Reducing error contributions to gyroscopic measurements from a wellbore survey system
First Claim
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1. A method of reducing error contributions to gyroscopic measurements, the method comprising:
- receiving a first set of measurement signals indicative of at least one component of the Earth'"'"'s rotation substantially perpendicular to a portion of a wellbore, the first set of measurement signals generated by a first gyroscopic sensor within the portion of the wellbore;
receiving a second set of measurement signals indicative of a component of the Earth'"'"'s rotation substantially parallel to the portion of the wellbore, the second set of measurement signals generated by a second gyroscopic sensor within the portion of the wellbore;
receiving one or more measurement signals generated by a plurality of accelerometers within the portion of the wellbore; and
calculating, using one or more measurement signals from the first set of measurement signals, one or more measurement signals from the second set of measurement signals, and the one or more measurement signals from the plurality of accelerometers, a first mass unbalance offset for the first gyroscopic sensor and a second mass unbalance offset for the second gyroscopic sensor.
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Abstract
A method reduces error contributions to gyroscopic measurements from a first gyroscopic sensor and a second gyroscopic sensor. The method includes receiving a first set of measurement signals and a second set of measurement signals indicative of at least one substantially perpendicular component and indicative of a substantially parallel component of the Earth'"'"'s rotation. The method further includes receiving one or more measurement signals generated by a plurality of accelerometers and calculating a first and second mass unbalance offset error for the first gyroscopic sensor and the second gyroscopic sensor, respectively.
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Citations
28 Claims
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1. A method of reducing error contributions to gyroscopic measurements, the method comprising:
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receiving a first set of measurement signals indicative of at least one component of the Earth'"'"'s rotation substantially perpendicular to a portion of a wellbore, the first set of measurement signals generated by a first gyroscopic sensor within the portion of the wellbore; receiving a second set of measurement signals indicative of a component of the Earth'"'"'s rotation substantially parallel to the portion of the wellbore, the second set of measurement signals generated by a second gyroscopic sensor within the portion of the wellbore; receiving one or more measurement signals generated by a plurality of accelerometers within the portion of the wellbore; and calculating, using one or more measurement signals from the first set of measurement signals, one or more measurement signals from the second set of measurement signals, and the one or more measurement signals from the plurality of accelerometers, a first mass unbalance offset for the first gyroscopic sensor and a second mass unbalance offset for the second gyroscopic sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A system for reducing error contributions to gyroscopic measurements made using a survey system within a portion of a wellbore, the system comprising:
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one or more processors; a module executing in the one or more processors and configured to; receive a first set of measurement signals indicative of at least one component of the Earth'"'"'s rotation substantially perpendicular to a portion of a wellbore, the first set of measurement signals generated by a first gyroscopic sensor within the portion of the wellbore; receive a second set of measurement signals indicative of a component of the Earth'"'"'s rotation substantially parallel to the portion of the wellbore, the second set of measurement signals generated by a second gyroscopic sensor within the portion of the wellbore; receive one or more measurement signals generated by a plurality of accelerometers within the portion of the wellbore; and calculate, using one or more measurement signals from the first set of measurement signals, one or more measurement signals from the second set of measurement signals, and the one or more measurement signals from the plurality of accelerometers, a first mass unbalance offset for the first gyroscopic sensor and a second mass unbalance offset for the second gyroscopic sensor.
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20. A method of reducing error contributions to gyroscopic measurements, the method comprising:
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transmitting control signals to a structure controlling an orientation of a first gyroscopic sensor relative to a portion of a wellbore, the first gyroscopic sensor adapted to generate measurement signals indicative of at least one component of the Earth'"'"'s rotation substantially perpendicular to the portion of the wellbore; transmitting control signals to a structure controlling an orientation of a second gyroscopic sensor relative to the portion of the wellbore, the second gyroscopic sensor adapted to generate measurement signals indicative of a component of the Earth'"'"'s rotation substantially parallel to the portion of the wellbore; receiving measurement signals generated by the first gyroscopic sensor while the first gyroscopic sensor has a first orientation relative to the portion of the wellbore, while the first gyroscopic sensor has a second orientation relative to the portion of the wellbore, while the first gyroscopic sensor has a third orientation relative to the portion of the wellbore, and while the first gyroscopic sensor has a fourth orientation relative to the portion of the wellbore; receiving measurement signals generated by the second gyroscopic sensor while the second gyroscopic sensor has a fifth orientation relative to the portion of the wellbore, while the second gyroscopic sensor has a sixth orientation relative to the portion of the wellbore, while the second gyroscopic sensor has a seventh orientation relative to the portion of the wellbore, and while the second gyroscopic sensor has an eighth orientation relative to the portion of the wellbore; receiving one or more measurement signals generated by a plurality of accelerometers within the portion of the wellbore; and using the measurement signals generated by the first gyroscopic sensor, the measurement signals generated by the second gyroscopic sensor, and the one or more measurement signals generated by the plurality of accelerometers to calculate a first mass unbalance offset for the first gyroscopic sensor and a second mass unbalance offset for the second gyroscopic sensor. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28)
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Specification