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Sensors (Basel). 2018 Sep 4;18(9). pii: E2944. doi: 10.3390/s18092944.

Dynamic Toolface Estimation for Rotary Steerable Drilling System.

Author information

1
College of Information and Control Engineering, China University of Petroleum, Beijing 102200, China. weiliangwang@s.upc.edu.cn.
2
College of Information and Control Engineering, China University of Petroleum, Beijing 102200, China. gengyf@upc.edu.cn.
3
College of Information and Control Engineering, China University of Petroleum, Beijing 102200, China. s15050648@s.upc.edu.cn.
4
College of Information and Control Engineering, China University of Petroleum, Beijing 102200, China. s15050670@s.upc.edu.cn.
5
College of Information and Control Engineering, China University of Petroleum, Beijing 102200, China. ls1702021@s.upc.edu.cn.

Abstract

In drilling engineering, Toolface is an angle used to describe bit direction. It is a challenging task to accurately estimate Toolface while drilling because of the downhole harsh conditions, but it is a primary step for the dynamic point-the-bit rotary steerable system (DPRSS). A new dynamic Toolface estimator is present, which fuses measurements from two accelerometers and one gyro. A dual-accelerometer Toolface measuring method is designed to compensate the circumferential acceleration of DPRSS. A nonlinear Complementary Filter (CF) is used to suppress the effect of vibration and axial acceleration. The frequency-domain characteristics of nonlinear CF are analyzed and its natural frequency is determined adaptively based on real time drilling conditions. This new estimator is validated on a DPRSS prototype under typical drilling modes; it is demonstrated with high robustness and follows the references satisfactorily.

KEYWORDS:

accelerometer; dynamic Toolface estimation; gyro; nonlinear complementary filter; rotary steerable drilling system

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