entirety.

¡

Then, as stated in Box 1040, Method 1000 concludes, in this particular mode, by determining an azimuth of a target direction with reference to the north direction in a horizontal plane perpendicular to a direction of gravity based on the output data. generated from the three accelerometer units and the output data generated from the two or three gyroscopic units.

Method 1000 supports many alternative modalities. By modalities, determining the azimuth can be a broad example, including variation in some determining the perpendicular horizontal plane based on the output data generated from the three accelerometer units. Terrestrial Index Components] can be determined based on the output data generated from the two or three gyroscopic units and the vector of the terrestrial index with respect to an orthogonal sensor i

By default, the coordinates can be determined based on the Earth Index components. The north direction can then be determined by projecting the vector from. index determine the generate terrestrial on the horizontal plane.

In still other modalities, Terrestrial index components can include first output data for each of the two or three gyroscopic units with an input axis aligned to a first angular orientation under stationary condition and generating second output data for each of the two or three gyroscopic units with the input shaft rotated to a second angular orientation opposite the first angular orientation after generating the first output data under a stationary condition. A terrestrial index component in the first angular orientation can be determined based on a difference between the first output ciats and the second output data to cancel the deviation of the two or three gyroscopic units. I

FIGURE 2 illustrates one embodiment of a posture measurement method for sounding study using an inertial sensor apparatus in accordance with the description herein. Method 2000 begins by starting a sensor apparatus under a stationary condition, as stated in box 2010. The sensor apparatus includes three respective orthogonally oriented gyroscopic units together and three respective orthogonally oriented accelerometer units, as described above. In one embodiment, this initiation may include initiating at least one of the position and position of the sensor cheapness, for example, at least one of alignment and initial azimuth measurement of the sensor apparatus.

Method 2000 continues, as stated in box 2020, by moving the sensor apparatus in a probe after starting. As described above, the sensor apparatus can move, for example, when transporting

or maneuver the sensor apparatus in the probe. Method 2000 then generates simple output data based on the results of the plurality of gyroscopes included in each of the three gyroscopic units, as set forth in boxes 2030, and simple output data based on the results of the plurality of accelerometers included in each of the three accelerometer units, as set out in boxes 2040. I

Method 2000 then continues, as set forth in Boxes 2050 and 2060, by determining three orthogonal incremental velocities for the sensor apparatus based on the output data generated from the i

three accelerometer units and determining three orthogonal incremental rotation angles for the sensor apparatus based on the output data generated from the three accelerometer units. The output data_; Gyroscopic units and accelerometer units can be generated by Raiman filtration. !

Then, as established in box j 2070, method 2000 concludes, in this particular modality, by determining the posture and position of the sensor apparatus in the

Polling based on three increment rates and three increment rotation angles. I

I

I

Exemplary Modalities of a Sensor Apparatus According to the Present Invention

I

FIGURE 3 illustrates an exemplary sensor apparatus in accordance with the description herein. Sensor apparatus 10 comprises housing 100, three 110X units,

TODAY, gyroscopic 110Z for rotation index measurements and three 130X, 130Y, 13 0Z accelerometer units for acceleration measurements. The three 110X units, i

Gyroscopic 110Y, 110Z are orthogonally oriented relative to each other and mounted to orthogonal maids of housing 100. Gyro input axes Xi, Yi, Zi of units 110X, 110Y, 110Z are set to be orthogonally oriented relative to each other based on an orthogonal body coordinate system '(Xb, Yb, Zb). The body coordinate system can be defined within housing 100 such that the X (Xb) axis is ascending, the Y (Yb) axis is to the left, and the ex ^ Z (Zb) is direct. The accelerometer units 130X, 130Y, 130Z are orthogonally oriented relative to each other and mounted

I within housing 100. The sensing axes Xd [Yd, Zd of the accelerometer units 130X, 130Y, 130Z are set to be oriented orthogonally respective!

each other based on the coordinate system of | Body. Each of the gyroscopic units 110X, 110Y, 110Z includes a plurality of gyros 111 with their input axes parallel to each other. Each of the accelerometer units 130X, 13 ^ Y, 130Z includes a plurality of accelerometers 131 and!

their detection axes parallel to each other.

FIGURE 4 is a schematic diagram of the sensor apparatus of FIGURE 3 in greater detail. Sensor apparatus 10 comprises a gyroscope section 101 and one. accelerometer section 103. Gyroscope section 101 includes the three gyroscopic 110X, TODAY, 110Z units for measurements at rotational rates and three 120X, 12jOY, 120Z gyroscope output processors corresponding to the 'units

Gyroscopic 110X, 110Y, 110Z respectively. Each of

I gyroscopic units 110X, 110Y, 110Z include a plurality of gyros 111 (1), 111 (2), ..., 111 (Ng) with input axes parallel to each other, where Ng represents the number!

of the gyros 111. Each of the 120X processors,

I

Gyroscope output 120Y, 120Z generates a Rout; of simple output data d ^ index of rotation about a corresponding input axis, based on the results of the plurality of gyros 111 (1), 111 (2), .. ., 111 (Ng) .1

Accelerometer section 103 includes the three 130X, 130Y, 130Z accelerometer units for acceleration measurements and three output 140X, 140Y, 140Z processors!

of accelerometer corresponding to 13 OX, 130Y, 130Z units of accelerometer, respectively. Each of the

The accelerometer units 130X, 130Y, 130Z include a plurality of accelerometers 131 (1), 131 (2), ..., 131 (Na) with the sensing axes parallel to each other, where Na represents

II the number of accelerometers, respectively. The accelerometer output 140X, 140Y, 140Z processors each generate an Aout of single acceleration output data along the corresponding detection axis, based on the results of the plurality of accelerometers 131 (1), 131 ( 2),

..., 131 (Na).

The sensor apparatus supports wide variation between many alternative modalities. For example, in some gyro modes the three 110X, TODAY, 110Z units can be configured as a unit module and the three accelerometer Í30X, 130Y, 130Z units - can also be configured as a unit module. In others

I modalities, the unit module of the 110X, 110Y units,

Gyroscopic 110Z can also include all three processors! !

120X, 120Y, 120Z gyroscope output and the unit module ^ of the accelerometer units 130X, 130Y, 130Z can further include the three accelerometer sjalida processors 140X, 140Y, 140Z. Each of the unit modules can be formed from a single semiconductor substrate that includes the sensor elements and peripheral circuits to drive the sensor elements and process the output signals from the sensor elements .:

In other alternative modalities, each of the gyroscopic 110X, 110Y, 110Z units can include ten or more gyros. (that is, Ng 10) so that the results of the gyros 111 take a normal or quasi-normal distribution. Each of the 130X, 130Y units,

Accelerometer 130Z can also include ten or more 131 accelerometers (i.e., Na ^ 10) so that the results of the 131 accelerometers take a distribution.

II | i normal or quasi normal.

In still other modalities, each of the units

II

Gyroscopic 110X, TODAY, 110Z can include two types of gyros 111 that have mutually different sensitivities or different dynamic ranges. Each of the accelerometer units 130X, 130ιΥ, 130Z may also include two types of accelerometers 131 which) have mutually different sensitivities or different dynamic ranges. In some embodiments, the sensor apparatus 10 may further include a three axis gravity sensor for detecting the direction of gravity with respect to the three mutually orthogonal axes. Each of the gyros 111 and accelerometers 131 can be a MEMS j sensor (System

Micro Electro Mechanical).

| I

In some examples of the modes, each of the ij gyro output 120X, 120Y, 120Z processors can output the Rout (x), Rout (y), Rout (z) of simple output data by averaging the results from of gyros 111 (1), '111 (2), ..., 111 (Ng). In other examples, each of the gyroscope output 120X, 120Y, 120Z processors can generate estimates of the Rout (x), 'Rout (y), Rout (z) of' output data based on the results. of gyroscopes 111 (1), 1 111 (2), ..., 111 (Ng) when using a Raiman filter. The gyroscope output 120X, 120Y, 120Z processor can generate the Rout (x), Rout (y), Roüt (z) of output data by significantly reducing some of the offset shift noise that i!

consistently by having the gyros 111 (1),

I

111 (2), ..., 111 (Ng) eg due to ambient temperature drift, or power supply fluctuation. Especially if there are favorable correlations between the sensors, a large reduction in drift is expected.¹

FIGURE 5 shows a schematic diagram of exemplary data processing for generating i

gyroscope output estimates. The results of the

111 (2), ..., 111 (Ng) in each gyroscopic 110X, 110Y¡, HOZ units are entered into the corresponding 121X, 121Y, or; 121Z Raiman filter. (Given one of Raiman's 121X, 121Y, 121Z filters you can generate a better simple estimate, such as a Rout (x), Rout (y), Rout (z) i:

data output, as described in Patent Gyroscopes 111 (1), of the

American No.

6,882,964 which is incorporated herein by reference in its entirety. This leak of i

Raiman, for example, is used to combine gyros optimally in¹ the sense of reducing the variation of the rotation index error when using a steady state Raiman filter. The Raiman filter can lead to a more accurate result that represents a better estimate of a virtual detected rate of rotation even when gyroscopes have a displacement component.

In some examples of the aforementioned mode, each of the accelerometer output 140X, 140Y ,, 140Z processors can generate the Aout (x), Aout (y), Aout (z) of simple output data by averaging the Accelerometer flatus 131 (1), 131 (2), ..., 131 (Na). In yet another example, each of the 140X, 140Y, processors; 140Z accelerometer output can be configured to generate estimates of the

Aout (x), Aout (y), Aout (z) of data

I output based on the results of the accelerometers

131 (1), 131 (2), ..., 131 (Na) when using a Kalman filter i 'for example, in the same way as described above for the Rout of output data of the divisions djs turnover rate.

FIGURE 6 shows a sensor apparatus according to another embodiment of the present invention. Sensor apparatus 10 in this fashion further includes an azimuth measurement unit 109 for azimuth measurements. Gyroscope section 101 and accelerometer section 103 can i

configured the same as shown in FIGURE 3. The azimuth measurement unit 109 can be configured to make a magnetometer section 105 as shown in the

I

FIGURES 7 and 8. Magnetometer section 105 includes three 150X, 150Y, 150Z magnetometer units for measurements of the Earth's magnetic field with respect to the three X, Y,

Mutually orthogonal Z of the coordinate system of i

body, and three 160X, 160Y, 160Z magnetometer output processors corresponding to 150X, 15 0Y units,

150Z of magnetometer, respectively. The three units i I l

150X, 150Y, 150Z of magnetometer are oriented orthogonally and respective to each other. The detection axes Xm,

Ym, Zm of the 150X, 150Y 150Z magnetometer units are

set to orient each other orthogonally based on the body coordinate system. Each of the 150X, 150Y 150Z magnetometer units includes a plurality of nagnetd.etros 151.1 ,. Μ <2, .....

I i

151 (Nm) with the detection axes parallel to each other, where

Nm represents the number of the magnetometers 151. Each of the 160X, 160Y, 160Z processors generates a Mout of simple output data from the Earth's magnetic field along a corresponding detection axis, based on the results of the plurality of magnetometers 151 (1), 151 (2), ..., Í51 (Nm).

The three 150X, 150Y, 150Z magnetometer units can be configured 'as a unit module. In other embodiments, the unit module of the 150ΪΧ, 150Y, 150Z magnetometer units may also include the three 160X, 160Y, 160Z magnetometer output processors. Every

<td>of</td><td>a single</td>

<td>of</td><td>sensor and</td>

<td>of</td><td>sensor and</td>

process the output signals from the sensor elements.

The modality of magrtetometer section 105 shown in FIGURES 7 and 8, each of the magnetometer units 150X, 150Y, 150Z may include ten or more magnetometers 151 (i.e., Nm to 10) so that the results of the 151 magnetometers take a normal or quasi-normal distribution. In some examples of the embodiment, each of the magnetometers 151 may be a

MEMS.

In some examples of the modality shown in the

FIGURES 7 and 8, each of the 150X, 150Y, 150Z units of!

The magnetometer can generate the Mout of simple output data by averaging the results of the 151 (1), 151 (2), ..., 151 (Nm) magnetometers. In other examples, each of the magnetometer's 150X, 15ΟΥ, 150Z units can generate a simple estimate enhancement since each of the output data Mout based on the results of the magnetometers 151 (1), 151 (2), ..., 151 (Nm) when using a Raiman filter, for example, in the same way as described above for the Rout of output data of the rotation index measurements. ¡

The azimuth measurement unit 109 in FIGURE 6 can be configured to make a gyroscope section 107 for azimuth measurements as shown in FIGURES 9 and

10. Gyroscope section 107 for azimuth dimensions includes various gyroscopic and rotating 170X, 170Y, 170Z units for terrestrial index measurements, and the three gyro output 180X, 180Y, 180z processors corresponding to 170X, 170Y, 170Z units gyroscopic rotary, respectively. Each of the gyroscopic rotary units 170X, 170Y, 170Z includes a plurality of gyroscopes 171 (1), 171 (2), ..., 171 (Nrg) rotary with input axes parallel to each other, where Nrg represents the number!

of 171 rotating gyros. Each of the rotating gyroscopic 170X, 170Y, 170Z units is coupled to a drive unit so that each of the gyroscopic units can be independently excited to rotate the input shafts of the rotating gyroscopes included in the corresponding gyroscopic unit around of the three axes of X, Y, Z, mutually orthogonal, respectively. For example, all rotating gyroscopes included in the 17 0X gyroscopic units

Rotating I's are rotated around the Y axis or Z axis by ΘΧ to dot the input axis from a first annular orientation of Xi (+) in the + X direction to a second angular orientation opposite of the first orientation

Xi (-) at angle as -X direction is shown in FIGURE 10. Gyroscopic 170X, 170Y, 170Z units can be spun by a drive using at least one motor and drive gears, as described in the Application US Patent Pending

No. 12 / 240,943 filed on September 29, 2008. US Patent Application No. 12/240, 943 is incorporated herein by reference in its entirety.

Each of the gyro output 180X, 180Y, 180Z processors generates a simple output data Eout from the

I land index component around the axis of the corresponding input, based on the results of the plurality of gyros 171 (1), 171 (2), ..., 171 (Nrg) rotating.

The three gyroscopic 170X 170Y, 170Z rotary units can be configured as a rotary unit module. In other modalities, the unit module of the gyroscopic rotary units 170X, 170Y, 170Z also

I can include the three gyroscope output 180X, 180Y, J180Z processors. Each of the unit modules can be formed from a single semiconductor substrate that includes

sensor elements and peripheral circuits to drive the sensor elements and process the output signals from the

I sensor elements.

In gyroscope section 107 mode for azimuth measurements shown in FIGURE ^. 8, each of the rotating gyroscopic 170X, 170Y, 170Z units may include ten or more gyroscopes 171 (i.e., Nrg 10) such that the results of the rotating gyroscopes 171 take a normal or quasi-normal distribution. In

For some examples of the embodiment, each of the rotating gyroscopes 5 171 may be a MEMS sensor.

In some examples of the mode shown in FIGURES 9 and 10, each of the gyro output 180X, 180Y, 180Z processors can output the Eout (x), Eout (y), ¡

Eout (z) of simple output data of the terrestrial index components by averaging the results' of the gyroscopes 171 (1), 171 (2), ..., 171 (Nrg) rotary. In other examples, each of the gyro output 180X, 180Y, 180Z processors can generate a simple best estimate such as Eout (x), Eout (y), Eout (z) of output data based on the results of the gyroscopes. , 171 (1),

I

171 (2), ..., 171 (Nrg) rotating when using a filter

Raiman, for example, in the same way as described above for Rout of output data from turnover index measurements. These 180X, 180Y ,: 180Z gyro output processors can generate the output data Eout (x), Eout (y), Eout (z) by canceling some of the offset shift noise that could be consistently supported for all gyros 171 (1), 171 (2), ...,

171 (Nrg) due to ambient temperature drift or fluctuation of power supply. Data processing for azimuth measurements using the Eout (x), Eout (y), Eout (z) of output data can be performed as described in the Provisional Patent Application

I

No. 61 / 053,646 filed on May 15, 2008, and the co-pending and commonly owned American Patent Application No. 12 / 233,592 filed on September 19, 2008. These patent applications

Americans No. 61 / 053,646 and No. 12 / 233,592 are incorporated herein by reference in their entirety.

Gyroscope section 107 for azimuth measurements can be configured to have one or two of the gyroscopic gyro units 170X, 170Y, 170Z in case the terrestrial index around one or two of the X, Y, Z axes is what Small and significant enough for the determination of the terrestrial index vector. ;

In other embodiments, the non-rotating gyroscopic units can be used for the azimuth measurement unit 109 in FIGURE 6, in place of the aforementioned rotating gyroscopic units 170X, 170Y, 170Z. The non-rotating gyroscopic units are oriented orthogonally and respective to each other and rigidly mounted within the housing. Each of the non-rotating gyroscopic units includes a plurality of gyros. In some examples, simple output data for each of the non-rotating gyroscopic units can be generated based on the results of the plurality of gyros included in each of the non-rotating gyroscopic units. In other examples, a simple best estimate for each of the non-rotating gyroscopic units based on the results of the gyros when using the Kalman filter, for example, in the same way as described above for the Data Rout of rotation rate measurements.

In still other embodiments, the three gyroscopic units 110X, TODAY, 110Z of the sensor apparatus 10 shown in FIGURES 3 and 4 can be configured by using 'gyroscopic rotary units instead of non-gyroscopic gyros. In these modalities, the gyroscopic rotary units can be used for measurements of

I i

rotation of the sensor apparatus 10 as well as azimuth measurements.

FIGURE 11 shows an exemplary configuration of the gyroscopic units 110X, 110Y, 110Z of sensor apparatus 10 in the aforementioned embodiments. In this configuration, each of the gyroscopic 110X, 11ÓY, 110Z units is configured to make an arrangement of

I sensor a plurality of discrete 112X, 112Y, 112Z gyros such as MEMS sensors. The discrete gyros in each of the gyroscopic 110X, 11QY, 110Z units are mounted on a common substrate at nearly uniform intervals to align the input axes of the same parallels to each other along the corresponding coordinate axis of the X-axes. , Y- or Z-.

FIGURE 12 shows another exemplary configuration of the gyroscopic 110X, TODAY, 110Z units of sensor apparatus 10. In this configuration, the 110X, ΙΙ, ΟΥ, 110Z units

Gyroscopic I are manufactured in 113X, 113Y, | ll3Z semiconductor wafers , respectively. Every point on the wafers

I

113X, 113Y, 113Z represents an element 114X, 114Y,_: Gyroscope 114Z manufactured on the wafer by semiconductor technology. The gyroscope elements in each of the gyroscopic 110X, 110Y, 110Z units are aligned so that the input axes of the gyroscope elements

I are parallel to each other along the coordinate axis

corresponding of the X-, Y- or Z- axes. ₍

FIGURE 13 shows yet another exemplary configuration of the gyroscopic units of sensor apparatus 10. In this configuration, six gyroscopic units are arranged on six faces of a 115 cubic body respectively. Discrete 116X, 116Y, 116Z gyros such as MEMS sensors from each gyro unit are aligned such that the input axes of the gyros are parallel to each other along the corresponding coordinate axis of the X (+), X axes (-), Y (+), Y (-); Z (+) or

Z (-).

The configurations of the gyroscope sensor units 111 shown in FIGURES 11, 12 and 13 can also be adopted for accelerometers 131, magnetometers 151 and gyroscopes 171 rotatable in the aforementioned embodiments.

FIGURE 14 shows an exemplary configuration of the gyroscopes suitable for the azimuth measuring unit 109 of the sensor apparatus 10. In this configuration, a number of gyros 117 are arranged on a surface of a spherical body 118 such that gyros 117 having input axes aligned in mutually different directions. Without driving the rotation of the spherical body 118, the results of the gyros 117 are available for rotation index data with respect to the various input axes. Rotation rate data can be sine curved to improve the precision of azimuth determination. The gyroscopes used for the azimuth measurements can be selected from the gyroscopes 117 in the spherical body 118 so that the selected gyroscopes can detect the earth rotation that effectively depends on the position of the azimuth measurement unit 109 against the earth rotation. Data processing for azimuth measurements using the result of gyros 117 can be performed as described in Patent Application i

US Provisional No. 61 / 053,646 and the co-pending and commonly owned US Patent Application No. 12 / 233,592. ,

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Exemplary Modalities of an Agreement System with the

Present Invention

FIGURE 15 shows a sounding study system in accordance with an embodiment of the present invention. The system in FIGURE 15 can be used for azimuth measurements as described in FIGURE 1 in various sounding survey operations such as LWD, MWD, and WL logging. This system can also be used to determine the posture and / or position of a sounding tool such as a wire rope logging tool and a drilling tool for navigation in i

various borehole operations as described in FIGURE 2. With reference to FIGURE 15, the system includes a sensor apparatus 10 provided in a drilling tool.

<td>polling, a controller 20 to control the</td><td>apparatus 10</td><td>of</td>

<td>sensor and a processing unit 30</td><td colspan="2">of dajtos for</td>

<td>process the output data of the device 10</td><td>sensor.</td><td>The</td>

<td>system sensor apparatus can be</td><td>anyone one</td><td>of the</td>

<td colspan="2">sensor apparatus 10 described in the modalities</td><td>with</td>

<td colspan="3">reference to FIGURES 3-14. Processing unit 30</td>

<td>data includes a computer that has a</td><td>one processor</td><td> 301</td>

and memory 302. Memory 302 stores a program that has instructions for determining tool position and posture and azimuth measurements. The output data from the sensor apparatus 10 and the tool position and posture herds after processing are also stored in memory | 302. The data processing unit 30 can determine the posture and position of the tool based on the output data from the gyros and accelerometers in the sensor apparatus 10. The data processing unit 30 can determine the direction of gravity at each position of the tool based on the results of the accelerometers and correct the posture based on the direction of gravity. In the event that the sensoi apparatus 10 includes a three-axis gravity sensor to detect the gravity kirection with respect to the three mutually orthogonal axes, the data processing unit 30 can determine the direction of gravity based on! in the gravity sensor results and corrects the posture based on the direction of gravity. j

In the mode where the sensor apparatus 10 includes an azimuth measurement unit 109 for azimuth measurements with respect to the three mutually orthogonal axes as shown in FIGURE 6, the data processing unit 30 can determine the posture of the Tool based on gyroscope results, accelerometer results and azimuth measured by azimuth measurement unit 109. In the event that the device 10 dL sensor

I include magnetometers as shown in FIGURES 7 and 8, rotating gyroscope for azimuth measurements as shown in FIGURES 9 and 10, and a drive unit to rotate rotating gyroscopes controlled by controller 20, unit 30 processing tool can determine the position of the tool based ^ on the results of gyros, accelerometers, and magnetometers as you move the tool, when the results of the magnetometers are available.

ί

On the other hand, when the results of the magnetometers are not available, the data processing unit 30 can determine the posture based on the results of the gyros of the gyroscopic units for rotation index measurements, the accelerometers and the gyroscopes of the gyroscopic rotary unit for azimuth measurements under a stationary condition of the i

tool. i

In other embodiments, the system may include a cable measurement unit for measuring the length of a cable connected to the underground tool, and the data processing unit 30 may determine the path of the mobile tool underground. in the gyroscope results, the result of the

I accelerometers, the azimuth measured by the azimuth measurement unit and the cable length measured by the cable length measurement unit. ₍

I

FIGURE 16 shows a schematic diagram of exemplary data processing for determining the path of a

I steel with the sensor apparatus 10 transported or maneuvered in underground drilling by using a Kalman filter.

i

The cable measuring unit 40 produces tool length data as data for the total tool travel distance from the ground to determine the path. Cable measurement unit 40 can produce cable moving speed data to improve accuracy of path measurements. The, data i

Cable length produced from the cable measurement unit 40 includes a certain error due to oscillation of the cable, etc. To reduce the error, i

The acceleration information obtained from the apparatus, the one from the one from the sensor, is used in a Kalman filter 50. The output data of the cable measuring unit 40 and the output data of the rotation rate and acceleration of the apparatus 10!

of sensor are added and entered into the Kalman filter 50. The Kalman filter can estimate tool position and posture error by using true acceleration data and feedback the error to the 3 0 data processing unit. The true acceleration data due to tool movement is obtained by estimating the gravity acceleration components with respect to the sensor coordinate system (body coordinate system) and by subtracting the estimated gravity acceleration components from the acceleration produced from the sensor apparatus 10. Corrected tool position and posture data can be produced from the data processing unit 30 and used for determining tool path. !

The apparatus and sensor system described herein can be used for pasture and path measurements of a drilling tool as well as a wire rope logging tool in oilfield operations. In the case of drilling tool path measurements, the total length of! pipelines

Drilling from the ground can be used to determine the path of the drilling tool.

[

The preceding description has been presented only to illustrate and describe certain modalities. It is not intended to be exhaustive or to limit the invention k any i

accurately described. Many modifications and variations

I are possible in view of the above teaching.

Modalities and aspects were selected and described to better explain the principles of the invention and its practical applications. The description

The foregoing is intended to allow others skilled in the art to make better use of the principles in various ways and aspects and with various modifications as appropriate for the particular intended use. The scope of the invention is intended to be defined by the following claims. '

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