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1. (WO2018102320) SYSTEM FOR INCREMENTAL TRAJECTORY ESTIMATION BASED ON REAL TIME INERTIAL SENSING

Pub. No.:    WO/2018/102320    International Application No.:    PCT/US2017/063544
Publication Date: Fri Jun 08 01:59:59 CEST 2018 International Filing Date: Wed Nov 29 00:59:59 CET 2017
IPC: E21B 47/022
E21B 47/024
E21B 47/09
Applicants: HRL LABORATORIES, LLC
Inventors: WANG, Shouqin
SORENSON, Logan, D.
NGUYEN, Hung
CHANG, David
PERAHIA, Raviv
Title: SYSTEM FOR INCREMENTAL TRAJECTORY ESTIMATION BASED ON REAL TIME INERTIAL SENSING
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.