Target Presentation

1
TARGET
INERTIAL BOREHOLE NAVIGATION SYSTEM, NON STOP,
ALL ATTITUDE, VELOCITY AIDED
2
Principle of Inertial Navigation
3
Orthogonal Instrument Cluster
2 two-axis Gyros and 3 single axis Accelerometers
Gyro 1
Gyro 2
Accelerometers
4
Strap down Virtual Platform
1
2
Gyro 1
3
Accelerometers
Gyro 2
Accelerometers
Gyro 1
3
Gyro 2
1
2
5
Free in Space Orientation of Gyros
6
Comparison
SRG NSG TARGET
Operation Stations Stations
Continuous
7
Random Choice of Survey Station
8
Comparizon INS Data vs minimum Curvature Top
View
9
Comparizon INS Data vs minimum
Curvature Vertical Plot
10
Comparizon INS Data vs minimum Curvature Top
View Position Differences at 1000m MD
11
Comparizon INS Data vs minimum Curvature Vertical
Position Differences at 1000m MD
12
Comparizon INS Data vs minimum Curvature
13
Comparison
SRG NSG TARGET
Operation Stations Stations
Continuous
Inclination 0 - 45 0 90 all
Attitude
14
Orthogonal Instrument Cluster
2 two-axis Gyros and 3 single axis Accelerometers
Gyro 1
Gyro 2
Accelerometers
15
Comparizon 2- and 3-Gyroaxis Systems
2-Gyroaxis Systems Azimuth Error increases as a
Tangential Function with Inclination e.g.Nominal
Azi-Error at Vertical 1.0 Deg. Error at 45
Incl. 3.0 Deg.
Error at 90 Incl. Deg (Infinite)
3 Gyroaxis Systems (TARGET) Azimuth Error
independent of the inclination from vertical to
horizontal lt 0.5 Deg.
16
Comparison
SRG NSG TARGET
Operation Stations Stations Continuous
Inclination 0 - 45 0 90 all Attitude
Temperature w/o HS -17C to 82C 40 to
150C -20C to 125C
Shock Hard Mounted 5 G 500 G 500 G
17
Skewed Sensor Instrument Block
1
2
Gyro 1
3
Accelerometers
Gyro 2
Gyros are skewed for higher spin rates and to
avoid differential heating during spins
Shock Mounts
Accelerometers
Gyro 1
3
Gyro 2
1
2
18
Comparison
SRG NSG TARGET
Operation Stations Stations Continuous
Inclination 0 - 45 0 90
all Attitude
Temperature w/o HS -17C to 82C 40 to
150C -20C to 125C
Shock 5 G 500 G 500 G
Drift Corrections Drift Checks
Intermittent Kalman Filter
Inclination Accuracy 0.1 (Stop) 0.1
(Stop) 0.1 (Move)
19
Typical Inclination In- outrun Comparizon
20
Comparison
SRG NSG TARGET
Operation Stations Stations Non-stop
Inclination 0 - 45 0 90 all Attitude
Temperature w/o HS -17C to 82C 40 to
150C -20C to 125C
Shock 5 G 500 G 500 G
Drift Corrections Drift Checks
Intermittent Kalman Filter
Inclination Accuracy 0.1 (Stop) 0.1
(Stop) 0.1 (Move)
Azimuth Uncertainty 1/hr 0.5 lt
0.5 (after DC
Correction) (after processing) (online)
21
Typical Azimuth In- outrun Comparizon
22
Comparison
SRG NSG TARGET
Operation Stations Stations Non-stop
Inclination 0 - 45 0 90 all Attitude
Temperature w/o HS -17C to 82C 40 to
150C -20C to 125C
Shock 5 G 500 G 500 G
Drift Corrections Drift Checks
Intermittent Kalman Filter
Inclination Accuracy 0.1 (Stop) 0.1
(Stop) 0.1 (Move)
Azimuth Uncertainty 1/hr
0.5 lt 0.5 (after DC
Correction) (after processing) (online)
Position Uncertainty 24ft./1000ft. 10ft./1000f
t. 1 ft/1000ft.(typ.)
23
Typical Top View In- outrun Comparizon
24
TARGET Features
Inertial Navigation System, Velocity aided
All Attitude, on the Move Surveys
Independently Qualified
25
(No Transcript)
26
De Beers Testhole in Voorspoed (Freestate, ZA)
27
De Beers Testhole in Voorspoed (Freestate)
28
De Beers Testhole in Voorspoed (Freestate)
29
De Beers Testhole in Voorspoed (Freestate)
30
De Beers Testhole in Voorspoed (Freestate)
31
De Beers Testhole in Voorspoed (Freestate)
32
De Beers Testhole South Africa
Final Results Differences between Actual Land
surveying Data and TARGET Measurement after 370
meter Northing 6 cm Easting -27
cm TVD 4 cm TARGET 3D-Error 29
cm
Oilfield Competition 3D Error 1.04m
33
Error Statistic, taken from 100 actual surveys
1 sigma 0.06 ft./1000ft., 2 sigma 0.25
ft./1000ft.
34
Error Statistic, taken from 100 actual surveys
1 sigma 0.24 ft./1000ft., 2 sigma 0.87
ft./1000ft.
35
Error Statistic, taken from 100 actual surveys
1 sigma 0.4 ft./1000ft., 2 sigma 1.2
ft./1000ft.
36
Error Statistic, taken from 100 actual surveys
1 sigma 0.57 ft./1000ft., 2 sigma 1.62
ft./1000ft.
37
Comparison
SRG NSG TARGET
Operation Stations Stations Non-stop
Inclination 0 - 45 0 90
all Attitude
Temperature w/o HS -17C to 82C 40 to
150C -20C to 125C
Shock 5 G 500 G 500 G
Drift Corrections Drift Checks
Intermittent Kalman Filter
Inclination Accuracy 0.1 (Stop) 0.1
(Stop) 0.1 (Move)
Azimuth Uncertainty 1/hr 0.5 lt
0.5 (after DC Correction)
(after processing) (online)
Position Uncertainty 24ft./1000ft.
10ft./1000ft. 1 ft/1000ft.(typ.)
Gyro MTBF 500 hrs
20,000hrs 100,000 hrs
38
Dynamically Tuned Gyro
39
Applying Torque to Gyroscopes
40
Dynamically Tuned Gyro
Northrop Grumman G2000
41
Servo Accelerometer
42
Comparison
SRG NSG TARGET
Operation Stations Stations Non-stop
Inclination 0 - 45 0 90 all Attitude
Temperature w/o HS -17C to 82C 40 to
150C -20C to 125C
Shock 5 G 500 G 500 G
Drift Corrections Drift Checks
Intermittent Kalman Filter
Inclination Accuracy 0.1 (Stop) 0.1
(Stop) 0.1 (Move)
Azimuth Uncertainty 1/hr 0.5 lt
0.5 (after DC Correction)
(after processing) (online)
Position Uncertainty 24ft./1000ft.
10ft./1000ft. 1 ft/1000ft.(typ.)
Gyro MTBF 500 hrs 20,000hrs 100,000 hrs
Reference Sighting to a ref. Point.
North seeker North finder
43
Comparison
44
TARGET Features
Inertial Navigation System, Velocity aided
All Attitude, on the Move Surveys
Independently Qualified
Small Diameter, Short Instrument Sections
Reliable System Mechanization
Proven Adaptive Kalman Filter
Reliable Electronical SMD Design
High Through-put on-Board Power Computer
On-Site Calibration Features B.I.T.E.
45
Automatic Calibration and Test Stand
46
TARGET Controlbox
47
TARGET Controlbox
48
(No Transcript)
49
Adjustable Centroller 5.5 to 20
50
TARGET Inertial Surveying System

• Output Data (1 Second Rate)
• Cartesian 3D (North/East/TVD) Position in
  Relation to Entry Point
• or Grid
• Attitude Angles (Azimuth, Inclination, Gyro Tool
  Face, High Side
• Tool Face)
• Measured Depth
• Status (BITE, Quality Factor)
• Output Data (1 Minute Rate)
• Average Accelerations and Angular Rates
• Estimated Residual Gyro Drifts
• Gyro Temperatures

51
(No Transcript)
52
Thank you for your attention!
53
Error Screen (Not within horizontal Limit for
Calibration)
54
Calibration done.Free Inertial Mode. Move to
Well Head
55
Calibration 4. Position
56
Toggle between Gyro Toolface
57
Set Position and Cable Counter to Zero
58
Done !
59
Survey
60
Display of the extended Data (1 Minute Data Set)
61
Back to Surface. End of Survey
62
Orienting Screen.Seeking North!
63
Orienting Screen.Found North!
64
TARGET - Surface Software Features

• Operator guidance and assistance
• Robustness
• (operator errors/misconduct may not cause the
  survey to collapse)
• Choice of units (metric/english.)
• Command, control, and initialisation of the
  Inertial Measurement Unit
• Determine accurate cable speed and send them to
  the IMU
• Get survey and status data from the IMU
• Display the Survey data on screen (numerically
  and/or graphically)
• Evaluate the Survey data
• Notify the operator of out of tolerance
  operation of the IMU and advice
• Safely store the Survey data on the PCs hard
  disk drive together with
• operator inputs characterising and identifying
  the survey.