WO2007069993A1 - Drill rig system - Google Patents

Drill rig system Download PDF

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Publication number
WO2007069993A1
WO2007069993A1 PCT/SE2006/050522 SE2006050522W WO2007069993A1 WO 2007069993 A1 WO2007069993 A1 WO 2007069993A1 SE 2006050522 W SE2006050522 W SE 2006050522W WO 2007069993 A1 WO2007069993 A1 WO 2007069993A1
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WO
WIPO (PCT)
Prior art keywords
data
output signal
navigation
data signal
drilling
Prior art date
Application number
PCT/SE2006/050522
Other languages
French (fr)
Inventor
Jean Lindroos
Björn Lindgren
Kreso Milic
Original Assignee
Atlas Copco Rock Drills Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Atlas Copco Rock Drills Ab filed Critical Atlas Copco Rock Drills Ab
Publication of WO2007069993A1 publication Critical patent/WO2007069993A1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/02—Determining slope or direction
    • E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/02—Determining slope or direction
    • E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
    • E21B47/0228—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor
    • E21B47/0232—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor at least one of the energy sources or one of the detectors being located on or above the ground surface
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/025—Rock drills, i.e. jumbo drills

Definitions

  • the present invention relates to a drill rig system for a drill rig preferably used for rock drilling, in accordance with the preamble of the independent claim.
  • the present invention has its use in the field of rock drilling, open cut mining, road construction etc, where the results from the drilling of a hole/holes are analyzed for further procedure and action. In these situations it is desirable to have an accurate graphical illustration of the rock character along the drilled hole.
  • the accuracy of the illustration is depending of many different data, that may be determined before the drilling begins, during and after the drilling.
  • a navigation system such as GPS (Global Positioning System) is generally used for determining positions e.g. for vehicles. With GPS it is possible to determine positions with high precision ( ⁇ 5- 10 centimetres) by way of 24 satellites circling around the globe.
  • a receiver receives signals from several satellites and calculates the position of the receiver. Reference stations can be used near a site, such as a road construction site. Different software for guiding construction vehicles with high accuracy are known, such as Geo ROG and Anmask which are used in Sweden and Norway.
  • a generally known system for determining the starting coordinates for a drill hole is e.g. based on - a precise GPS receiver, preferably a so called RTK receiver, mounted on the drill rig /mast,
  • control system that determines the starting coordinates of the hole and the inclination and direction of the hole by way of sensors and the position of the GPS receiver.
  • a drill rig 10 equipped with GPS is schematically shown in Fig. 2, provided with GPS antennas 21, radio modem antenna 22, and sensors 23.
  • Fig. 4 shows an example of a drill plan for a site.
  • the coordinates of the starting point of the hole does not have to be lined up and marked out on the surface, as in Fig. 1.
  • the use of a navigation system, e.g. GPS, in positioning the starting point for the drill bit saves time and money since no extra personnel (e.g. skilled surveyors) is needed to mark the starting points for the drilling. The risk of accidentally displaced markers is also eliminated.
  • the positioning of the drill rig can thus be performed in darkness and foggy conditions, which in turn means better rig utilization over time.
  • the MWD-technique includes monitoring and recording of technical parameters during drilling. Such parameters may be penetration rate, feeder pressure and percussive pressure.
  • the analysis of the parameters is performed in a software, such as "Tunnel manager", and results in a detailed prediction (Fig. 5) of rock mass properties as hardness, fracture occurrence etc. along every drilled hole.
  • Rock properties can be presented as quality maps for geometrical planes through the rock mass. Based upon the information presented on the quality maps, geologists may make out which species of rock that occur along the hole. Quality maps provide an improved knowledge of rock mass properties, and form a solid foundation for an optimized and more selective rock excavation. Views and maps of predicted rock properties can be presented on a screen and in reports. Detailed information of the conditions of the rock mass improves interpretation of performed drilling work and also improves planning of the following operation; as further drilling, blasting etc.
  • the real result (e.g. depth, orientation of the drilled hole) of the drilling of a hole may often differ from the planned.
  • the actual hole orientation may in fact diverge from the intended orientation, as the hole have a tendency to bend when the drill bit runs into rock of different hardness (Fig. 3, 7).
  • Probing of holes is therefore done after the drilling is finished to determine the actual orientation of the hole.
  • a probe commonly being equipped with inclinometers and a compass, is introduced into the hole (Fig. 6, 7), to measure the inclination in two directions and the direction of the probe, i.e. the hole, at different depths, generally every meter.
  • the data is then preferably treated in a dedicated software, such as "ROC Manager", by way of which the hole can be illustrated on a screen.
  • the coordinates from the probing are related to the given coordinates of the starting point at the surface, for example measured by survey, or even roughly estimated out from the coordinates of an intended starting point, the coordinates for the probed hole will differ from reality.
  • the starting point for the hole is marked out on the surface, it may be so that the actual starting point for the drill is somewhat displaced relative to the intended starting point, for which the coordinates are later used. If the hole further is analyzed by MWD and/ or probing, the final result is not likely to correspond to the true state of the drilled hole in the rock.
  • the main object of the present invention is to obtain a true illustration of the hole data. This is solved by the features set forth in the characterizing portion of the independent claim. Preferred embodiments are set forth in the dependent claims.
  • the present invention relates to a drill rig system for a drill rig preferably used for rock drilling comprising - at least one navigation signal receiver, adapted to receive navigation signals, and to generate a navigation data signal including position coordinates for the drill starting point, and
  • the invention is characterized in that the system further comprises a processing device, and that said navigation data signal and said probe data signal are applied to said processing device that generates an output signal in dependence of applied signals, wherein said output signal includes true data representing the position, depth and orientation of the drilled hole.
  • a combination of a satellite navigation system and probing makes it possible to determine a boreholes starting position and the coordinates of the hole in three dimensions along the hole depth.
  • the coordinates of the hole received from the probing can be brought together with the accurate system of coordinates from the satellite navigation system, e.g. GPS.
  • the system according to the invention further comprises a MWD device adapted to generate a MWD data signal in dependence of data obtained during drilling of the hole, said MWD data signal is also applied to said processing device and is used to calculate said output signal, such that said output signal in addition includes data regarding the rock characteristics along the drilled hole.
  • the working site with the rock character and its drilled holes can be brought together with world coordinates, which results in an accurate illustration of the rock to be worked.
  • the responsible project supervisor can decide how to proceed. As an example (Fig. 3 and 7), when knowing that part of the drilled hole almost reaches the bench face, he/she can decide not to use that hole for blasting, which otherwise would have been an un-economic blasting. With the invention, it will be possible to have an accurate picture of the conditions, thus enabling the possibility to e.g. maximize the blasting efficiency.
  • Fig 1 is a schematic view of a rock drill rig, some markers on the surface for intended starting points,
  • Fig. 2 shows a drill rig provided with GPS equipment
  • Fig. 3 is a schematic view of a cross section of a drilled hole as compared to the intended hole (dashed line), Fig. 4 shows an exemplifying drill plan in a GPS interface,
  • Fig. 5 shows a schematic illustration as a result of the MWD
  • Fig. 6 is a schematic view of a person performing probing of a drilled hole
  • Fig. 7 is a schematic illustration of the results from the probing compared to the intended hole
  • Fig. 8 schematic diagram of the invention according to a first aspect
  • FIG. 9 schematic diagram of the invention according to a second aspect.
  • Fig. 1 shows a schematic view of a rock drill rig 10 at work on a site.
  • a couple of markers on the surface possibly made by a surveyor, illustrating the intended starting points according to how the positioning of the drill bit previously was performed.
  • the present invention relates to a drill rig system for a drill rig preferably used for rock drilling comprising at least one navigation signal receiver, adapted to receive navigation signals, and to generate a navigation data signal including position coordinates for the drill starting point, and a probe device, adapted to generate a probe data signal in response of measured data obtained during probing of a drilled hole.
  • the invention is characterized in that the system further comprises a processing device, and that said navigation data signal and said probe data signal are applied to said processing device that generates an output signal in dependence of applied signals, wherein said output signal includes true data representing the position, depth and orientation of the drilled hole (Fig. 8).
  • the system according to the invention may further comprise a MWD device adapted to generate a MWD data signal in dependence of data obtained during drilling of the hole.
  • Said MWD data signal is also applied to said processing device and is used to calculate said output signal, such that said output signal in addition includes data regarding the rock characteristics along the drilled hole (Fig. 9).
  • the MWD data signal may either be raw data from the performed drilling that is processed by the processing device, or a processed signal.
  • the output signal is preferably applied to a display means for presentation of the data from the output signal.
  • the drill plan (coordinates for the starting points of the holes) may be loaded into a computer provided with a processing device according to the present invention.
  • the computer is preferably arranged in the control cabin of the drill rig.
  • the drill bit is then positioned by the driver, and the accurate coordinates for the starting point are determined by way of the navigation system, such as GPS.
  • the drilling of the hole is begun, and with that the measuring and recording of technical parameters (MWD), such as penetration rate, feeder pressure and percussion pressure, during the drilling.
  • MWD technical parameters
  • probing of the drilled hole is performed (Fig. 6-7).
  • the analysis of the parameters is performed in a software, such as "Tunnel manager".
  • the data from the GPS, MWD and probing are applied to the processing device that calculates an output signal, that includes true data representing the true position, depth, orientation of the hole, rock characteristics etc.
  • the output signal is preferably applied to a display means for illustration purposes, e.g. by presenting the results in a graphic interface (Figs. 8, 9), giving an accurate illustration of the hole and/ or the rock characteristics in relation to world coordinates, and thereby to other reference points with reliable coordinates.

Abstract

The present invention relates to a drill rig system for a drill rig preferably used for rock drilling comprising: at least one navigation signal receiver, adapted to receive navigation signals, and to generate a navigation data signal including position coordinates for the drill starting point, and a probe device, adapted to generate a probe data signal in response of measured data obtained during probing of a drilled hole. The invention is characterized in that the system further comprises a processing device, and that said navigation data signal and said probe data signal are applied to said processing device that generates an output signal in dependence of applied signals, wherein said output signal includes true data representing the position, depth and orientation of the drilled hole.

Description

DRILL RIG SYSTEM AND METHOD.
Technical field
The present invention relates to a drill rig system for a drill rig preferably used for rock drilling, in accordance with the preamble of the independent claim.
Background of invention
The present invention has its use in the field of rock drilling, open cut mining, road construction etc, where the results from the drilling of a hole/holes are analyzed for further procedure and action. In these situations it is desirable to have an accurate graphical illustration of the rock character along the drilled hole.
The accuracy of the illustration is depending of many different data, that may be determined before the drilling begins, during and after the drilling.
Different systems are used for the procedure of drilling and determining the conditions of the rock mass of the site. The following known technologies are used before, during and after the drilling, respectively.
Navigation system, GPS
A navigation system such as GPS (Global Positioning System) is generally used for determining positions e.g. for vehicles. With GPS it is possible to determine positions with high precision (± 5- 10 centimetres) by way of 24 satellites circling around the globe. A receiver receives signals from several satellites and calculates the position of the receiver. Reference stations can be used near a site, such as a road construction site. Different software for guiding construction vehicles with high accuracy are known, such as Geo ROG and Anmask which are used in Sweden and Norway.
A generally known system for determining the starting coordinates for a drill hole, is e.g. based on - a precise GPS receiver, preferably a so called RTK receiver, mounted on the drill rig /mast,
- inclinometers, angle and length sensors on the boom/ arms
- a control system (RCS) that determines the starting coordinates of the hole and the inclination and direction of the hole by way of sensors and the position of the GPS receiver.
A drill rig 10 equipped with GPS is schematically shown in Fig. 2, provided with GPS antennas 21, radio modem antenna 22, and sensors 23. Fig. 4 shows an example of a drill plan for a site.
Using a navigation system of the described kind, the coordinates of the starting point of the hole does not have to be lined up and marked out on the surface, as in Fig. 1. The use of a navigation system, e.g. GPS, in positioning the starting point for the drill bit saves time and money since no extra personnel (e.g. skilled surveyors) is needed to mark the starting points for the drilling. The risk of accidentally displaced markers is also eliminated. The positioning of the drill rig can thus be performed in darkness and foggy conditions, which in turn means better rig utilization over time.
MWD logging
The MWD-technique (Measure While Drilling) includes monitoring and recording of technical parameters during drilling. Such parameters may be penetration rate, feeder pressure and percussive pressure. The analysis of the parameters is performed in a software, such as "Tunnel manager", and results in a detailed prediction (Fig. 5) of rock mass properties as hardness, fracture occurrence etc. along every drilled hole.
Rock properties can be presented as quality maps for geometrical planes through the rock mass. Based upon the information presented on the quality maps, geologists may make out which species of rock that occur along the hole. Quality maps provide an improved knowledge of rock mass properties, and form a solid foundation for an optimized and more selective rock excavation. Views and maps of predicted rock properties can be presented on a screen and in reports. Detailed information of the conditions of the rock mass improves interpretation of performed drilling work and also improves planning of the following operation; as further drilling, blasting etc.
Probing
The real result (e.g. depth, orientation of the drilled hole) of the drilling of a hole may often differ from the planned. Especially when using top hammers, the actual hole orientation may in fact diverge from the intended orientation, as the hole have a tendency to bend when the drill bit runs into rock of different hardness (Fig. 3, 7).
Probing of holes is therefore done after the drilling is finished to determine the actual orientation of the hole. A probe, commonly being equipped with inclinometers and a compass, is introduced into the hole (Fig. 6, 7), to measure the inclination in two directions and the direction of the probe, i.e. the hole, at different depths, generally every meter. The data is then preferably treated in a dedicated software, such as "ROC Manager", by way of which the hole can be illustrated on a screen.
If the coordinates from the probing are related to the given coordinates of the starting point at the surface, for example measured by survey, or even roughly estimated out from the coordinates of an intended starting point, the coordinates for the probed hole will differ from reality.
A problem with the methods used today is that the results of the different measurements are not reliable, in that they do not result in an accurate illustration of the true underground conditions, regarding the deviation between the planned hole and the real hole, and the rock characteristics.
Bringing coordinates from different coordinate systems together causes mismatch between the mapped situation and the reality. Consequently, the illustration (the mapping) of the drilled hole/holes will probably not correspond to the real position of the hole at the surface and the rock properties, and hole positions underground.
If the starting point for the hole is marked out on the surface, it may be so that the actual starting point for the drill is somewhat displaced relative to the intended starting point, for which the coordinates are later used. If the hole further is analyzed by MWD and/ or probing, the final result is not likely to correspond to the true state of the drilled hole in the rock.
Brief description
The main object of the present invention is to obtain a true illustration of the hole data. This is solved by the features set forth in the characterizing portion of the independent claim. Preferred embodiments are set forth in the dependent claims.
According to a main aspect, the present invention relates to a drill rig system for a drill rig preferably used for rock drilling comprising - at least one navigation signal receiver, adapted to receive navigation signals, and to generate a navigation data signal including position coordinates for the drill starting point, and
- a probe device, adapted to generate a probe data signal in response of measured data obtained during probing of a drilled hole. The invention is characterized in that the system further comprises a processing device, and that said navigation data signal and said probe data signal are applied to said processing device that generates an output signal in dependence of applied signals, wherein said output signal includes true data representing the position, depth and orientation of the drilled hole.
A combination of a satellite navigation system and probing makes it possible to determine a boreholes starting position and the coordinates of the hole in three dimensions along the hole depth. Thus, the coordinates of the hole received from the probing, can be brought together with the accurate system of coordinates from the satellite navigation system, e.g. GPS.
The combination of the two methods, accurate navigation system on the drill rig and probing of the drilled hole, results in that the orientation, extension and position of the hole in the rock/ground can be determined and registered.
According to a second aspect, the system according to the invention further comprises a MWD device adapted to generate a MWD data signal in dependence of data obtained during drilling of the hole, said MWD data signal is also applied to said processing device and is used to calculate said output signal, such that said output signal in addition includes data regarding the rock characteristics along the drilled hole.
Bringing together data from the three methods:
• navigation system on the drill rig,
• MWD during drilling, and
• probing of the drilled hole, thus will result in precise coordinates and parameters in three dimensions of the bore hole. Thus, the rock parameters of the hole can be registered and brought together with corresponding parameters of other adjacent holes. A relevant and accurate mapping of the rock parameters along the holes at a site is thus achieved and can be used in open-cast mining, road construction etc.
By using the combination of the three techniques, the working site with the rock character and its drilled holes can be brought together with world coordinates, which results in an accurate illustration of the rock to be worked.
When having the accurate illustration of the drilled hole, the responsible project supervisor can decide how to proceed. As an example (Fig. 3 and 7), when knowing that part of the drilled hole almost reaches the bench face, he/she can decide not to use that hole for blasting, which otherwise would have been an un-economic blasting. With the invention, it will be possible to have an accurate picture of the conditions, thus enabling the possibility to e.g. maximize the blasting efficiency.
These and other aspects of and advantages with the present invention, will be apparent from the detailed description and the accompanying drawings.
Short description of drawings
In the detailed description of the present invention reference will be made to the accompanying drawings, wherein Fig 1 is a schematic view of a rock drill rig, some markers on the surface for intended starting points,
Fig. 2 shows a drill rig provided with GPS equipment,
Fig. 3 is a schematic view of a cross section of a drilled hole as compared to the intended hole (dashed line), Fig. 4 shows an exemplifying drill plan in a GPS interface,
Fig. 5 shows a schematic illustration as a result of the MWD,
Fig. 6 is a schematic view of a person performing probing of a drilled hole,
Fig. 7 is a schematic illustration of the results from the probing compared to the intended hole, Fig. 8 schematic diagram of the invention according to a first aspect,
Fig. 9 schematic diagram of the invention according to a second aspect.
Detailed description
Fig. 1 shows a schematic view of a rock drill rig 10 at work on a site. A couple of markers on the surface possibly made by a surveyor, illustrating the intended starting points according to how the positioning of the drill bit previously was performed.
The present invention relates to a drill rig system for a drill rig preferably used for rock drilling comprising at least one navigation signal receiver, adapted to receive navigation signals, and to generate a navigation data signal including position coordinates for the drill starting point, and a probe device, adapted to generate a probe data signal in response of measured data obtained during probing of a drilled hole.
The invention is characterized in that the system further comprises a processing device, and that said navigation data signal and said probe data signal are applied to said processing device that generates an output signal in dependence of applied signals, wherein said output signal includes true data representing the position, depth and orientation of the drilled hole (Fig. 8).
The system according to the invention may further comprise a MWD device adapted to generate a MWD data signal in dependence of data obtained during drilling of the hole. Said MWD data signal is also applied to said processing device and is used to calculate said output signal, such that said output signal in addition includes data regarding the rock characteristics along the drilled hole (Fig. 9). The MWD data signal may either be raw data from the performed drilling that is processed by the processing device, or a processed signal.
The output signal is preferably applied to a display means for presentation of the data from the output signal.
When the drilling is about to start, the drill plan (coordinates for the starting points of the holes) may be loaded into a computer provided with a processing device according to the present invention. The computer is preferably arranged in the control cabin of the drill rig.
The drill bit is then positioned by the driver, and the accurate coordinates for the starting point are determined by way of the navigation system, such as GPS.
The drilling of the hole is begun, and with that the measuring and recording of technical parameters (MWD), such as penetration rate, feeder pressure and percussion pressure, during the drilling. When the drilling is finished, probing of the drilled hole is performed (Fig. 6-7). The analysis of the parameters is performed in a software, such as "Tunnel manager".
The data from the GPS, MWD and probing are applied to the processing device that calculates an output signal, that includes true data representing the true position, depth, orientation of the hole, rock characteristics etc. The output signal is preferably applied to a display means for illustration purposes, e.g. by presenting the results in a graphic interface (Figs. 8, 9), giving an accurate illustration of the hole and/ or the rock characteristics in relation to world coordinates, and thereby to other reference points with reliable coordinates.
The accurate illustration will thus give the basis for subsequent decisions of how to proceed the operation; further drilling, blasting etc.
The embodiments shown in the drawings and put forward in the description should not be considered restricting, only as exemplifying.

Claims

1. Drill rig system for a drill rig preferably used for rock drilling comprising:
- at least one navigation signal receiver, adapted to receive navigation signals, and to generate a navigation data signal including position coordinates for the drill starting point, and
- a probe device, adapted to generate a probe data signal in response of measured data obtained during probing of a drilled hole, c h a r a c t e r i z e d i n t h a t the system further comprises - a processing device, and that said navigation data signal obtained before drilling and said probe data signal obtained after drilling are applied to said processing device that generates an output signal in dependence of applied signals, wherein said output signal includes true data representing the position, depth and orientation of the drilled hole.
2. Drill rig system according to claim 1, wherein the system further comprises a MWD device adapted to generate a MWD data signal in dependence of data obtained during drilling of the hole, and said MWD data signal is also applied to said processing device and is used to calculate said output signal, such that said output signal in addition includes data regarding the rock characteristics along the drilled hole.
3. Drill rig system according to claim 2 or 3, wherein the output signal is applied to a display means for presentation of the data from the output signal.
4. Drill rig preferably used for rock drilling comprising a drill rig system according to any of the claims 1-3.
5. Method comprising the following steps:
- reception of navigation signals by at least one navigation signal receiver, generation of a navigation data signal including position coordinates for the drill starting point, and - generation of a probe data signal in response of measured data obtained during probing of a drilled hole, c h a r a c t e r i z e d i n t h a t the method further comprises
- application of said navigation data signal obtained before drilling and said probe data signal obtained after drilling to a processing device, and - generation of an output signal in dependence of applied signals, wherein said output signal includes true data representing the position, depth and orientation of the drilled hole.
6. Method according to claim 5, wherein the method further comprises - generation of MWD data signal in dependence of data obtained during drilling of the hole, and application of said MWD data signal to said processing device and for calculation of said output signal, such that said output signal in addition includes data regarding the rock characteristics along the drilled hole.
7. Method according to claim 5 or 6, wherein the method further comprises
- presentation of the data from the output signal on a display means.
PCT/SE2006/050522 2005-12-15 2006-11-29 Drill rig system WO2007069993A1 (en)

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Cited By (5)

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Publication number Priority date Publication date Assignee Title
CN103748318A (en) * 2011-06-21 2014-04-23 维米尔制造公司 Horizontal directional drilling system including sonde position detection using global positioning systems
EP2775089A1 (en) * 2013-03-04 2014-09-10 Bauer Spezialtiefbau GmbH Construction device and method for determining the position of a drill drive
WO2017027925A1 (en) * 2015-08-17 2017-02-23 Precision Alignment Holdings Pty Ltd A drill rig positioning and drill rod alignment system
CN107269267A (en) * 2017-07-31 2017-10-20 中国铁道科学研究院 The measuring method and system of a kind of machine drill hole depth and speed
WO2022185289A1 (en) * 2021-03-05 2022-09-09 Devico As Survey tool system for blast hole drilling rigs

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Publication number Priority date Publication date Assignee Title
AU2017204390B2 (en) * 2016-07-07 2021-12-16 Joy Global Surface Mining Inc Methods and systems for estimating the hardness of a rock mass

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GB2351807A (en) * 1999-07-01 2001-01-10 Schlumberger Holdings Reverse inertial navigation method for high precision wellbore surveying
GB2369188A (en) * 1997-12-04 2002-05-22 Baker Hughes Inc Measurement-while-drilling assembley using gyroscopic devices and methods of bias removal
WO2002050400A2 (en) * 2000-12-18 2002-06-27 Baker Hughes Incorporated Method for determining magnetometer errors during wellbore surveying

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
GB2369188A (en) * 1997-12-04 2002-05-22 Baker Hughes Inc Measurement-while-drilling assembley using gyroscopic devices and methods of bias removal
GB2351807A (en) * 1999-07-01 2001-01-10 Schlumberger Holdings Reverse inertial navigation method for high precision wellbore surveying
WO2002050400A2 (en) * 2000-12-18 2002-06-27 Baker Hughes Incorporated Method for determining magnetometer errors during wellbore surveying

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103748318A (en) * 2011-06-21 2014-04-23 维米尔制造公司 Horizontal directional drilling system including sonde position detection using global positioning systems
EP2723983A4 (en) * 2011-06-21 2015-08-05 Vermeer Mfg Co Horizontal directional drilling system including sonde position detection using global positioning systems
CN103748318B (en) * 2011-06-21 2017-05-17 维米尔制造公司 Horizontal directional drilling system including sonde position detection using global positioning systems
EP2775089A1 (en) * 2013-03-04 2014-09-10 Bauer Spezialtiefbau GmbH Construction device and method for determining the position of a drill drive
WO2017027925A1 (en) * 2015-08-17 2017-02-23 Precision Alignment Holdings Pty Ltd A drill rig positioning and drill rod alignment system
CN107269267A (en) * 2017-07-31 2017-10-20 中国铁道科学研究院 The measuring method and system of a kind of machine drill hole depth and speed
WO2022185289A1 (en) * 2021-03-05 2022-09-09 Devico As Survey tool system for blast hole drilling rigs

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SE0502769L (en) 2007-06-16

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