Precise location and orientation of a concealed dipole transmitter
First Claim
1. A method for determining the location and orientation of a sonde, the method comprising:
- measuring a set of complex electromagnetic field magnitude and phase strengths at one or more positions while traversing a target sonde path at any angle using one or more electromagnetic coil sensors;
modeling a set of expected complex electromagnetic strengths of a hypothetical sonde at each of the one or more positions for one or more of the electromagnetic coil sensors, the set of expected electromagnetic field values corresponding to a model for the target sonde; and
estimating parameters related to the target sonde based on a residual error between the measured set of complex electromagnetic field values and the modeled set of expected complex electromagnetic field strengths, wherein a final estimated parameter set is determined after the residual error has converged to a minimum tolerance.
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Abstract
A method for determining the location of an underground sonde transmitter is disclosed. In some embodiments, the method includes measuring a set of complex electromagnetic field magnitude and phase strengths at one or more of positions while traversing a target sonde path at any angle using one or more electromagnetic coil sensors, modeling a set of expected complex electromagnetic strengths of a hypothetical sonde at the one or more of positions for one or more of the electromagnetic coil sensors, the set of expected electromagnetic field values corresponding to a model for the target sonde, and estimating parameters related to the target sonde based on the residual error between the measured set of complex electromagnetic field values and the modeled set of expected complex electromagnetic field strengths, wherein a final estimated parameter set is determined after the residual error has converged to a minimum tolerance.
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Citations
14 Claims
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1. A method for determining the location and orientation of a sonde, the method comprising:
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measuring a set of complex electromagnetic field magnitude and phase strengths at one or more positions while traversing a target sonde path at any angle using one or more electromagnetic coil sensors; modeling a set of expected complex electromagnetic strengths of a hypothetical sonde at each of the one or more positions for one or more of the electromagnetic coil sensors, the set of expected electromagnetic field values corresponding to a model for the target sonde; and estimating parameters related to the target sonde based on a residual error between the measured set of complex electromagnetic field values and the modeled set of expected complex electromagnetic field strengths, wherein a final estimated parameter set is determined after the residual error has converged to a minimum tolerance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for tracking the location and orientation of a dipole transmitter target sonde between two arbitrary points comprising a known beginning point and a known ending point, comprising:
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computing a first optimal path for the target sonde between the beginning point and the ending point; measuring a set of complex electromagnetic field magnitude and phase values at one of a plurality of incremental positions of target sonde following the optimal path using a plurality of electromagnetic coil sensors; generating a set of expected complex electromagnetic field values of a hypothetical sonde at the one incremental position based on an extended Kalman filter for each of the electromagnetic coil sensors, the set of expected complex electromagnetic field values corresponding to a model for the target sonde; and estimating a revised optimal path of the target sonde from the one incremental position to the ending point based on the residual error between the measured field values and the expected field values. - View Dependent Claims (11, 12, 13, 14)
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Specification