Method to assess uncertainties and correlations resulting from multi-station analysis of survey data

• US 10,228,987 B2
• Filed: 02/28/2013
• Issued: 03/12/2019
• Est. Priority Date: 02/28/2013
• Status: Active Grant

• Current Assignee: Baker Hughes Incorporated (Baker Hughes Company)
• Original Assignee: Baker Hughes, a GE Company, LLC (Baker Hughes Company)
• Inventors: Hanak, Francis Chad
• Primary Examiner(s): Suglo, Janet L
• Assistant Examiner(s): Casey, Liam R
• Application Number:
  US13/780,054
• Publication Number:
  US 20140244176A1
• Time in Patent Office: 2,203 Days
• CPC Class Codes: E21B 47/024 of devices in the borehole determining slope or direction of the borehole E21B47/022
• CPC Class Codes: E21B 7/04 Directional drilling
• CPC Class Codes: G01V 3/38 Processing data, e.g. for analysis, for interpretation, for correction
• CPC Class Codes: G05B 19/404 characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia G05B19/19, G05B19/41 take precedence
• CPC Class Codes: G06F 11/00 Error detection; Error correction; Monitoring error detection, correction or monitoring in information storage based on relative movement between record carrier and transducer G11B20/18; monitoring, i.e. supervising the progress of recording or reproducing G11B27/36; in static stores G11C29/00

Abstract

A system, method and computer-readable medium for a drilling a borehole is disclosed. Errors associated with multi-station survey measurements are obtained and partitioned into a set of estimated errors and a set of considered errors. A post-fit covariance matrix is determined from the estimated errors and includes the effects of the considered errors on the estimated errors. A drilling parameter of a drill string in the borehole may be altered using the determined post-fit covariance matrix.

Claims

1. A method of a drilling a borehole, comprising:

obtaining errors associated with multi-station survey measurements obtained at a drill string in the borehole;

partitioning the obtained errors into a set of magnetometer bias errors and a set of measurement errors including scale factor errors;

determining a post-fit covariance matrix for the magnetometer bias errors that includes the effects of the measurement errors on the magnetometer bias errors;

determining an ellipsoid of constant probability for the post-fit covariance matrix, wherein the ellipsoid of constant probability defines an uncertainty in trajectory of the drill string;

comparing the ellipsoid of constant probability for the post-fit covariance matrix to the ellipsoid of constant probability for a standard error model;

when the ellipsoid of constant probability for the post-fit covariance matrix is less than the ellipsoid of constant probability for the standard error model, determining an ellipsoid of constant probability for a target error model based on reducing magnetometer bias errors and scale factor errors of the standard error model, the ellipsoid of constant probability for the target error model being bound by the ellipsoid of constant probability for the post-fit covariance matrix;

correcting a trajectory of the drill string using the target error model; and

steering the drill string in the borehole using the corrected trajectory.

2. The method of claim 1, further comprising determining a sensitivity matrix relating a variation in the set of magnetometer bias errors to a variation in the set of measurement errors, and using the sensitivity matrix to determine the post-fit covariance matrix.

3. The method of claim 2, further comprising determining a distribution of the magnetometer bias errors in survey measurements of the borehole from the post-fit covariance matrix;

and altering the drilling parameter using the distribution of the magnetometer bias errors.

4. The method of claim 1, further comprising determining the post-fit covariance matrix when the measurement errors are non-observable.

5. The method of claim 1, wherein the obtained errors include at least one selected from the group consisting of:

magnetometer bias, accelerometer bias, scale factor, total field measurements and dip.

6. The method of claim 1, further comprising determining a first uncertainty ellipsoid with respect to a position of a drill string from the determined post-fit covariance matrix;

and using the first uncertainty ellipsoid to alter a drilling parameter.

7. The method of claim 6, further comprising determining whether the first uncertainty ellipsoid is bounded by a second uncertainty ellipsoid.

8. The method of claim 7, wherein determining whether first uncertainty ellipsoid is bounded by the second uncertainty ellipsoid further comprises determining that the post-fit covariance matrix is bounded by a target covariance matrix associated with the second uncertainty ellipsoid, and determining that the first uncertainty ellipsoid and the second uncertainty ellipsoid do not intersect.

9. The method of claim 7, further comprising selecting the second uncertainty ellipsoid to alter the drilling parameter when the first uncertainty ellipsoid is bounded by the second uncertainty ellipsoid.

10. A system for drilling a borehole, comprising:

a drill string configured to drill the borehole; and

a processor configured to;

obtain errors associated with previous downhole survey measurements,

partition the obtained errors into a set of magnetometer bias errors and a set of measurement errors including scale factor errors,

determine a post-fit covariance matrix for the magnetometer bias errors that includes the effects of a variation of the measurement errors on a variation of the magnetometer bias errors;

determine an ellipsoid of constant probability for the post-fit covariance matrix, wherein the ellipsoid of constant probability defines an uncertainty in trajectory of the drill string;

compare the ellipsoid of constant probability for the post-fit covariance matrix to the ellipsoid of constant probability for a standard error model;

when the ellipsoid of constant probability for the post-fit covariance matrix is less than the ellipsoid of constant probability for the standard error model, determine an ellipsoid of constant probability for a target error model based on reducing magnetometer bias errors and scale factor errors of the standard error model, the ellipsoid of constant probability for the target error model being bound by the ellipsoid of constant probability for the post-fit covariance matrix;

correct a trajectory of the drill string using the target error model; and

steer the drill string using the corrected trajectory.

11. The system of claim 10, wherein the processor is further configured to determine a sensitivity matrix relating a variation in the set of magnetometer bias errors to a variation in the set of measurement errors, and use the sensitivity matrix to determine the post-fit covariance matrix.

12. The system of claim 10, wherein the processor is further configured to determine a distribution of the magnetometer bias errors in the survey measurements of the borehole from the post-fit covariance matrix;

and alter the drilling parameter using the distribution of the magnetometer bias errors.

13. The system of claim 10, wherein the processor is further configured to determine the post-fit covariance matrix when the measurement errors are non-observable.

14. The system of claim 10, wherein the obtained errors include at least one selected from the group consisting of:

magnetometer bias, accelerometer bias, scale factor, total field measurements and dip.

15. The system of claim 10, wherein the post-fit covariance matrix provides a distribution of the magnetometer bias errors in the downhole survey measurements.

16. The system of claim 15, wherein the processor is further configured to determine a first uncertainty ellipsoid with respect to a position of a drill string from the determined post-fit covariance matrix;

and use the first uncertainty ellipsoid to alter a drilling parameter.

17. The system of claim 16, wherein the processor is further configured to determine whether the first uncertainty ellipsoid is bounded by a second uncertainty ellipsoid.

18. The system of claim 17, wherein the processor is further configured to determine whether the first uncertainty ellipsoid is bounded by the second uncertainty ellipsoid by determining that the post-fit covariance matrix is bounded by a target covariance matrix associated with the second uncertainty ellipsoid, and determining that the first uncertainty ellipsoid and the second uncertainty ellipsoid do not intersect.

19. The method of claim 17, wherein the processor is further configured to select the second uncertainty ellipsoid to alter the drilling parameter when the first uncertainty ellipsoid is bounded by the second uncertainty ellipsoid.

20. A non-transitory computer-readable medium having a set of instructions stored thereon and accessible to a processor to perform a method of a drilling a borehole, the method comprising:

obtaining errors associated with multi-station survey measurements;

partitioning the obtained errors into a set of magnetometer bias errors and a set of measurement errors including scale factor errors;

determining a post-fit covariance matrix for the magnetometer bias errors that includes the effects of a variation of the measurement errors on a variation of the magnetometer bias errors;

determining an ellipsoid of constant probability for the post-fit covariance matrix, wherein the ellipsoid of constant probability defines an uncertainty in trajectory of the drill string;

comparing the ellipsoid of constant probability for the post-fit covariance matrix to the ellipsoid of constant probability for a standard error model;

when the ellipsoid of constant probability for the post-fit covariance matrix is less than the ellipsoid of constant probability for the standard error model, determining an ellipsoid of constant probability for a target error model based on reducing magnetometer bias errors and scale factor errors of the standard error model, the ellipsoid of constant probability for the target error model being bound by the ellipsoid of constant probability for the post-fit covariance matrix;

correcting a trajectory of the drill string using the target error model; and

steering the drill string in the borehole based on the corrected trajectory.

21. The non-transitory computer-readable medium of claim 20, wherein the method further comprises determining a sensitivity matrix relating a variation in the set of magnetometer bias errors to a variation in the set of measurement errors, and using the sensitivity matrix to determine the overall covariance matrix.

22. The non-transitory computer-readable medium of claim 20, wherein the method further comprises determining a distribution of the magnetometer bias errors in the survey measurements of the borehole from the post-fit covariance matrix;

and altering the drilling parameter using the distribution of the magnetometer bias errors.

23. The non-transitory computer-readable medium of claim 20, wherein the obtained errors include at least one selected from the group consisting of:

magnetometer bias, accelerometer bias, scale factor, total field measurements and dip.

24. The non-transitory computer-readable medium of claim 20, wherein the method further comprises determining the post-fit covariance matrix when the measurement errors are non-observable.

25. The non-transitory computer-readable medium of claim 20, wherein the method further comprises determining a first uncertainty ellipsoid with respect to a position of a drill string from the determined post-fit covariance matrix;

and using the first uncertainty ellipsoid to alter a drilling parameter.

26. The non-transitory computer-readable medium of claim 25, wherein the method further comprises determining whether the first uncertainty ellipsoid is bounded by a second uncertainty ellipsoid.

27. The non-transitory computer-readable medium of claim 26, wherein determining whether first uncertainty ellipsoid is bounded by the second uncertainty ellipsoid further comprises determining that the post-fit covariance matrix is bounded by a target covariance matrix associated with the second uncertainty ellipsoid, and determining that the first uncertainty ellipsoid and the second uncertainty ellipsoid do not intersect.

28. The non-transitory computer-readable medium of claim 26, wherein the method further comprises selecting the second uncertainty ellipsoid to alter the drilling parameter when the first uncertainty ellipsoid is bounded by the second uncertainty ellipsoid.