US4471533A — Well mapping system and method with sensor output…

Claim 1

Independent Claim 181 words

In apparatus for determining aximuth and tilt in a bore-hole, (a) a carrier movable in the bore-hole, (b) angular rate sensor means on the carrier and having an output, (c) an acceleration sensor means on the carrier and having an output, (d) means to rotate said sensor means, and (e) circuit means operatively connected with the sensor means for compensating signals derived from the output of at least one of the sensor means in accordance with the values of signals derived from the output of the other sensor means, to produce compensated signals, (f) said circuit means connected with both said angular rate and said acceleration sensor means to adjust angular rate signals derived from the output of the angular rate sensor thereby to compensate for acceleration effects associated with acceleration signals derived from the output of the acceleration sensor means, so as to produce corrected angular rate values, (g) and temperature compensating circuit means connected with both said angular rate and said acceleration sensor means to compensate signals derived therefrom in accordance with temperatre changes encountered in the bore hole.

Claim 2

Dependent Claim 181 words

In apparatus for determining aximuth and tilt in a bore-hole, (a) a carrier movable in the bore-hole, (b) angular rate sensor means on the carrier and having an output, (c) an acceleration sensor means on the carrier and having an output, (d) means to rotate said sensor means, and (e) circuit means operatively connected with the sensor means for compensating signals derived from the output of at least one of the sensor means in accordance with the values of signals derived from the output of the other sensor means, to produce compensated signals, (f) said circuit means connected with both said angular rate and said acceleration sensor means to adjust angular rate signals derived from the output of the angular rate sensor thereby to compensate for acceleration effects associated with acceleration signals derived from the output of the acceleration sensor means, so as to produce corrected angular rate values, (g) and temperature compensating circuit means connected with both said angular rate and said acceleration sensor means to compensate signals derived therefrom in accordance with temperatre changes encountered in the bore hole.

Claim 3

Dependent Claim 53 words

The apparatus of claim 1 wherein said circuit means includes summing circuitry to sum an angular rate signal ω along a selected coordinate axis, and a signal Da along said axis, where "D" is a constant and "a" is a value corresponding to the output of the acceleration sensor means, along said axis.

Claim 4

Dependent Claim 94 words

The apparatus of claim 1 wherein said circuit means includes summing circuitry to sum angular rate signals ω 1 , ω 2 and ω 3 along three selected axes associated with the angular rate sensor means, with, respectively, acceleration signals D 1 a 1 , D 2 a 2 and D 3 a 3 along said axes, where D 1 , D 2 and D 3 are constants, and a 1 , a 2 and a 3 are values corresponding to acceleration outputs along said three selected axes, respectively, of the acceleration sensor means.

Claim 5

Dependent Claim 30 words

The apparatus of claim 1 wherein said (d) means is located to rotate the carrier in the bore-hole and about an axis extending generally in the direction of the bore-hole.

Claim 6

Dependent Claim 44 words

The apparatus of claim 1 including coordinate conversion circuit means operatively connected with said acceleration sensor means to convert outputs of the acceleration sensor means along three axes of said values a 1 , a 2 and a 3 along said three selected axes.

Claim 7

Dependent Claim 39 words

The apparatus of claim 1 including means operatively connected with said circuit means to receive said corrected angular rate values and to produce an output which varies as a function of azimuth orientation of the angular rate sensor means.

Claim 8

Dependent Claim 55 words

The apparatus of claim 1 wherein said circuit means is connected with the sensor means to adjust acceleration signals derived from the output of the acceleration sensor means to compensate for angular rate effects associated with angular rate signals derived from the output of the angular rate sensor means, thereby to produce corrected acceleration values.

Claim 9

Dependent Claim 36 words

The apparatus of claim 7 including means operatively connected with said circuit means to receive said corrected acceleration values and to produce an output which varies as a function of tilt of the acceleration sensor means.

Claim 10

Dependent Claim 17 words

The apparatus of claim 1 wherein said angular rate sensor means comprises at least one rate gyroscope.

Claim 11

Dependent Claim 22 words

The apparatus of claim 1 wherein said angular rate sensor means is canted relative to an axis defined by the bore hole.

Claim 12

Dependent Claim 21 words

The apparatus of claim 1 wherein said acceleration sensor means is canted relative to an axis defined by the bore hole.

Claim 13

Dependent Claim 179 words

In apparatus for determining azimuth and tilt, in a bore hole (a) a carrier movable in the bore-hole, (b) angular rate sensor means on the carrier and having an output, (c) an acceleration sensor means on the carrier and having an output, and (d) circuit means operatively connected with the sensor means for compensating signals derived from the output of at least one of the sensor means, for use of such compensated signals in conjunction with signals derived from the other of the sensor means, (e) said circuit means being connected with both of said angular rate sensor means and said acceleration sensor means to adjust angular rate signals derived from the output of the angular rate sensor thereby to compensate for angular acceleration effects associated with angular acceleration signals derived from the output of the acceleration sensor means, so as to produce corrected angular rate values, (f) and temperature compensating circuit means connected with both said angular rate and said acceleration sensor means to compensate signals derived therefrom in accordance with temperature changes encountered in the bore hole.

Claim 14

Dependent Claim 179 words

In apparatus for determining azimuth and tilt, in a bore hole (a) a carrier movable in the bore-hole, (b) angular rate sensor means on the carrier and having an output, (c) an acceleration sensor means on the carrier and having an output, and (d) circuit means operatively connected with the sensor means for compensating signals derived from the output of at least one of the sensor means, for use of such compensated signals in conjunction with signals derived from the other of the sensor means, (e) said circuit means being connected with both of said angular rate sensor means and said acceleration sensor means to adjust angular rate signals derived from the output of the angular rate sensor thereby to compensate for angular acceleration effects associated with angular acceleration signals derived from the output of the acceleration sensor means, so as to produce corrected angular rate values, (f) and temperature compensating circuit means connected with both said angular rate and said acceleration sensor means to compensate signals derived therefrom in accordance with temperature changes encountered in the bore hole.

Claim 15

Dependent Claim 30 words

The combination of claim 1 wherein said circuit means includes circuitry to sum the outputs of the (b) and (c) sensor means to substantially cancel error due to angular acceleration.

Claim 16

Dependent Claim 53 words

The apparatus of claim 12 wherein said circuit means includes summing circuitry to sum an angular rate signal ω along a selected coordinate axis, and a signal Kα along said axis, where "K" is a constant and "α" is a value corresponding to the output of the acceleration sensor means, about said axis.

Claim 17

Dependent Claim 95 words

The apparatus of claim 12 wherein said circuit means includes summing circuitry to sum angular rate signals ω 1 , ω 2 and ω 3 along three selected axes associated with the angular rate sensor means, with, respectively, acceleration signals K 1 α 1 , K 2 α 2 and K 3 α 3 along said axes, where K 1 , K 2 and K 3 are constants, and α 1 , α 2 and α 3 are values corresponding to angular acceleration outputs along said three selected axes, respectively, of the acceleration sensor means.

Claim 18

Dependent Claim 33 words

The apparatus of claim 1 including time compensating circuit means to compensate signals derived from at least one of the sensor means (b) and (c) of claim 1 in accordance with time values.

Claim 19

Dependent Claim 39 words

The apparatus of claim 16 including means operatively connected with said circuit means to receive said corrected angular rate values and to produce an output which varies as a function of azimuth orientation of the angular rate sensor means.

Claim 20

Dependent Claim 23 words

The combination of claim 1 wherein said acceleration sensor means includes: (i) a linear acceleration sensor means, and (ii) an angular acceleration-sensor means.

Claim 21

Dependent Claim 59 words

The apparatus of claim 18 wherein said circuit means is connected with the sensor means to adjust angular rate signals derived from the output of the angular rate sensor thereby to compensate for linear and angular acceleration effects associated with acceleration signals derived from the output of the acceleration sensor means, so as to produce corrected angular rate values.

Claim 22

Dependent Claim 93 words

The apparatus of claim 19 wherein said circuit means includes summing circuitry to sum an angular rate signal ω along a selected coordinate axis, and a signal Da along with axis, where "D" is a constant and "a" is a value corresponding to the output of the linear acceleration sensor means, along said axis, and also to sum said angular rate signal ω and a signal Kα along said axis, where "K" is a constant and "α" is a value corresponding to the output of the angular acceleration sensor means about said axis.

Claim 23

Independent Claim 134 words

The method of mapping a bore-hole, including (a) suspending within the hole angular rate sensor means and acceleration sensor means, each of said sensor means having an output, (b) rotating said sensor means in the bore-hole, and (c) operating said sensor means to provide outputs, and (d) using the output from one sensor means to compensate the output of the other sensor means, (e) said angular rate signals being derived from the output of the angular rate sensor means and acceleration signals are derived from the output of the acceleration sensor means, and said (d) step includes using said acceleration sensor signals to adjust said angular rate signals to correct same, (f) and compensating the signals derived from at least one of said sensor means in accordance with temperature encountered in the bore hole.

Claim 24

Independent Claim 134 words

The method of mapping a bore-hole, including (a) suspending within the hole angular rate sensor means and acceleration sensor means, each of said sensor means having an output, (b) rotating said sensor means in the bore-hole, and (c) operating said sensor means to provide outputs, and (d) using the output from one sensor means to compensate the output of the other sensor means, (e) said angular rate signals being derived from the output of the angular rate sensor means and acceleration signals are derived from the output of the acceleration sensor means, and said (d) step includes using said acceleration sensor signals to adjust said angular rate signals to correct same, (f) and compensating the signals derived from at least one of said sensor means in accordance with temperature encountered in the bore hole.

Claim 25

Dependent Claim 41 words

The method of claim 21 wherein said signals have associated co-ordinates, and including the step of adjusting the co-ordinates of said angular rate and acceleration signals to conform to the co-ordinates of the other of said angular rate and acceleration signals.

Claim 26

Dependent Claim 33 words

The method of claim 21 wherein said sensor means have sensitive axes, and said suspending step includes orienting the sensitive axis of at least one sensor means in general alignment with the bore-hole.

Claim 27

Dependent Claim 26 words

The method of claim 22 wherein said suspending step includes orienting the sensitive axes of multiple of said sensor means in predetermined relation with the bore-hole.

Claim 28

Dependent Claim 40 words

The method of claim 21 wherein said sensor means have sensitive axes, and said suspending step includes orienting the sensitive axis of at least one of the sensor means at a cant angle relation to the bore-hole direction of elongation.

Claim 29

Dependent Claim 28 words

The method of claim 21 wherein signals are derived from said sensor outputs, and including the step of compensating certain of said signals in accordance with time values.

Claim 30

Dependent Claim 22 words

The method of claim 21 wherein said (b) step rotation is about an axis extending generally in the direction of the bore-hole.

Claim 31

Dependent Claim 40 words

The method of claim 21 including employing the outputs of the sensor means, including said compensated output, to determine azimuth and degree of tilt of the bore-hole at the location of the sensor means therein when the outputs are produced.

Claim 32

Dependent Claim 51 words

The method of claim 21 wherein acceleration signals are derived from the output of the acceleration sensor means, and angular rate signals are derived from the output of the angular rate sensor means, and said (d) step includes using said angular rate signals to adjust said acceleration signals, to modify same.

Claim 33

Dependent Claim 42 words

The method of claim 21 wherein said angular rate sensor means comprises angular rate gyroscope means, and including the step of allowing said gyroscope means to turn about a sensitive axis in response to said (b) step rotation, to produce said output.

Claim 34

Dependent Claim 12 words

The method of claim 21 wherein said rotation is carried out continuously.

Claim 35

Dependent Claim 12 words

The method of claim 21 wherein said rotation is carried out incrementally.

Claim 36

Dependent Claim 12 words

The method of claim 21 wherein said rotation is carried out cyclically.

Claim 37

Dependent Claim 15 words

The method of claim 21 wherein said rotation is carried out alternatively forwardly and reversely.

Claim 38

Dependent Claim 31 words

The method of claim 21 wherein, (i) certain of said acceleration signals are derived as linear acceleration signals, and (ii) other of said acceleration signals are derived as angular acceleration signals.

Claim 39

Dependent Claim 33 words

The apparatus of claim 1 wherein said (c) means includes a drive to effect rotation of the sensor means in one of the following modes: continuous, incremental, cyclical, and alternate forward and reverse.

Claim 40

Dependent Claim 16 words

The apparatus of claim 1 wherein said (c) means comprises a second angular rate sensor means.

Claim 41

Dependent Claim 16 words

The apparatus of claim 37 wherein said (b) and (c) sensor means comprises angular rate gyroscopes.

Claim 42

Dependent Claim 62 words

The apparatus of claim 38 wherein said circuit means includes an inverter to invert an error signal in the output of the second gyroscope, and a summing circuit to sum the outputs of the two gyroscopes to cancel an error signal in the output of the first gyroscope by summation with the inverted error signal in the output of the second gyroscope.

Claim 43

Dependent Claim 13 words

The apparatus of claim 1 wherein said (c) means comprises an angular accelerometer.

Claim 44

Dependent Claim 58 words

The apparatus of claim 1 wherein said circuit means is connected with the sensor means to adjust linear acceleration signals derived from the output of the acceleration sensor thereby to compensate for angular rate effects associated with angular rate signals derived from the output of the angular rate sensor means, so as to produce corrected linear acceleration values.

Claim 45

Dependent Claim 58 words

The apparatus of claim 1 wherein said circuit means is connected with the sensor means to adjust angular acceleration signals derived from the output of the acceleration sensor thereby to compensate for angular rate effects associated with angular rate signals derived from the output of the angular rate sensor means, so as to produce corrected angular acceleration values.

Claim 46

Dependent Claim 62 words

The apparatus of claim 1 wherein said circuit means is connected with the sensor means to adjust angular rate signals derived from the output of the angular rate sensor thereby to compensate for linear and angular acceleration effects associated with linear and angular acceleration signals derived from the output of the acceleration sensor means, so as to produce corrected angular rate values.

Claim 47

Dependent Claim 29 words

The combination of claim 1 including an angle reference device on the carrier and connected to be calibrated in accordance with the output of the angular rate sensor means.

Claim 48

Dependent Claim 26 words

The combination of claim 44 wherein said angle reference device comprises one of the following: a gyroscopically stabilized platform, electronic gimballing circuitry, and mechanical gimballing means.

Claim 49

Dependent Claim 33 words

The apparatus of claim 1 including time compensating circuit means to compensate signals derived from at least one of the sensor means (b) and (c) of claim 1 in accordance with time values.

Claim 50

Dependent Claim 14 words

The apparatus of claim 12 wherein said (d) means also includes co-ordinate transformation circuitry.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	1987-09-18	1988-03-19	1988-09-18	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	1991-09-18	1992-03-19	1992-09-18	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	1995-09-18	1996-03-19	1996-09-18	$7700.00	Window Closed / Lapsed

Well mapping system and method with sensor output compensation

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