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Particle Filter with Novel Nonlinear Error Model for Miniature Gyroscope-Based Measurement While Drilling Navigation.

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Summary

This study introduces a new nonlinear error model (NNEM) for miniature gyroscope-based measurement while drilling (MGWD) systems. The NNEM improves navigation accuracy by accounting for large attitude errors, outperforming traditional methods.

Keywords:
MEMSMGWDNNEMPFmultilateral horizontal drillingquasi-stationary condition

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Area of Science:

  • Geophysics
  • Navigation Systems
  • Sensor Technology

Background:

  • Conventional error models for miniature gyroscope-based measurement while drilling (MGWD) systems rely on small-angle attitude approximations.
  • Simplifying the direction cosine matrix (DCM) can lead to navigation errors, particularly with microelectromechanical system (MEMS) sensors in challenging downhole environments.

Purpose of the Study:

  • To propose a novel nonlinear error model (NNEM) that incorporates the error of the DCM.
  • To reduce propagated errors in MGWD systems, especially under large-angle attitude error conditions.

Main Methods:

  • Developed a novel nonlinear error model (NNEM) introducing DCM error.
  • Utilized zero velocity and zero position as reference points for state estimation.
  • Employed particle filter (PF) and Kalman filter (KF) for state estimation.

Main Results:

  • The proposed NNEM effectively reduces propagated errors under large-angle attitude conditions.
  • Particle filter (PF) demonstrated superior performance compared to the Kalman filter (KF).
  • PF with NNEM significantly restrained system state errors (azimuth, velocity, height) in quasi-stationary conditions.

Conclusions:

  • The novel nonlinear error model (NNEM) enhances the accuracy of miniature gyroscope-based measurement while drilling (MGWD) systems.
  • Particle filter (PF) combined with NNEM offers a robust solution for navigation in harsh downhole environments.
  • The NNEM is particularly effective in mitigating errors associated with large attitude deviations.