公开(公告)号：US11841243B1

公开(公告)日：2023-12-12

申请号：US17668145

申请日：2022-02-09

Applicant: HRL Laboratories, LLC

Inventor： Matthew Pelliccione ,  Logan Sorenson ,  David Chang

IPC: G01C25/00 ,  G01C19/5726

CPC classification number: G01C25/00 ,  G01C19/5726

Abstract: A Coriolis vibratory gyroscope having a resonator with at least a first and a second n=2 vibratory modes of same resonance frequency in a resonator plane; first and second sensing circuits for generating first and second sense signals in response to a motion of the resonator along a major axis of the first and second vibratory modes; a first drive circuit for driving the resonator in the first vibratory mode with a first drive signal; a second drive circuit for simultaneously driving the resonator in the second vibratory mode with a second drive signal; wherein said first signal has a first frequency equal to a resonant frequency of said resonator in said first vibratory mode, and said second signal has the same frequency as the first signal, modulated in amplitude with a second frequency.

公开(公告)号：US11835339B1

公开(公告)日：2023-12-05

申请号：US17713789

申请日：2022-04-05

Applicant: HRL Laboratories, LLC

Inventor： Logan Sorenson ,  David Chang ,  Hung Nguyen ,  Matthew Pelliccione ,  Raviv Perahia

IPC: G01C19/5776

CPC classification number: G01C19/5776

Abstract: A CVG having first and second degenerate resonator modes with each a damping rate; drive circuits for causing the resonator to oscillate in the first and second modes in response to first and second drive signals; first and second sense circuits for generating first and second sense signals in response to the resonator oscillating in the first and second modes; a signal processing circuit having control loops for generating the first and second drive signals based on the first and second sense signals; and first and second damping feedback circuits for generating first and second damping feedback signals proportional to the first and second damping rates; an adding the damping feedback signals to the first and second drive signals.

公开(公告)号：US20180149480A1

公开(公告)日：2018-05-31

申请号：US15825067

申请日：2017-11-28

Applicant: HRL Laboratories, LLC

Inventor： Shuoqin Wang ,  Logan D. Sorenson ,  Hung Nguyen ,  David Chang ,  Raviv Perahia

IPC: G01C21/18 ,  G01C21/16 ,  G01C21/20 ,  G01C21/08 ,  E21B44/00

CPC classification number: G01C21/18 ,  E21B7/04 ,  E21B44/005 ,  E21B47/09 ,  G01C21/08 ,  G01C21/165 ,  G01C21/20

Abstract: Described is a system for incremental trajectory estimation of an implement. During operation, the system determines a time span of each stationary period of the implement based on accelerometer and gyroscopic data. Gyroscopic bias is then estimated based on the time span and gyroscopic data. An attitude of the implement is then estimated at each time step based on the estimated gyroscopic bias and gyroscopic data. Further, a traveling distance of the implement is estimated. Finally, a trajectory of the implement is estimated based on the estimated attitude and traveling distance. Given the trajectory estimate, an implement (e.g., drilling platform, vehicle, etc.) can be caused to alter its direction based on the trajectory estimate.

公开(公告)号：US20180080310A1

公开(公告)日：2018-03-22

申请号：US15823489

申请日：2017-11-27

Applicant: HRL Laboratories, LLC

Inventor： Logan D. Sorenson ,  Shuoqin Wang ,  David L. Walter ,  Adour V. Kabakian ,  Keerti S. Kona ,  Hung Nguyen ,  Raviv Perahia ,  David Chang

IPC: E21B44/00 ,  E21B47/022 ,  E21B47/04

CPC classification number: E21B44/005 ,  E21B41/0092 ,  E21B47/022 ,  E21B47/04 ,  G01C21/16 ,  G01R33/0206

Abstract: Described is a system for estimating a trajectory of a borehole. The system processes signals of sensor streams obtained from an inertial sensor system. Using the set of processed signals, the system determines whether a drill is in a survey mode state or a continuous mode state, and a measured depth of the borehole is determined. A set of survey mode positioning algorithms is applied when the drill is stationary. A set of continuous mode navigation algorithms is applied when the drill is non-stationary. Using at least one Kalman filter, results of the set of survey mode positioning algorithms and the set of continuous mode navigation algorithms are combined. An estimate of a borehole trajectory and corresponding ellipse of uncertainty (EOU) is generated using the combined results.

公开(公告)号：US10408622B2

公开(公告)日：2019-09-10

申请号：US15825067

申请日：2017-11-28

Applicant: HRL Laboratories, LLC

Inventor： Shuoqin Wang ,  Logan D. Sorenson ,  Hung Nguyen ,  David Chang ,  Raviv Perahia

IPC: E21B44/00 ,  G01C21/18 ,  G01C21/08 ,  G01C21/16 ,  G01C21/20 ,  E21B47/09 ,  E21B7/04

Abstract: Described is a system for incremental trajectory estimation of an implement. During operation, the system determines a time span of each stationary period of the implement based on accelerometer and gyroscopic data. Gyroscopic bias is then estimated based on the time span and gyroscopic data. An attitude of the implement is then estimated at each time step based on the estimated gyroscopic bias and gyroscopic data. Further, a traveling distance of the implement is estimated. Finally, a trajectory of the implement is estimated based on the estimated attitude and traveling distance. Given the trajectory estimate, an implement (e.g., drilling platform, vehicle, etc.) can be caused to alter its direction based on the trajectory estimate.

公开(公告)号：US10246988B2

公开(公告)日：2019-04-02

申请号：US15279390

申请日：2016-09-28

Applicant: HRL Laboratories, LLC

Inventor： Shuoqin Wang ,  Logan D. Sorenson ,  Hung Nguyen ,  David Chang

IPC: E21B7/04 ,  G01C21/16 ,  E21B47/022 ,  E21B47/024

Abstract: Described is a system for position estimation. A set of raw sensor outputs are acquired from a sensor of a platform. The set of raw sensor outputs are stored in non-transitory memory. A set of optimized sensor measurements is generated by deducing errors in the raw sensor outputs using an unconstrained optimization algorithm. The system determines a position of the platform based on the set of optimized sensor measurements.

公开(公告)号：US20170314384A1

公开(公告)日：2017-11-02

申请号：US15279390

申请日：2016-09-28

Applicant: HRL Laboratories, LLC

Inventor： Shuoqin Wang ,  Logan D. Sorenson ,  Hung Nguyen ,  David Chang

IPC: E21B47/024 ,  G01C21/16 ,  E21B7/04

CPC classification number: E21B47/024 ,  E21B7/04 ,  E21B47/022 ,  G01C21/16

Abstract: Described is a system for position estimation. A set of raw sensor outputs are acquired from a sensor of a platform. The set of raw sensor outputs are stored in non-transitory memory. A set of optimized sensor measurements is generated by deducing errors in the raw sensor outputs using an unconstrained optimization algorithm. The system determines a position of the platform based on the set of optimized sensor measurements.

公开(公告)号：US20240318961A1

公开(公告)日：2024-09-26

申请号：US18123984

申请日：2023-03-21

Applicant: HRL Laboratories, LLC

Inventor： Logan SORENSON ,  Raviv Perahia ,  Matthew Pelliccione ,  Hung Nguyen ,  David Chang

IPC: G01C21/16

CPC classification number: G01C21/16

Abstract: A corner bracket comprising a volume of matter having n pairs of parallel faces, where n is an integer larger than 2; each face of each pair of parallel faces comprising an opening; the openings in the faces of each pair of parallel faces being joined by a cylindrical recess having a longitudinal axis perpendicular to the faces joined by the cylindrical recess; the longitudinal axis of the cylindrical recesses being arranged such that the cylindrical recesses do not intersect each other. The number n can be 3 and the volume of matter can be a cube.

公开(公告)号：US10329897B2

公开(公告)日：2019-06-25

申请号：US15881700

申请日：2018-01-26

Applicant: HRL Laboratories, LLC

Inventor： Keerti S. Kona ,  Logan D. Sorenson ,  Raviv Perahia ,  Hung Nguyen ,  David Chang

IPC: E21B47/04 ,  E21B47/06 ,  E21B47/18 ,  E21B47/022

Abstract: Described is a system for estimating measured depth of a borehole. The system comprises a drilling fluid pulse telemetry system positioned in a borehole and processors connected with the drilling fluid pulse telemetry system. Time series measures are obtained from an environmental sensor package. Initial estimates of a time delay and path attenuation amplitude are determined. An error for the initial estimates is determined, and iterative minimization of the error is performed until source signal parameters converge, resulting in a least squares estimate of the source signal and the reflected signals. The least squares estimate is used to obtain time delay values, which are then used to continuously generate an estimate of a measured depth of the borehole.

公开(公告)号：US10718198B2

公开(公告)日：2020-07-21

申请号：US15823489

申请日：2017-11-27

Applicant: HRL Laboratories, LLC

Inventor： Logan D. Sorenson ,  Shuoqin Wang ,  David L. Walter ,  Adour V. Kabakian ,  Keerti S. Kona ,  Hung Nguyen ,  Raviv Perahia ,  David Chang

IPC: E21B44/00 ,  E21B47/04 ,  E21B47/022 ,  G01C21/16 ,  E21B41/00 ,  G01R33/02

Abstract: Described is a system for estimating a trajectory of a borehole. The system processes signals of sensor streams obtained from an inertial sensor system. Using the set of processed signals, the system determines whether a drill is in a survey mode state or a continuous mode state, and a measured depth of the borehole is determined. A set of survey mode positioning algorithms is applied when the drill is stationary. A set of continuous mode navigation algorithms is applied when the drill is non-stationary. Using at least one Kalman filter, results of the set of survey mode positioning algorithms and the set of continuous mode navigation algorithms are combined. An estimate of a borehole trajectory and corresponding ellipse of uncertainty (EOU) is generated using the combined results.