Advertisement

Dynamic Measurement of Spatial Attitude at the Bottom Rotating Drillstring

Chapter
  • 360 Downloads
Part of the Information Fusion and Data Science book series (IFDS)

Abstract

In oil and gas directional drilling technology and application, how to accurately measurement the spatial attitude of the bottom drillstring in real time while the drillstring rotating is a challenging problem. We developed a set of “strap-down” measurement system using the triaxial accelerometer and triaxial magnetometers installed near the bit, and real-time well deviation and azimuth can been measured even when the drillstring rotates. Although magnetic based system is the classical, we will use this system to achieve continuous measurement-while-drilling relying on software algorithms. We developed the novel state space models to establish the Kalman filter, improving the accuracy of dynamic measurements. Simulation and experiments results show that the continuous survey system with Kalman filter approach could effectively enhance the measurement precision, and deduce the error that produced by the drillstring vibration. The algorithm greatly improved the accuracy of well-trajectory measurements and is expected to be applied to ordinary magnetic surveying systems, which are more widely used in drilling engineering.

Keywords

Directional drilling Continuous measurement-while-drilling Kalman State space model 

References

  1. 1.
    Brzezowski S, Fagan J. Analysis of alternate borehole survey systems, Proceeding of 39th Annual Meeting Institute of Navigation, Houston, 1983, p. 71–78.CrossRefGoogle Scholar
  2. 2.
    Joshi SD, Ding W. The cost benefits of horizontal drilling, Proceeding of American Gas Association, Arlington, 1991, p. 679–684.Google Scholar
  3. 3.
    Rehm WA, Garcia A, Cia SA. Horizontal drilling in mature oil fields, Proceeding of SPE/IADC Drilling Conference, New Orleans, 1989, p. 755–764.Google Scholar
  4. 4.
    Thorogood JL, Knott DR. Surveying techniques with a solid state magnetic multi-shot device. SPE Drill Eng. 1990;5(3):209–14.CrossRefGoogle Scholar
  5. 5.
    Warren T. Rotary steerable technology conclusion: implementation issues concern operators. Oil Gas J. Dec. 1998;96(12):23–4.Google Scholar
  6. 6.
    T. Yonezawa, E. J. Cargill, et al., Robotic controlled drilling: a new rotary steerable drilling system for the oil and gas industry, Proceeding of IADC/SPE Drilling Conference, Dallas, 2002, p. 744–758.Google Scholar
  7. 7.
    Poli S, Donaco F, Oppelt J, Ragnitz D. Advanced tools for advanced wells: rotary closed-loop drilling system-results of prototype field testing. SPE Drill Complet. 1998;13(2):67–72.CrossRefGoogle Scholar
  8. 8.
    Sugiura J, Bowler A, Hawkins R, Jones S, Hornblower P. Downhole steering automation and new survey measurement method significantly improves high-dogleg rotary-steerable system performance, SPE Annual Technical Conference and Exhibition, New Orleans, 2013.Google Scholar
  9. 9.
    Xue Qilong, Wang Ruihe, Sun Feng, et al. Continuous measurement-while-drilling utilizing strap-down multimodel surveying system, IEEE Trans Instrum Meas, vol. 63, no. 3, pp. 650–657, Mar. 2014.Google Scholar
  10. 10.
    Xue Q, Wang R, Huang L, Sun F. Dynamic solution approach to the inclination and Amizuth of bottom rotating drill string, SPE Western Regional Meeting, Monterey, 2013.Google Scholar
  11. 11.
    Wang R, Xue Q, Han L, et al. Torsional vibration analysis of push-the-bit rotary steerable drilling system. Meccanica. Jul. 2014;49(7):1601–15.CrossRefGoogle Scholar
  12. 12.
    Xue Q, Wang R, Feng S. Study on lateral vibration of rotary steerable drilling system. J Vibroeng. 2014;16(6):2702–12.Google Scholar
  13. 13.
    ElGizawy M, Noureldin A, Georgy J, Iqbal U, El-Sheimy N. Wellbore surveying while drilling based on Kalman filtering. Am J Eng Appl Sci. 2010;3(2):240–59.CrossRefGoogle Scholar
  14. 14.
    Elgizawy M, Noureldin A, El-Sheimy N. Continuous wellbore surveying while drilling utilizing MEMS gyroscopes based on Kalman filtering, Proceeding of SPE Annual Technical Conference Exhibit, Florence, 2010, pp. 5416–5428.Google Scholar
  15. 15.
    Jurkov AS, Cloutier J, Pecht E, Mintchev MP. Experimental feasibility of the in-drilling alignment method for inertial navigation in measurement-while-drilling. IEEE Trans Instrum Meas. Mar. 2011;60(3):1080–90.CrossRefGoogle Scholar
  16. 16.
    Noureldin A, Irvine-Halliday D, Mintchev MP. Accuracy limitations of FOG-based continuous measurement-while-drilling surveying instruments for horizontal wells. IEEE Trans Instrum Means. Jun. 2002;51(6):1177–91.CrossRefGoogle Scholar
  17. 17.
    A. Noureldin, H. Tabler, D. Irvine-Halliday, and M. Mintchev, Testing the applicability of fiber optic gyroscopes for azimuth monitoring for measurement-while-drilling processes in the oil industry, Proceeding IEEE Position Location Navigation Symposium, San Diego, 2000, p. 291–298.Google Scholar
  18. 18.
    Pecht E, Mintchev MP. Observability analysis for INS alignment in horizontal drilling. IEEE Trans Instrum Meas. May, 2007;56(5):1935–45.CrossRefGoogle Scholar
  19. 19.
    Zhang Y, Wang S, Fang J. Measurement-while-drilling instrument based on predigested inertial measurement unit. IEEE Trans Instrum Meas. Dec. 2012;61(12):3295–302.CrossRefGoogle Scholar
  20. 20.
    Chen C, Zhang Y, Li C. Surveying method of measurement while drilling based on the inertial sensor, Proceeding of 1st International Conference on PCSPA, Harbin, 2010, p. 1192–1195.Google Scholar
  21. 21.
    Walters PH. Method of determining the orientation of a surveying instrument in a borehole, US Patent 4709486, 1986.Google Scholar
  22. 22.
    Russell MK, Russell AW. Surveying of boreholes. US Patent 4163324, 1978.Google Scholar
  23. 23.
    Noureldin A, et al. Fundamentals of inertial navigation, satellite-based positioning and their integration. Berlin: Springer; 2013.CrossRefGoogle Scholar
  24. 24.
    Minkler G, Minkler J. Theory and application of kalman filtering. Palm Bay: Magellan Book Co; 1993.zbMATHGoogle Scholar
  25. 25.
    Ding JJ. Time frequency analysis and wavelet transform class note. Taipei: Department of Electrical Engineering, National Taiwan University; 2007.Google Scholar
  26. 26.
    Russel MK, Russel AW. Surveying of boreholes, U.S. Patent 4163324, 1979.Google Scholar
  27. 27.
    DiPersio RD, Cobern ME. Method for measurement of azimuth of a borehole while drilling: US4813274, 1989.Google Scholar
  28. 28.
    Salychev O. Inertial systems in navigation and geophysics. Moscow: Bauman MSTU press; 1998.Google Scholar
  29. 29.
    Schwarz KP, Wei M. A framework for modelling kinematic measurements in gravity field applications. Billeting Geodesique. 1990;64(4):331–46.CrossRefGoogle Scholar
  30. 30.
    Salychev O. Inertial systems in navigation and geophysics. Moscow: Bauman MSTU press; 1998.Google Scholar
  31. 31.
    Qilong X, Ruihe W, Feng S, Leilei H. Continuous measurement-while-drilling utilizing strap-down multi-model surveying system. IEEE Trans Instrum Meas. 2014;63(3):650–7.CrossRefGoogle Scholar
  32. 32.
    Qilong X, Ruihe W, Baolin L, Leilei H. Dynamic measurement of spatial attitude at bottom rotating drillstring: simulation, experimental, and field test. J Energy Resour Technol Trans ASME. 2016;138(2):1–9.Google Scholar
  33. 33.
    Vitter JS. Random sampling with a reservoir. ACM Trans Math Softw. 1985;11(1):37–57.MathSciNetCrossRefGoogle Scholar
  34. 34.
    Vitter JS. Random sampling with a reservoir. ACM Trans Math Softw. 1985;11(1):37–57.MathSciNetCrossRefGoogle Scholar
  35. 35.
    Maybeck PS. Stochastic models, estimation and control. New York: Academic Press Inc; 1979.zbMATHGoogle Scholar
  36. 36.
    Vanicek P, Omerbasic M. Does a navigation algorithm have to use a Kalman filter? Can Aeronaut Space J. 1999;45(3):292–6.Google Scholar
  37. 37.
    Qilong X, Henry L, Ruihe W, Baolin L. Continuous real-time measurement of drilling trajectory with new state-space models of Kalman filter. IEEE Trans Instrum Meas. 2016;65(1):144–54.CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.China University of GeosciencesBeijingChina

Personalised recommendations