公开(公告)号：US06212476B1

公开(公告)日：2001-04-03

申请号：US09309864

申请日：1999-05-11

申请人： Koen Antonie Noy ,  Robert Alan Estes ,  Hatem Salem Morsy

发明人： Koen Antonie Noy ,  Robert Alan Estes ,  Hatem Salem Morsy

IPC分类号： E21B4722

CPC分类号： E21B47/022 ,  G01C17/30 ,  G01C21/18 ,  G01S19/14 ,  G01S19/53

摘要： A processor uses signals from at least two GPS receivers and a 3-component accelerometer located on a stable non-magnetic platform to determine the roll, yaw and pitch angles of the platform, thus providing a measurement of geographic north. The processor also uses signals from a 3-component magnetometer on the platform to determine the magnetic north and thence the magnetic declination. A proton magnetometer is used to provide a check on the measurements of the 3-component magnetometer. Additionally, three single component magnetometers provide a measure of the local magnetic field gradient and serve to monitor artificially induced magnetic fields. An alternate embodiment of the invention uses at least three GPS receivers and may dispense with the 3-component of accelerometer to determine geographic north. Temporal local variations of the earth's magnetic field are tracked and used to correct conventional magnetic well surveys. For use in offshore drilling applications where the rig is on a drillship, the platform floats on water away from the drillship and tethered to a buoy. Signals from an inertial motion sensor are used by the processor to correct the observations of the GPS sensors, the magnetometers and the accelerometers for the motion of the platform in water.

摘要翻译： 处理器使用位于稳定非磁性平台上的至少两个GPS接收器和3组分加速度计的信号来确定平台的滚动，偏航和俯仰角，从而提供对北部地理位置的测量。 处理器还使用来自平台上的3分量磁力计的信号来确定磁北极，从而确定磁偏角。 质子磁强计用于提供对三组分磁强计测量的检查。 另外，三个单分量磁力计提供局部磁场梯度的测量，并用于监测人为感应的磁场。 本发明的替代实施例使用至少三个GPS接收器，并且可以免除加速度计的3分量以确定北部地理位置。 跟踪和使用地球磁场的时间局部变化来纠正传统的磁场测量。 对于钻机在钻井船上的海上钻井应用场合，该平台将浮在水面上，远离钻井船并拴在浮标上。 来自惯性运动传感器的信号由处理器用于校正GPS传感器，磁力计和加速度计对于平台在水中的运动的观察。

公开(公告)号：US06453239B1

公开(公告)日：2002-09-17

申请号：US09327873

申请日：1999-06-08

申请人： Ichiro Shirasaka ,  Kirby G. Schrader ,  Jean-Michel Hache

发明人： Ichiro Shirasaka ,  Kirby G. Schrader ,  Jean-Michel Hache

IPC分类号： E21B4722

CPC分类号： E21B47/022 ,  G01C21/16

摘要： The invention is, in its various aspects, a method and apparatus useful for strapdown inertial navigation and surveying in a borehole. The method comprises maneuvering a probe including three vibrating mass, Coriolis effect gyroscopes in a borehole and initializing the probe's attitude in the borehole within the probe's frame of reference. Three orthogonal, incremental rotation angles and three orthogonal, incremental velocities are determined for the probe within the probe's frame of reference. The incremental rotation angles are determined from the gyroscopes. The method then translates the three incremental velocities from the probe's frame of reference into the inertial frame of reference using the three incremental rotation angles. Next, a velocity vector in a local-vertical, wander-azimuth frame of reference is determined from the translated incremental velocities. A velocity error observation is then obtained. A system error is then estimated from the velocity vector and the velocity error observation. The system error is then fed back into the inertial navigation system for use in refining the method. In as second aspect, the invention is a strapdown, inertial measurement unit. The inertial measurement unit includes a housing, three accelerometers, and three vibrating mass, Coriolis effect gyroscopes. The three accelerometers are mounted within the housing. The three vibrating mass, Coriolis effect are rigidly mounted within the housing.

摘要翻译： 本发明在其各个方面是一种用于在井眼中进行捷联惯导导航和测量的方法和装置。 该方法包括在钻孔中操纵包括三个振动质量的科里奥利效应陀螺仪的探头，并且在探头的参考系中的钻孔中初始化探头的姿态。 针对探头的参考系中的探头确定三个正交的增量旋转角度和三个正交的增量速度。 增量旋转角度由陀螺仪确定。 该方法然后使用三个增量旋转角度将三个增量速度从探头的参考系平移到惯性参考系。 接下来，从平移的增量速度确定局部 - 垂直，漫游方位角参考系中的速度矢量。 然后获得速度误差观察值。 然后从速度矢量和速度误差观察估计系统误差。 然后将系统误差反馈到惯性导航系统中以用于精炼该方法。 在第二方面，本发明是一种捷联惯性测量单元。 惯性测量单元包括壳体，三个加速度计和三个振动质量的科里奥利效应陀螺仪。 三个加速度计安装在外壳内。 三个振动质量，科里奥利效应刚性地安装在外壳内。

公开(公告)号：US06668465B2

公开(公告)日：2003-12-30

申请号：US09790591

申请日：2001-02-23

申请人： Aboelmagd Noureldin ,  Herb Tabler ,  Winston Smith ,  Dave Irvine-Halliday ,  Martin P. Mintchev

发明人： Aboelmagd Noureldin ,  Herb Tabler ,  Winston Smith ,  Dave Irvine-Halliday ,  Martin P. Mintchev

IPC分类号： E21B4722

CPC分类号： E21B47/022 ,  G01C21/16

摘要： A continuous measurement-while-drilling surveying apparatus includes a fiber optic gyroscope sensitive to rotation about the tool spin axis of the bottom hole assembly and a second fiber optic gyroscope sensitive to rotation of the bottom hole assembly about an axis normal to the tool spin axis. The first gyroscope may be shaped as a torus to accommodate flow of drilling mud through the bottom hole assembly. The outputs of the first and second gyroscopes are processed together with acceleration signals from three accelerometers in a microprocessor which determines the orientation, velocity and position of the bottom hole assembly on a continuous basis.

公开(公告)号：US06823602B2

公开(公告)日：2004-11-30

申请号：US10655594

申请日：2003-09-05

申请人： Aboelmagd Noureldin ,  Herb Tabler ,  Winston Smith ,  Dave Irvine-Halliday ,  Martin P. Mintchev

发明人： Aboelmagd Noureldin ,  Herb Tabler ,  Winston Smith ,  Dave Irvine-Halliday ,  Martin P. Mintchev

IPC分类号： E21B4722

CPC分类号： E21B47/022 ,  G01C21/16

摘要： A continuous measurement-while-drilling surveying apparatus includes a fiber optic gyroscope sensitive to rotation about the tool spin axis of the bottom hole assembly and a second fiber optic gyroscope sensitive to rotation of the bottom hole assembly about an axis normal to the tool spin axis. The first gyroscope may be shaped as a torus to accommodate flow of drilling mud through the bottom hole assembly. The outputs of the first and second gyroscopes are processed together with acceleration signals from three accelerometers in a microprocessor which determines the orientation, velocity and position of the bottom hole assembly on a continuous basis.

公开(公告)号：US06637119B2

公开(公告)日：2003-10-28

申请号：US10072129

申请日：2002-02-05

申请人： Michael Russell ,  Anthony William Russell

发明人： Michael Russell ,  Anthony William Russell

IPC分类号： E21B4722

CPC分类号： E21B47/022

摘要： A borehole drilling and survey assembly includes a drill string of magnetic material, a non-magnetic drill collar, and a non-magnetic rotary drilling system including a drill bit. A near-bit survey instrument is located in the rotary drilling system at a fixed distance from the junction of the drill string and the drill collar. A second survey instrument is located in the drill collar at a fixed distance from said junction. The survey instruments measure the local values of the component of the earth's magnetic along the borehole axis, and these values are processed to remove the magnetic effects of the drillstring. The survey instruments optionally also measure gravity vector components to enable borehole heading to be derived.