Multiple downhole sensor digital alignment using spatial transforms
First Claim
1. A control system for operating a drill string in a wellbore, comprising:
- a drill string operably coupled to a drilling element configured to drill through a formation;
a plurality of sensor nodes including at least;
a first sensor node operably coupled to the drill string at a first location and comprising one or more first sensors including a first spatial sensor;
a second sensor node operably coupled to the drill string at a second location offset from the first location along a length of the drill string, the second sensor node comprising one or more second sensors including a second spatial sensor;
a non-transitory data collection system configured to store sensor data from the plurality of sensor nodes therein; and
one or more control circuits operably configured to receive the sensor data from the first sensor node and the second sensor node, the one or more control circuits each including a processor operably coupled to a data storage device, the data storage device including computer-readable instructions stored thereon and the processor configured to execute the computer-readable instructions stored on the data storage device, the computer-readable instructions configured to instruct the processor to;
estimate, using the sensor data from the first spatial sensor and the second spatial sensor, parameters of a mathematical transform configured to transform sensor readings from the second sensor node in a second spatial frame of reference of the second sensor node into a first spatial frame of reference of the first sensor node;
transform the sensor readings from the second sensor node into the first spatial frame of reference using the estimated mathematical transform; and
control an operational state of the drill string in response to the sensor data from the first sensor node and the second sensor node after transforming the sensor readings from the second sensor node into the first spatial frame of reference.
2 Assignments
0 Petitions
Accused Products
Abstract
Wellbore sensor systems and related methods are disclosed. A wellbore sensor system includes a first sensor node and a second sensor node. The first sensor node is operably coupled to a drill string at a first location. The second sensor node is operably coupled to the drill string at a second location. A method includes taking first sensor readings from the first sensor node relative to a first spatial frame of reference, and taking second sensor readings from the second sensor node relative to a second spatial frame of reference, and using the first sensor readings and the second sensor readings to estimate parameters of a mathematical transform configured to transform the second sensor readings into the first spatial frame of reference. The method also includes transforming the second sensor readings into the first spatial frame of reference with the estimated mathematical transform.
19 Citations
20 Claims
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1. A control system for operating a drill string in a wellbore, comprising:
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a drill string operably coupled to a drilling element configured to drill through a formation; a plurality of sensor nodes including at least; a first sensor node operably coupled to the drill string at a first location and comprising one or more first sensors including a first spatial sensor; a second sensor node operably coupled to the drill string at a second location offset from the first location along a length of the drill string, the second sensor node comprising one or more second sensors including a second spatial sensor; a non-transitory data collection system configured to store sensor data from the plurality of sensor nodes therein; and one or more control circuits operably configured to receive the sensor data from the first sensor node and the second sensor node, the one or more control circuits each including a processor operably coupled to a data storage device, the data storage device including computer-readable instructions stored thereon and the processor configured to execute the computer-readable instructions stored on the data storage device, the computer-readable instructions configured to instruct the processor to; estimate, using the sensor data from the first spatial sensor and the second spatial sensor, parameters of a mathematical transform configured to transform sensor readings from the second sensor node in a second spatial frame of reference of the second sensor node into a first spatial frame of reference of the first sensor node; transform the sensor readings from the second sensor node into the first spatial frame of reference using the estimated mathematical transform; and control an operational state of the drill string in response to the sensor data from the first sensor node and the second sensor node after transforming the sensor readings from the second sensor node into the first spatial frame of reference. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method of controlling a drill string in a wellbore at least partially by transforming sensor data into a common spatial frame of reference, the method comprising:
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taking first sensor readings with a first sensor node operably coupled to a drill string at a first location, the first sensor readings taken relative to a first spatial frame of reference of the first sensor node; taking second sensor readings with a second sensor node operably coupled to the drill string at a second location offset from the first location along a length of the drill string, the second sensor readings taken relative to a second spatial frame of reference of the second sensor node; executing computer-readable instructions stored on a data storage device with a processor, the computer-readable instructions configured to instruct the processor to perform operations including; using the first sensor readings and the second sensor readings to estimate parameters of a mathematical transform configured to transform the second sensor readings into the first spatial frame of reference; transforming the second sensor readings into the first spatial frame of reference with the estimated parameters of the mathematical transform; and control an operational state of the drill string in response to the sensor data from the first sensor node and the second sensor node after transforming the first sensor readings from the second sensor node into the first spatial frame of reference. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification