Borehole navigation system
First Claim
1. An omnidirectional borehole navigation system comprising:
- a housing for traversing a borehole;
a gimbal system including at least one outer gimbal connected to said housing and at least one inner gimbal nested in and connected to said outer gimbal;
a solid state three-axis gyro assembly mounted on said at least one inner gimbal;
a solid state three-axis accelerometer assembly mounted on said inner gimbal;
gyro logic circuits on said at least one inner gimbal responsive to said three-axis gyro assembly to produce the inertial angular rate about each gyro input axis;
accelerometer logic circuits on said at least one inner gimbal to produce the non-gravitational acceleration along each accelerometer input axis; and
a microprocessor responsive to said gyro logic circuits and said accelerometer logic circuits for determining the attitude and the position of said housing in its borehole.
1 Assignment
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Accused Products
Abstract
An omnidirectional borehole navigation system is provided which features a housing for traversing a borehole; a gimbal system including at least one outer gimbal connected to the housing and at least one inner gimbal nested in and connected to the outer gimbal; a solid state three-axis gyro assembly mounted on the inner gimbal; a solid state three-axis accelerometer assembly mounted on the inner gimbal; gyro logic circuits on the inner gimbal responsive to the three-axis gyro assembly to produce the inertial angular rate about each gyro input axis; accelerometer logic circuits on the inner gimbal to produce the non-gravitational acceleration along each accelerometer input axis; and a microprocessor responsive to the gyro logic circuits and the accelerometer logic circuits for determining the attitude and the position and velocity of the housing in its borehole.
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Citations
45 Claims
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1. An omnidirectional borehole navigation system comprising:
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a housing for traversing a borehole;
a gimbal system including at least one outer gimbal connected to said housing and at least one inner gimbal nested in and connected to said outer gimbal;
a solid state three-axis gyro assembly mounted on said at least one inner gimbal;
a solid state three-axis accelerometer assembly mounted on said inner gimbal;
gyro logic circuits on said at least one inner gimbal responsive to said three-axis gyro assembly to produce the inertial angular rate about each gyro input axis;
accelerometer logic circuits on said at least one inner gimbal to produce the non-gravitational acceleration along each accelerometer input axis; and
a microprocessor responsive to said gyro logic circuits and said accelerometer logic circuits for determining the attitude and the position of said housing in its borehole. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. An omnidirectional borehole navigation system comprising:
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a housing for traversing a borehole;
a dual gimbal system including an outer gimbal connected to said housing and an inner gimbal nested in and connected to said outer gimbal;
a MEMS three-axis gyro assembly mounted on said inner gimbal;
a MEMS three-axis accelerometer assembly mounted on said inner gimbal;
gyro logic circuits on said inner gimbal responsive to said three-axis gyro assembly to produce the inertial angular rate about each gyro input axis;
accelerometer logic circuits on said inner gimbal to produce the non-gravitational acceleration along each accelerometer input axis; and
a microprocessor responsive to said gyro logic circuits and said accelerometer logic circuits for determining the attitude, the position, and the velocity of said housing in its borehole. - View Dependent Claims (29, 30, 31, 32, 33, 34)
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35. An omnidirectional borehole navigation system comprising:
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a housing for traversing a borehole;
a gimbal system including an outer gimbal connected to said housing and an inner gimbal nested in and connected to said outer gimbal, said inner gimbal including a plurality of stacked inner gimbal elements;
a MEMS three-axis gyro assembly, each axis of said gyro assembly mounted on one of said stacked inner gimbal elements;
a MEMS three-axis accelerometer assembly mounted on said inner gimbal, each axis of said accelerometer assembly mounted on one of said stacked inner gimbal elements;
gyro logic circuits on said inner gimbal responsive to said three-axis gyro assembly to produce the inertial angular rate about each gyro input axis;
accelerometer logic circuits on said inner gimbal to produce the non-gravitational acceleration along each accelerometer input axis; and
a microprocessor responsive to said gyro logic circuits and said accelerometer logic circuits for determining the attitude, the position, and the velocity of said housing in its borehole. - View Dependent Claims (36, 37)
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38. An omnidirectional borehole navigation system comprising:
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a housing for traversing a borehole;
a gimbal system including at least one outer gimbal connected to said housing and an inner gimbal nested in and connected to said outer gimbal;
a solid state three-axis gyro assembly mounted within said housing;
a solid state three-axis accelerometer assembly mounted within said housing;
gyro logic circuits mounted within said housing and responsive to said three-axis gyro assembly to produce the inertial angular rate about each gyro input axis;
accelerometer logic circuits mounted within said housing and responsive to said three-axis accelerometer assembly to produce the non-gravitational acceleration along each accelerometer input axis; and
a microprocessor responsive to said gyro logic circuits and said accelerometer logic circuits for determining the attitude, the position, and the velocity of said housing in its borehole. - View Dependent Claims (39)
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40. A method for borehole navigation, comprising the steps of:
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providing a housing for traversing a borehole, the housing including a gimbal system having at least one outer gimbal connected to said housing and an inner gimbal nested in and connected to said outer gimbal, said gimbal system including a solid state three-axis gyro assembly and a solid state three-axis accelerometer assembly mounted within said gimbal system;
obtaining information about a position of a first point in the borehole;
determining the attitude of the first point in the borehole using said three-axis gyro assembly and said three-axis accelerometer assembly by rotating said gimbal system through four or more gyrocompass positions to determine gyro and accelerometer biases, and the Earth'"'"'s rotation and gravity vectors;
traversing through the borehole to a second point in the borehole;
determining the attitude at the second point in the borehole using said three-axis gyro assembly and said three-axis accelerometer assembly; and
determining the position of the second point in the borehole based upon information about the attitude at the first and second points in the borehole and the distance traversed from the first position to the second position in the borehole. - View Dependent Claims (41)
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42. A method for borehole navigation, comprising the steps of:
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providing a housing for traversing a borehole, the housing including a gimbal system having at least one outer gimbal connected to said housing and an inner gimbal nested in and connected to said outer gimbal, said gimbal system including a solid state three-axis gyro assembly and a solid state three-axis accelerometer assembly mounted within said gimbal system;
obtaining information about a position of a first point in the borehole;
determining the attitude of the first point in the borehole using said three-axis gyro assembly and said three-axis accelerometer assembly by rotating said gimbal system through four or more gyrocompass positions to determine gyro and accelerometer biases, and the Earth'"'"'s rotation and gravity vectors;
while traversing through the borehole and carouseling and/or indexing the gimbals, determining the attitude using outputs of said three-axis gyro assembly and propagating the position using the increment of drill pipe advance times the attitude; and
Kalman filter updating the position of a second point in the borehole based upon the propagated position from the first point, information about the attitude from a gyrocompass at the second point, and the distance traversed from the first point to the second point in the borehole. - View Dependent Claims (43)
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44. A method for borehole navigation comprising the steps of:
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providing a housing for traversing a borehole, the housing including a gimbal system having at least one outer gimbal connected to said housing and an inner gimbal nested in and connected to said outer gimbal, said gimbal system including a solid state three-axis gyro assembly and a solid state three-axis accelerometer assembly mounted within said gimbal system;
determining the attitude at the first point in the borehole using said three-axis gyro assembly and three-axis accelerometer assembly by rotating said gimbal system through four or more gyrocompass positions to determine gyro and accelerometer biases, and the Earth'"'"'s rotation and gravity vectors;
while traversing through the borehole and carouseling and/or indexing the gimbals, determining the attitude, position, and velocity by inertial navigation algorithms using the outputs of said three-axis gyro assembly and said three-axis accelerometer assembly to obtain an inertial navigation solution, and Kalman filter updating the inertial navigation solution using the increment of a drill pipe advance external aid; and
Kalman filter updating the position of a second point in the borehole based upon the inertial navigation result for the second point, information about attitude from a gyrocompass at the second point, and the distance traveled from the first point to the second point in the borehole. - View Dependent Claims (45)
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Specification