Abstract
The derivation of a conventional error model for the miniature gyroscope-based measurement while drilling (MGWD) system is based on the assumption that the errors of attitude are small enough so that the direction cosine matrix (DCM) can be approximated or simplified by the errors of small-angle attitude. However, the simplification of the DCM would introduce errors to the navigation solutions of the MGWD system if the initial alignment cannot provide precise attitude, especially for the low-cost microelectromechanical system (MEMS) sensors operated in harsh multilateral horizontal downhole drilling environments. This paper proposes a novel nonlinear error model (NNEM) by the introduction of the error of DCM, and the NNEM can reduce the propagated errors under large-angle attitude error conditions. The zero velocity and zero position are the reference points and the innovations in the states estimation of particle filter (PF) and Kalman filter (KF). The experimental results illustrate that the performance of PF is better than KF and the PF with NNEM can effectively restrain the errors of system states, especially for the azimuth, velocity, and height in the quasi-stationary condition.
Highlights
IntroductionHorizontal drilling (HD), especially reentry multilateral horizontal well drilling (RMHWD), receives considerable attention because it provides great economic value in the oil and gas industry
Horizontal drilling (HD), especially reentry multilateral horizontal well drilling (RMHWD), receives considerable attention because it provides great economic value in the oil and gas industry.The RMHWD technology was originally proposed in an industry consortium of operators and service companies in 1997 [1] and RMHWD can significantly increase the production of oil and gas by extending the contact areas between oil and gas reservoirs and the well drilling equipment and by revisiting the existing wellbores [2]
Y-axis plotting approach because the results are in different orders of magnitude
Summary
Horizontal drilling (HD), especially reentry multilateral horizontal well drilling (RMHWD), receives considerable attention because it provides great economic value in the oil and gas industry. Gyroscope-based MWD (GWD) tools can continuously provide the attitude, velocity, and position of the drill bit regardless of the strong magnetic interferences. In the application of the Kalman filter (KF), both error models neglect the high-order error terms that may introduce errors when the attitude errors are large. An IDA approach was introduced to restrict the azimuth error of the drill bit in [22,23]; the azimuth error was reduced 25 times smaller than the conventional magnetometer based MWD tools. The rotary-in-drilling alignment (RIDA) was proposed in terms of the theory of rotary modulation alignment in an inertial navigation system (INS) to minimize the dynamic position errors and the azimuth error of the MWD system [24,25].
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