Continuous Real-Time Measurement of Drilling Trajectory With New State-Space Models of Kalman Filter
- Resource Type
- Authors
- Yunsheng Wu; Qilong Xue; Baolin Liu; Henry Leung; Ruihe Wang
- Source
- IEEE Transactions on Instrumentation and Measurement. 65:144-154
- Subject
- Engineering
State-space representation
business.industry
System of measurement
020208 electrical & electronic engineering
010401 analytical chemistry
Directional drilling
02 engineering and technology
Kalman filter
Accelerometer
01 natural sciences
0104 chemical sciences
Azimuth
Control theory
0202 electrical engineering, electronic engineering, information engineering
Trajectory
State space
Electrical and Electronic Engineering
business
Instrumentation
- Language
- ISSN
- 1557-9662
0018-9456
Rotary-steerable drilling provides unique features such as an extended reach and accurate well trajectory control. These characteristics can notably increase drilling efficiency and safety. One of the main technical difficulties of rotary-steerable drilling is dynamically measuring the spatial attitude at the bottom of the rotating drillstring as the drillstring rotates. We developed a strap-down measurement system, with a triaxial accelerometer and triaxial magnetometers installed near the bit. The inclination and azimuth can be measured in real time even as the drillstring rotates. Although the magnetic system is the norm, we can use this system to achieve continuous measurement while drilling; to achieve this, a novel state-space model is proposed here and the Kalman filter is used to estimate the states. Simulation and experiments show that a continuous-survey system with a Kalman filter approach can improve measurement precision and reduce errors produced by drillstring vibration.