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Determining angular offset between geomagnetic and gravitational fields while drilling wellbore

  • US 10,641,077 B2
  • Filed: 04/13/2017
  • Issued: 05/05/2020
  • Est. Priority Date: 04/13/2017
  • Status: Active Grant
First Claim
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1. A method of operating an apparatus while advancing with rotation in a borehole, the method comprising:

  • determining angular position of the apparatus about an axis of the apparatus relative to the borehole during the rotation in the borehole by using angular rate readings from an angular rate sensor of the apparatus;

    correcting the determination of the angular position of the apparatus relative to a toolface offset of the apparatus by;

    dividing each of the rotations into a plurality of divisions using at least one orthogonal pair of a plurality of toolface sensors of the apparatus;

    determining a magnetic toolface of the apparatus during the rotation based on geomagnetic readings from at least one geomagnetic sensor of the toolface sensors of the apparatus in each of the divisions of the rotation relative to the geomagnetic field of reference,determining a gravitational toolface of the apparatus during the rotation based on gravitational readings from at least one gravitational sensor of the toolface sensors of the apparatus in each of the divisions of the rotation relative to the gravitational field of reference, andcalculating the toolface offset of the apparatus as a difference between the magnetic toolface and the gravitational toolface; and

    directing the apparatus in the borehole based on the corrected angular position.

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