Method and apparatus for determining the shape of an earth borehole and the motion of a tool within the borehole

• US 6,065,219 A
• Filed: 09/25/1998
• Issued: 05/23/2000
• Est. Priority Date: 06/26/1998
• Status: Expired due to Term

• Current Assignee: Halliburton Energy Services Incorporated (Halliburton Company)
• Original Assignee: Dresser Industries Incorporated (Halliburton Company)
• Inventors: Chen, Chen-Kang David, Wisniewski, Laurence T., Varsamis, Georgios L., Murphey, Carey R.
• Primary Examiner(s): Fulton, Christopher W.
• Application Number:
  US09/161,107
• Time in Patent Office: 606 Days
• Field of Search: 33/544, 33/302, 33/304, 33/313, 33/542, 33/543, 33/544.1, 33/544.2, 33/546
• US Class Current: 33/544
• CPC Class Codes: E21B 44/00 Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
• CPC Class Codes: E21B 47/0224 using seismic or acoustic means
• CPC Class Codes: E21B 47/085 using radiant means, e.g. acoustic, radioactive or electromagnetic
• CPC Class Codes: G01B 15/04 for measuring contours or curvatures
• CPC Class Codes: G01B 21/20 for measuring contours or curvatures, e.g. determining profile
• CPC Class Codes: G01V 1/52 Structural details

Abstract

A method and apparatus are provided for estimating the cross-sectional shape and orientation of an earth borehole and the motion of a tool therein. The method and apparatus involve measuring the distance from the tool to the borehole wall at a plurality of locations around the periphery of the tool and fitting those measured distances to a predetermined shape function using a nonlinear parameter estimation technique to minimize the error between the estimated shape of the borehole and the measured distances. The method and apparatus may be used to estimate elliptical and higher order borehole shapes. Additionally, the method and apparatus may be used while drilling the borehole.

Claims

1. An apparatus for estimating the actual cross-sectional shape and orientation of an earth borehole comprising:

(a) a rotatable tool having

(1) a plurality of distance sensors for generating standoff signals representative of respective standoff distances from each of said distance sensors to respective points on the wall of a borehole at a plurality of measurement times, and

(2) at least one angle sensor for generating rotational orientation signals representative of the rotational orientation angle of said tool with respect to a reference direction at said plurality of measurement times; and

(b) a signal processor for calculating an estimate of the actual cross-sectional shape and orientation of an earth borehole based on said standoff signals and said rotational orientation signals.

2. The apparatus of claim 1 wherein said signal processor is mounted to said tool.

3. The apparatus of claim 2 wherein said tool further comprises a data storage device in communication with said signal processor.

4. The apparatus of claim 3 wherein said data storage device stores data representative of said standoff distances and said rotational orientation angles.

5. The apparatus of claim 3 wherein said data storage device stores data representative of said estimate.

6. The apparatus of claim 2 wherein said tool further comprises a data transmitter in communication with said signal processor.

7. The apparatus of claim 6 wherein said data transmitter transmits said standoff signals and said rotational orientation signals to the earth'"'"'s surface.

8. The apparatus of claim 6 wherein said data transmitter transmits signals representative of said estimate to the earth'"'"'s surface.

9. The apparatus of claim 1 wherein said signal processor is located at the earth'"'"'s surface.

10. The apparatus of claim 9 wherein said tool further comprises a data storage device.

11. The apparatus of claim 10 wherein said data storage device stores data representative of said standoff distances and said rotational orientation angles.

12. The apparatus of claim 9 wherein said tool further comprises a data transmitter.

13. The apparatus of claim 12 wherein said data transmitter transmits said standoff signals and said rotational orientation signals to the earth'"'"'s surface.

14. The apparatus of claim 1 wherein said distance sensors are selected from the group consisting of acoustic calipers, mechanical calipers, and electrical resistance sensors.

15. The apparatus of claim 1 wherein said plurality of distance sensors comprises three such distance sensors equally spaced around said tool.

16. The apparatus of claim 1 wherein said at least one angle sensor comprises at least one gravitational sensor for indicating the angular orientation of said tool with respect to the direction of the earth'"'"'s gravity.

17. The apparatus of claim 16 wherein said at least one gravitational sensor is selected from the group consisting of accelerometers, inclinometers, and gyroscopes.

18. The apparatus of claim 1 wherein said at least one angle sensor comprises at least one magnetic sensor for indicating the angular orientation of said tool with respect to the direction of the earth'"'"'s magnetic field.

19. The apparatus of claim 18 wherein said at least one magnetic sensor comprises a magnetometer.

20. The apparatus of claim 1 wherein said signal processor calculates said estimate of the actual cross-sectional shape and orientation of an earth borehole by

(a) receiving said standoff signals and said rotational orientation signals,

(b) generating parameter signals representative of a set of parameters that defines an estimated cross-sectional shape and orientation of the borehole and an estimated position of said tool within the borehole at each of said measurement times,

(c) combining said standoff signals, said rotational orientation signals, and said parameter signals to generate primary error signals representative of a primary error function proportional to the difference between said estimated cross-sectional shape and the actual cross-sectional shape of the borehole,

(d) combining said parameter signals and said primary error signals to generate sensitivity signals representative of the sensitivity of said primary error function to each of said parameters, and

(e) adjusting said parameter signals based on said sensitivity signals to minimize said primary error function and thereby determine optimal values for said parameters.

21. The apparatus of claim 20 wherein said signal processor performs the further function of generating translational displacement signals representative of the lateral translational displacement s_n of said tool according to the equation ##EQU12## wherein (xc_n, yc_n) and (xc_n+1,yc_n+1) are the coordinates of said estimated position of said tool within the borehole at two successive said measurement times.

22. The apparatus of claim 21 wherein said signal processor performs the further function of generating translational velocity signals representative of the lateral translational velocity of said tool by calculating the first derivative of said lateral translational displacement with respect to time.

23. The apparatus of claim 21 wherein said signal processor performs the further function of generating translational acceleration signals representative of the lateral translational acceleration of said tool by calculating the second derivative of said lateral translational displacement with respect to time.

24. The apparatus of claim 20 wherein said signal processor performs the further function of generating rotational displacement signals representative of the rotational displacement θ

of said tool according to the equation

space="preserve" listing-type="equation">θ

=θ

.sub.n+1 -θ

.sub.n

wherein θ

_n and θ

_n+1 are said rotational orientation signals of said tool at two successive said measurement times.

25. The apparatus of claim 24 wherein said signal processor performs the further function of generating rotational velocity signals representative of the rotational velocity of said tool by calculating the first derivative of said rotational displacement with respect to time.

26. The apparatus of claim 24 wherein said signal processor performs the further function of generating rotational acceleration signals representative of the rotational acceleration of said tool by calculating the second derivative of said rotational displacement with respect to time.

27. The apparatus of claim 20 wherein said signal processor performs the further functions of generating supplemental error signals representative of a supplemental error function proportional to the motion of said tool, combining said parameter signals and said supplemental error signals to generate supplemental sensitivity signals representative of the sensitivity of said supplemental error function to each of said parameters, and adjusting said parameter signals based on said supplemental sensitivity signals to minimize said supplemental error function.

28. The apparatus of claim 27 wherein:

said signal processor performs the further function of generating translational displacement signals representative of the lateral translational displacement s_n of said tool according to the equation ##EQU13## wherein (xc_n, yc_n) and (xc_n+1, yc_n+1) are the coordinates of said estimated position of said tool within the borehole at two successive said measurement times; and

the terms of said supplemental error function are defined using said translational displacement signals according to the equation

space="preserve" listing-type="equation">F.sub.n =W·

s.sub.n

wherein W is a weighting coefficient and s_n is the lateral translational displacement of said tool at each of said measurement times.

29. The apparatus of claim 27 further comprising:

a plurality of accelerometers mounted to said tool for generating raw acceleration signals proportional to the lateral translational acceleration of said tool;

a filter mounted to said tool in communication with said plurality of accelerometers for receiving said raw acceleration signals, filtering out the contribution of gravity to said raw acceleration signals, and generating filtered acceleration signals proportional to the lateral translational acceleration of said tool in a rotating reference frame of said tool;

wherein said signal processor performs the further functions of receiving said filtered acceleration signals, transforming said filtered acceleration signals and thereby generating transformed acceleration signals proportional to the lateral translational acceleration of said tool in a fixed reference frame of the earth, and combining said transformed acceleration signals and thereby generating measured acceleration signals representative of the lateral translational acceleration of said tool;

wherein said signal processor performs the further functions of generating translational displacement signals representative of the lateral translational displacement s_n of said tool derived from said standoff signals from said distance sensors according to the equation ##EQU14## wherein (xc_n, yc_n) and (xc_n+1, yc_n+1) are the coordinates of said estimated position of said tool within the borehole at two successive said measurement times, and generating derived acceleration signals representative of the lateral translational acceleration of said tool by calculating the second derivative of said lateral translational displacement with respect to time; and

wherein the terms of said supplemental error function are defined according to the equation

space="preserve" listing-type="equation">F.sub.n =W.sub.a |a.sub.n -a.sub.n '"'"'|

wherein W_a is a weighting coefficient, a_n is the value of said derived acceleration signal for each of said measurement times, and a_n '"'"' is the value of said measured acceleration signal for each of said measurement times.

30. The apparatus of claim 27 further comprising:

a plurality of accelerometers mounted to said tool for generating raw acceleration signals proportional to the lateral translational acceleration of said tool;

a filter mounted to said tool in communication with said plurality of accelerometers for receiving said raw acceleration signals, filtering out the contribution of gravity to said raw acceleration signals, and generating filtered acceleration signals proportional to the lateral translational acceleration of said tool in a rotating reference frame of said tool;

wherein said signal processor performs the further functions of receiving said filtered acceleration signals, transforming said filtered acceleration signals and thereby generating transformed acceleration signals proportional to the lateral translational acceleration of said tool in a fixed reference frame of the earth, combining said transformed acceleration signals and thereby generating measured acceleration signals representative of the lateral translational acceleration of said tool, and generating derived displacement signals representative of the lateral translational displacement of said tool by twice integrating said measured acceleration signals;

wherein said signal processor performs the further function of generating measured displacement signals representative of the lateral translational displacement s_n of said tool obtained from said standoff signals from said distance sensors according to the equation ##EQU15## wherein (xc_n, yc_n) and (xc_n+1, yc_n+1) are the coordinates of said estimated position of said tool within the borehole at two successive said measurement times; and

wherein the terms of said supplemental error function are defined according to the equation

space="preserve" listing-type="equation">F.sub.n =W.sub.s |s.sub.n -s.sub.n '"'"'|

wherein W_s is a weighting coefficient, s_n is the value of said measured displacement signal for each of said measurement times, and s_n '"'"' is the value of said derived displacement signal for each of said measurement times.

31. The apparatus of claim 27 further comprising:

a plurality of accelerometers mounted to said tool for generating raw acceleration signals proportional to the lateral translational acceleration of said tool;

a filter mounted to said tool in communication with said plurality of accelerometers for receiving said raw acceleration signals, filtering out the contribution of gravity to said raw acceleration signals, and generating filtered acceleration signals proportional to the lateral translational acceleration of said tool in a rotating reference frame of said tool;

wherein said signal processor performs the further functions of receiving said filtered acceleration signals, transforming said filtered acceleration signals and thereby generating transformed acceleration signals proportional to the lateral translational acceleration of said tool in a fixed reference frame of the earth, combining said transformed acceleration signals and thereby generating measured acceleration signals representative of the lateral translational acceleration of said tool, and generating derived displacement signals representative of the lateral translational displacement of said tool by twice integrating said measured acceleration signals;

wherein said signal processor performs the further function of generating measured displacement signals representative of the lateral translational displacement s_n of said tool obtained from said standoff signals from said distance sensors according to the equation ##EQU16## wherein (xc_n, yc_n) and (xc_n+1, yc_n+1) are the coordinates of said estimated position of said tool within the borehole at two successive said measurement times; and

wherein the terms of said supplemental error function are defined according to the equation

space="preserve" listing-type="equation">F.sub.n =W.sub.d |D.sup.m [s.sub.n ]-D.sup.m [s.sub.n '"'"']|

wherein W_d is a weighting coefficient, D^m [s_n ] is an mth order finite difference of said measured displacement signals, and D^m [S_n '"'"'] is an mth order finite difference of said derived displacement signals.

32. The apparatus of any one of claims 29, 30, and 31 wherein:

said plurality of accelerometers comprises four accelerometers ac1, ac2, ac3, and ac4 mounted at the ends of a first diameter of said tool and a second diameter of said tool, with said first diameter being orthogonal to said second diameter, such that accelerometers ac1 and ac2 are on said first diameter and accelerometers ac3 and ac4 are on said second diameter, with said accelerometers ac1, ac2, ac3, and ac4 producing electrical signals a1, a2, a3, and a4, respectively, according to the equations

space="preserve" listing-type="equation">a1=α

c+α

cos β

+g sin α

cos γ

space="preserve" listing-type="equation">a2=α

c-α

cos β

-g sin α

cos γ

space="preserve" listing-type="equation">a3=α

c+α

sin β

-g sin α

sin γ

space="preserve" listing-type="equation">a1=α

c-α

sin β

+g sin α

sin γ

wherein α

c is the centripetal acceleration of said tool, α

is said lateral translational acceleration of said tool, β

is the angle between said first diameter and the direction of said lateral translational acceleration, g is the earth'"'"'s gravitational constant, α

is the inclination angle of said tool with respect to the vertical, and γ

is the angle between said first diameter and the direction of the in-plane component of gravity, g sin α

;

said filter comprises a high-pass filter through which said electrical signals a1, a2, a3, and a4 are filtered to produce filtered signals fa1, fa2, fa3, and fa4, respectively, according to the equations

space="preserve" listing-type="equation">fa1=α

c+α

cos β

space="preserve" listing-type="equation">fa2=α

c-α

cos β

space="preserve" listing-type="equation">fa3=α

c+α

sin β

space="preserve" listing-type="equation">fa4=α

c-α

sin β

wherein said signal processor performs the further functions of receiving said filtered signals fa1, fa2, fa3, and fa4 and combining said filtered signals to generate magnitude and direction signals, respectively, representative of the lateral translational acceleration of said tool in a rotating reference frame of said tool according to the equations

space="preserve" listing-type="equation">α

={[(fa1-fa2)/(2)].sup.2 +[(fa3-fa4)/(2)].sup.2 }.sup.1/2

space="preserve" listing-type="equation">tan β

=(fa3-fa4)/(fa1-fa2).

33. An apparatus for estimating the actual cross-sectional shape and orientation of an earth borehole comprising:

a rotating tool having a radius r_t ;

three acoustic sensors mounted to said tool at three sensor locations equally spaced around the circumference of said tool for generating standoff signals representative of standoff distances d₁, d₂, and d₃, respectively, between said three sensor locations on said tool and corresponding measured points P₁, P₂, and P₃ on the wall of the borehole at each of a plurality of measurement times;

a gravitational sensor mounted to said tool for generating first rotational orientation signals representative of the rotational orientation angle of said tool with respect to a first reference direction of the earth'"'"'s gravity at each of said measurement times;

a magnetic sensor mounted to said tool for generating second rotational orientation signals representative of the rotational orientation angle of said tool with respect to a second reference direction of the earth'"'"'s magnetic field at each of said measurement times;

a signal processor mounted to said tool in communication with said acoustic sensors, said gravitational sensor, and said magnetic sensor for

receiving said standoff signals, said first rotational orientation signals, and said second rotational orientation signals,

generating radius signals representative of distances r₁, r₂, and r₃, respectively, from the center of said tool to said measured points P₁, P₂, and P₃ on the wall of the borehole using said standoff signals according to the equations

space="preserve" listing-type="equation">r.sub.1 =d.sub.1 +r.sub.t

space="preserve" listing-type="equation">r.sub.2 =d.sub.2 +r.sub.t

space="preserve" listing-type="equation">r.sub.3 =d.sub.3 +r.sub.t

at each of said measurement times,

comparing said first and second rotational orientation signals and selecting one of said first or second rotational orientation signals as a primary rotational orientation signal representative of an angle θ

with respect to a primary reference direction at each of said measurement times,

generating parameter signals representative of a parameter vector {X} comprised of parameters X_m that defines an estimated ellipse to approximate the cross-sectional shape and orientation of the borehole and an estimated position of said tool within the borehole at each of said measurement times according to the following equation

space="preserve" listing-type="equation">{X}={r.sub.x,r.sub.y,ψ

, xc.sub.1,xc.sub.2,yc.sub.1,yc.sub.2, . . . ,xc.sub.N,yc.sub.N }

wherein r_x is the major radius of said ellipse, r_y is the minor radius of said ellipse, ψ

is the angle between said major radius and said primary reference direction, and (xc_n, yc_n) are the coordinates of the center of said tool within the borehole at said estimated position at each of said measurement times,

generating point error signals representative of a point error function e for each of said measured points according to the following equation ##EQU17## wherein (x, y) are the coordinates of said measured points for each of said measurement times,

combining said point error signals and generating firing error signals representative of a firing error function E_n for each of said measurement times according to the equation ##EQU18## generating primary error signals representative of a primary error function {E_T } according to the equation

space="preserve" listing-type="equation">{E.sub.T }={E.sub.1,E.sub.2,E.sub.3, . . . ,E.sub.N }

wherein the terms E_n represent said firing error signals at each of said measurement times,

using said parameter signals and said primary error signals to generate sensitivity signals representative of the Jacobian matrix [J] as a measure of the sensitivity of said primary error function {E_T } to each of said parameters X_m according to the equation ##EQU19## wherein n=1,2,3, . . . ,N and m=1,2,3, . . . ,2N+3, using said sensitivity signals and said primary error signals to generate parameter adjustment signals representative of a parameter adjustment vector {p} according to the equation

space="preserve" listing-type="equation">{p}=-PseudoInverse([J].sup.T [J]+λ

[J])([J].sup.T {E.sub.T })

wherein [J]^T is the transpose of the Jacobian matrix [J], λ

is a Levenburg-Marquardt parameter, and [I] is the identity matrix,

using said parameter adjustment signals to iteratively adjust said parameters according to the relation

space="preserve" listing-type="equation">{X}={X}+{p}

to minimize said primary error function, and

generating solution signals representative of optimal values for said parameters.

34. The apparatus of claim 33 wherein said tool further comprises a data storage device in communication with said signal processor.

35. The apparatus of claim 34 wherein said data storage device stores data representative of said standoff distances and said rotational orientation angles.

36. The apparatus of claim 34 wherein said data storage device stores data representative of said optimal values for said parameters.

37. The apparatus of claim 33 wherein said tool further comprises a data transmitter in communication with said signal processor.

38. The apparatus of claim 37 wherein said data transmitter transmits said standoff signals and said first and second rotational orientation signals to the earth'"'"'s surface.

39. The apparatus of claim 37 wherein said data transmitter transmits said solution signals to the earth'"'"'s surface.

40. The apparatus of claim 33 further comprising:

four accelerometers ac1, ac2, ac3, and ac4 mounted at the ends of a first diameter of said tool and a second diameter of said tool, with said first diameter being orthogonal to said second diameter, such that accelerometers ac1 and ac2 are on said first diameter and accelerometers ac3 and ac4 are on said second diameter, with said accelerometers ac1, ac2, ac3, and ac4 producing electrical signals a1, a2, a3, and a4, respectively, according to the equations

space="preserve" listing-type="equation">a1=α

c+α

cos β

+g sin α

cos γ

space="preserve" listing-type="equation">a2=α

c-α

cos β

-g sin α

cos γ

space="preserve" listing-type="equation">a3=α

c+α

sin β

-g sin α

sin γ

space="preserve" listing-type="equation">a4=α

c-α

sin β

+g sin α

sin γ

wherein α

_c is the centripetal acceleration of said tool, α

is the lateral translational acceleration of said tool, β

is the angle between said first diameter and the direction of said lateral translational acceleration, g is the earth'"'"'s gravitational constant, α

is the inclination angle of said tool with respect to the vertical, and γ

is the angle between said first diameter and the direction of the in-plane component of gravity, g sin α

; and

a high-pass filter through which said electrical signals a1, a2, a3, and a4 are filtered to produce filtered signals fa1, fa2, fa3, and fa4, respectively, according to the equations

space="preserve" listing-type="equation">fa1=α

c+α

cos β

space="preserve" listing-type="equation">fa2=α

c-α

cos β

space="preserve" listing-type="equation">fa3=α

c+α

sin β

space="preserve" listing-type="equation">fa4=α

c-α

sin β

wherein said signal processor performs the further functions of

receiving said filtered signals fa1, fa2, fa3, and fa4 and combining said filtered signals to generate acceleration magnitude signals and acceleration direction signals, respectively, representative of the lateral translational acceleration of said tool in a rotating reference frame of said tool according to the equations

space="preserve" listing-type="equation">α

={[(fa1-fa2)/(2)].sup.2 +[(fa3-fa4)/(2)].sup.2 }).sup.1/2

space="preserve" listing-type="equation">tan β

=(fa3-fa4)/(fa1-fa2),

transforming said acceleration magnitude signals and said acceleration direction signals and thereby generating transformed acceleration signals proportional to the lateral translational acceleration of said tool in a fixed reference frame of the earth,

combining said transformed acceleration signals and thereby generating measured acceleration signals representative of the lateral translational acceleration of said tool at each of said measurement times,

generating derived acceleration signals representative of the lateral translational acceleration of said tool at each of said measurement times according to the equation ##EQU20## wherein (xc_n-1, yc_n-1), (xc_n, yc_n), and (xc_n+1, yc_n+1) are the coordinates of said estimated position of said tool within the borehole at three successive said measurement times t_n-1, t_n, and t_n+1, respectively,

generating difference signals representative of the magnitude of the difference between said derived acceleration signals and said measured acceleration signals according to the equation ##EQU21## generating supplemental error signals representative of a supplemental error function {F_T } according to the equation

space="preserve" listing-type="equation">{F.sub.T ={F.sub.1,F.sub.2,F.sub.3, . . . ,F.sub.N }

wherein the terms F_n comprising {F_T } are defined according to the equation

space="preserve" listing-type="equation">F.sub.n =W|α

'"'"'.sub.n -α

.sub.n |

wherein W is a weighting factor,

combining said parameter signals and said supplemental error signals to generate supplemental sensitivity signals representative of the sensitivity of said supplemental error function to each of said parameters, and

adjusting said parameter signals based on said supplemental sensitivity signals to minimize said supplemental error function.

41. An apparatus for estimating the actual motion of a tool within an earth borehole comprising:

(b) a rotatable tool having

(1) a plurality of distance sensors for generating standoff signals representative of respective standoff distances from each of said distance sensors to respective points on the wall of a borehole at a plurality of measurement times, and

(2) at least one angle sensor for generating rotational orientation signals representative of the rotational orientation angle of said tool with respect to a reference direction at said plurality of measurement times; and

(b) a signal processor for calculating an estimate of the lateral motion of said tool within an earth borehole based on said standoff signals and said rotational orientation signals.

42. The apparatus of claim 41 wherein said signal processor is mounted to said tool.

43. The apparatus of claim 42 wherein said tool further comprises a data storage device in communication with said signal processor.

44. The apparatus of claim 43 wherein said data storage device stores data representative of said standoff distances and said rotational orientation angles.

45. The apparatus of claim 43 wherein said data storage device stores data representative of said estimate.

46. The apparatus of claim 42 wherein said tool further comprises a data transmitter in communication with said signal processor.

47. The apparatus of claim 46 wherein said data transmitter transmits said standoff signals and said rotational orientation signals to the earth'"'"'s surface.

48. The apparatus of claim 46 wherein said data transmitter transmits signals representative of said estimate to the earth'"'"'s surface.

49. The apparatus of claim 41 wherein said signal processor is located at the earth'"'"'s surface.

50. The apparatus of claim 49 wherein said tool further comprises a data storage device.

51. The apparatus of claim 50 wherein said data storage device stores data representative of said standoff distances and said rotational orientation angles.

52. The apparatus of claim 49 wherein said tool further comprises a data transmitter.

53. The apparatus of claim 52 wherein said data transmitter transmits said standoff signals and said rotational orientation signals to the earth'"'"'s surface.

54. The apparatus of claim 41 wherein said distance sensors are selected from the group consisting of acoustic calipers, mechanical calipers, and electrical resistance sensors.

55. The apparatus of claim 41 wherein said plurality of distance sensors comprises three such distance sensors equally spaced around said tool.

56. The apparatus of claim 41 wherein said at least one angle sensor comprises at least one gravitational sensor for indicating the angular orientation of said tool with respect to the direction of the earth'"'"'s gravity.

57. The apparatus of claim 56 wherein said at least one gravitational sensor is selected from the group consisting of accelerometers, inclinometers, and gyroscopes.

58. The apparatus of claim 41 wherein said at least one angle sensor comprises at least one magnetic sensor for indicating the angular orientation of said tool with respect to the direction of the earth'"'"'s magnetic field.

59. The apparatus of claim 58 wherein said at least one magnetic sensor comprises a magnetometer.

60. The apparatus of claim 41 wherein said signal processor calculates said estimate of the actual motion of said tool within an earth borehole by

(a) receiving said standoff signals and said rotational orientation signals,

(b) generating parameter signals representative of a set of parameters that defines an estimated cross-sectional shape and orientation of the borehole and an estimated position of said tool within the borehole at each of said measurement times,

(c) combining said standoff signals, said rotational orientation signals, and said parameter signals to generate primary error signals representative of a primary error function proportional to the difference between said estimated cross-sectional shape and the actual cross-sectional shape of the borehole,

(d) combining said parameter signals and said primary error signals to generate sensitivity signals representative of the sensitivity of said primary error function to each of said parameters, and

(e) adjusting said parameter signals based on said sensitivity signals to minimize said primary error function and thereby determine optimal values for said parameters.

61. The apparatus of claim 60 wherein said signal processor performs the further function of generating translational displacement signals representative of the lateral translational displacement s_n of said tool according to the equation ##EQU22## wherein (xc_n, yc_n) and (xc_n+1, yc_n+1) are the coordinates of said estimated position of said tool within the borehole at two successive said measurement times.

62. The apparatus of claim 61 wherein said signal processor performs the further function of generating translational velocity signals representative of the lateral translational velocity of said tool by calculating the first derivative of said lateral translational displacement with respect to time.

63. The apparatus of claim 61 wherein said signal processor performs the further function of generating translational acceleration signals representative of the lateral translational acceleration of said tool by calculating the second derivative of said lateral translational displacement with respect to time.

64. The apparatus of claim 60 wherein said signal processor performs the further function of generating rotational displacement signals representative of the rotational displacement θ

of said tool according to the equation

space="preserve" listing-type="equation">θ

=θ

.sub.n+1 -θ

.sub.n

wherein θ

_n and θ

_n+1 are said rotational orientation signals of said tool at two successive said measurement times.

65. The apparatus of claim 64 wherein said signal processor performs the further function of generating rotational velocity signals representative of the rotational velocity of said tool by calculating the first derivative of said rotational displacement with respect to time.

66. The apparatus of claim 64 wherein said signal processor performs the further function of generating rotational acceleration signals representative of the rotational acceleration of said tool by calculating the second derivative of said rotational displacement with respect to time.

67. A method of estimating the actual cross-sectional shape of an earth borehole comprising the following steps:

placing a tool having a plurality of distance sensors in the borehole;

rotating said tool in the borehole;

making distance measurements of the distance between said tool and the wall of the borehole at a plurality of points around the circumference of said tool and at a plurality of measurement times;

making rotational orientation measurements of the rotational orientation of said tool with respect to a reference direction at said plurality of measurement times;

establishing a set of parameters that defines an estimated cross-sectional shape and orientation of the borehole and an estimated position of said tool within the borehole at each of said measurement times;

establishing a primary error function proportional to the difference between said estimated cross-sectional shape and the actual cross-sectional shape of the borehole as defined by said distance measurements and said rotational orientation measurements;

computing the sensitivity of said primary error function to each of said parameters; and

iteratively adjusting said parameters based on said sensitivity to minimize said primary error function and thereby obtain optimal values for said parameters.

68. The method of claim 67 further comprising the steps of:

establishing a supplemental error function proportional to the lateral motion of said tool;

computing the sensitivity of said supplemental error function to each of said parameters; and

iteratively adjusting said parameters based on said sensitivity of said supplemental error function to minimize said supplemental error function along with said primary error function.

69. The method of claim 68 wherein the terms of said supplemental error function are defined by the equation

70. The method of claim 68 wherein the terms of said supplemental error function are defined by the equation

71. The method of claim 68 wherein the terms of said supplemental error function are defined by the equation

72. The method of claim 68 wherein the terms of said supplemental error function are defined by the equation

73. A method for estimating the actual cross-sectional shape and orientation of an earth borehole comprising the following steps:

placing a tool having a radius r_t and a plurality of distance sensors in the borehole;

rotating said tool in the borehole;

measuring distances d₁, d₂, and d₃ between each of three equally spaced locations around the circumference of said tool and three measured points P₁, P₂, and P₃, respectively, on the wall of the borehole at each of a plurality of measurement times;

calculating distances r₁, r₂, and r₃ from the center of said tool to said measured points on the wall of the borehole according to the equations

space="preserve" listing-type="equation">r.sub.1 d.sub.1 +r.sub.t

space="preserve" listing-type="equation">r.sub.2 d.sub.2 +r.sub.t

space="preserve" listing-type="equation">r.sub.3 d.sub.3 +r.sub.t

at each of said measurement times;

making a first rotational orientation measurement of the rotational orientation of said tool with respect to a first reference direction of the earth'"'"'s gravity at each of said measurement times;

making a second rotational orientation measurement of the rotational orientation of said tool with respect to a second reference direction of the earth'"'"'s magnetic field at each of said measurement times;

comparing said first and second rotational orientation measurements and selecting one of said first or second rotational orientation measurements as a primary rotational orientation measurement θ

with respect to a primary reference direction at each of said measurement times;

establishing a parameter vector {X} comprised of parameters X_m that defines an estimated ellipse to approximate the cross-sectional shape and orientation of the borehole and an estimated position of said tool within the borehole at each of said measurement times according to the following equation

space="preserve" listing-type="equation">{X}={r.sub.x,r.sub.y,ψ

,xc.sub.1,yc.sub.1,xc.sub.2,yc.sub.2, . . . ,xc.sub.N,yc.sub.N }

wherein r_x is the major radius of said ellipse, r_y is the minor radius of said ellipse, ψ

is the angle between said major radius and said primary reference direction, and (xc_n, yc_n) are the coordinates of the center of said tool within the borehole at said estimated position at each of said measurement times;

calculating a point error function e for each of said measured points according to the following equation ##EQU23## wherein (x, y) are the coordinates of said measured points for each of said measurement times;

calculating a firing error function E_n for each of said measurement times according to the equation ##EQU24## establishing a primary error function {E_T } according to the equation

space="preserve" listing-type="equation">{E.sub.T }=E.sub.1,E.sub.2,E.sub.3, . . . ,E.sub.N }

wherein E_n is said firing error function at each of said measurement times;

computing the Jacobian matrix [J] as a measure of the sensitivity of said primary error function {E_T } to each of said parameters X_m according to the equation ##EQU25## wherein n=1,2,3, . . . ,N and m=1,2,3, . . . ,2N+3;

calculating a parameter adjustment vector {p} according to the equation

space="preserve" listing-type="equation">{p}=-PseudoInverse([J].sup.T [J]+λ

[I])([J].sup.T {E.sub.T })

wherein [J]^T is the transpose of [J], λ

is a Levenburg-Marquardt parameter, and [I] is the identity matrix; and

iteratively adjusting said parameters according to the relation

space="preserve" listing-type="equation">{X}={X}+{p}

to minimize said primary error function and thereby obtain a solution for said parameter vector.

74. The method of claim 73 further comprising the following steps:

calculating a derived lateral translational acceleration of said tool at each of said measurement times according to the equation ##EQU26## wherein (xc_n-1, yc_n-1), (xc_n, yc_n), and (xc_n+1,yc_n+1) are the coordinates of said estimated position of said tool within the borehole at three successive said measurement times t_n-1, t_n, and t_n+1, respectively;

measuring acceleration signals a1, a2, a3, and a4 produced by four accelerometers ac1, ac2, ac3, and ac4, respectively, mounted at the ends of a first diameter of said tool and a second diameter of said tool, with said first diameter being orthogonal to said second diameter, such that accelerometers ac1 and ac2 are on said first diameter and accelerometers ac3 and ac4 are on said second diameter, according to the equations

space="preserve" listing-type="equation">a1=α

c+α

cos β

+g sin α

cos γ

space="preserve" listing-type="equation">a2=α

c-α

cos β

-g sin α

cos γ

space="preserve" listing-type="equation">a3=α

c+α

sin β

-g sin α

sin γ

space="preserve" listing-type="equation">a4=α

c-α

sin β

+g sin α

sin γ

wherein α

c is the centripetal acceleration of said tool, α

is the lateral translational acceleration of said tool, β

is the angle between said first diameter and the direction of said lateral translational acceleration, g is the earth'"'"'s gravitational constant, α

is the inclination angle of said tool with respect to the vertical, and γ

is the angle between said first diameter and the direction of the in-plane component of gravity, g sin α

;

filtering said electrical signals a1, a2, a3, and a4 with a high-pass filter to produce filtered signals fa1, fa2, fa3, and fa4, respectively, according to the equations

space="preserve" listing-type="equation">fa1=α

c+α

cos β

space="preserve" listing-type="equation">fa2=α

c-α

cos β

space="preserve" listing-type="equation">fa3=α

c+α

sin β

space="preserve" listing-type="equation">fa4=α

c-α

sin β

combining said filtered signals fa1, fa2, fa3, and fa4 to obtain the magnitude and direction of said lateral translational acceleration of said tool in a rotating reference frame of said tool according to the equations

space="preserve" listing-type="equation">α

={[(fa1-fa2)/(2)].sup.2 +[(fa3-fa4)/(2)].sup.2 }.sup.1/2

space="preserve" listing-type="equation">tan β

=(fa3-fa4)/(fa1-fa2)

transforming said lateral translational acceleration from said rotating reference frame of said tool into a fixed reference frame of the earth to obtain a measured lateral translational acceleration of said tool at each of said measurement times;

calculating the magnitude of the difference between said derived lateral translational acceleration and said measured lateral translational acceleration according to the equation ##EQU27## establishing a supplemental error function {F_T } according to the equation

space="preserve" listing-type="equation">{F.sub.T}={F.sub.1,F.sub.2,F.sub.3, . . . ,F.sub.N }

wherein the terms F_n comprising {F_T } are calculated according to the equation

space="preserve" listing-type="equation">F.sub.n =W|α

.sub.n '"'"'-α

.sub.n |

wherein W is a weighting factor; and

minimizing said supplemental error function along with said primary error function.

75. A method of estimating the actual motion of a tool within an earth borehole comprising the following steps:

placing a tool having a plurality of distance sensors in the borehole;

rotating said tool in the borehole;

making distance measurements of the distance between said tool and the wall of the borehole at a plurality of points around the circumference of said tool and at a plurality of measurement times;

making rotational orientation measurements of the rotational orientation of said tool with respect to a reference direction at said plurality of measurement times;

establishing a set of parameters that defines an estimated cross-sectional shape and orientation of the borehole and an estimated position of said tool within the borehole at each of said measurement times;

establishing a primary error function proportional to the difference between said estimated cross-sectional shape and the actual cross-sectional shape of the borehole as defined by said distance measurements and said rotational orientation measurements;

computing the sensitivity of said primary error function to each of said parameters; and

iteratively adjusting said parameters based on said sensitivity to minimize said primary error function and thereby obtain optimal values for said parameters.

76. The method of claim 75 further comprising the step of computing the lateral translational displacement s_n of said tool according to the equation ##EQU28## wherein (xc_n, yc_n) and (xc_n+1, yc_n+1) are the coordinates of said estimated position of said tool within the borehole at two successive said measurement times.

77. The method of claim 76 further comprising the step of computing the lateral translational velocity of said tool by calculating the first derivative of said lateral translational displacement with respect to time.

78. The method of claim 76 further comprising the step of computing the lateral translational acceleration of said tool by calculating the second derivative of said lateral translational displacement with respect to time.

79. The method of claim 75 further comprising the step of computing the rotational displacement θ

of said tool according to the equation

space="preserve" listing-type="equation">θ

=θ

.sub.n+1 -θ

.sub.n

wherein θ

_n and θ

_n+1 are said rotational orientation measurements of said tool at two successive said measurement times.

80. The method of claim 79 further comprising the step of computing the rotational velocity of said tool by calculating the first derivative of said rotational displacement with respect to time.

81. The method of claim 79 further comprising the step of computing the rotational acceleration of said tool by calculating the second derivative of said rotational displacement with respect to time.