A Robust Mag/INS-Based Orientation Estimation Algorithm for Measurement While Drilling

In order to obtain an optimal orientation of the bottom hole assembly while drilling, a novel robust Mag/INS-based orientation estimation algorithm, designed to support a magnetic/ inertial-based measurement while drilling (MWD) surveying system, is proposed and assessed. First, a magnetic/inertial-...

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Veröffentlicht in:IEEE sensors journal Jg. 17; H. 23; S. 7971 - 7980
Hauptverfasser: Yang, Jinxian, Yang, Chuang, Jiang, Jinbao
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.12.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Accelerometers
Algorithms
Angular velocity
Computer simulation
Coriolis force
Drilling
Earth gravitation
Estimation
Failure detection
Gravitation
Gyroscopes
Kalman filters
magnetic and inertial measurement
Magnetic disturbances
Magnetic field measurement
Magnetic fields
Magnetic separation
Magnetometers
Measurement while drilling
Orientation
Physical simulation
robust orientation estimation algorithm
Robustness
signal extraction of the geographical field
Surveying
Vibration measurement
ISSN:1530-437X, 1558-1748
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Zusammenfassung:In order to obtain an optimal orientation of the bottom hole assembly while drilling, a novel robust Mag/INS-based orientation estimation algorithm, designed to support a magnetic/ inertial-based measurement while drilling (MWD) surveying system, is proposed and assessed. First, a magnetic/inertial-based MWD surveying system has been designed by employing triaxial accelerometers, triaxial magnetometers, and triaxial gyroscopes. Second, in the Kalman filter framework the orientation-dependent components, i.e., the Earth's gravity field and the Earth's magnetic field, are decoupled from the vibration and magnetic disturbances respectively based on Coriolis transfer equation. Third, in the federal Kalman filter framework, the extracted gravity and magnetic field measurements are robustly fused together with angular velocity readings from the gyroscopes by employing the failure detection and inter(FDI) technique. Semi-physical simulation and actual drilling experiments show that the proposed novel robust Mag/INS-based orientation algorithm adapts well to the severe conditions of the drilling environment and can effectively improve measurement precision and reduce errors produced by drillstring vibration and magnetic disturbances.
Bibliographie:ObjectType-Article-1
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ISSN:1530-437X
1558-1748
DOI:10.1109/JSEN.2017.2761853