Professional Documents
Culture Documents
Anadrill
CONTENTS
SECTION 1
INTRODUCTION
Page
INCLINATION ERROR
Page
AZIMUTH ERROR
Page
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16
21
23
24
25
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27
38
40
44
47
55
65
67
79
90
Page
95
SECTION 2
MWD INITS FOR D&I - ADVISOR
MWD INITS FOR D&I - IDEAL
SURVEY ACCEPTANCE CRITERIA
4/5 AXIS SURVEY
CONTINUOUS D&I
SECTION 3
SECTION 4
D & I EXERCISES
Introduction
To : Anadrill MWD Engineers and DirectionalDrillers.
The purpose of this paper is to review the current status of our Direction and Inclination
measurements and the options we have to ensure the best accuracy we can obtain in the
prevailing conditions.
This document should be used for reference. It is backed up with a number of appendices
with more detailed descriptions of the principles and descriptions of D&I measurements.
Section 3 has exercises in Direction and Inclination measurements. It is strongly suggested
that you run through these exercises. Review the answers with your FSMs.
The importance of obtaining accurate D&I measurements cannot be over-emphasized.
This is the core of MWD services. As we diversify into other Formation Evaluation
measurements we note an increasing lack of attention to the core service of D&I.
Surveys
Surveys are used to determine the orientation of the well at the point where the MWD
tool is lying in the borehole. This is done by measuring size and direction of the
gravitational and magnetic fields exerted on the MWD tool.
Details of the way in which the MWD tool measures direction and inclination are covered
in Appendices C & D of Section 3.
The principle of measurement is straight forward. To obtain the best surveys we need a
good knowledge of all the different influences that can affect those measurements. For this
reason we will concentrate on sources of errors, how they manifest themselves and how to
minimize them.
Inclination Error
Measurement of Inclination is made by 3 accelerometers mounted in the Sensor Cartridge.
The principle of this measurement is described in Section 3, Appendix D.
Inclination measurement errors come from :
a.
Movement. If the drill string moves during the time when the survey is taken
erroneous surveys will result. The X axis is the axis most affected by drill string
movement. Movement may occur due to the driller releasing the brake prematurely
or rig heave or torque release in the drill string downhole. Employing correct
survey procedure is critical in avoiding movements. Good communications
between Anadrill Engineers andDriller is required.
b.
c.
Misalignment of the Slim 1 Tool within the bore of the Non Mag Drill Collar.
Recent testing has shown that this can be nearly 0.1. Future changes to Slim 1
centralization should reduce this error.
d.
e.
Temperature. The first survey may be erroneous due to the Inclinometer not
reaching 135 degrees C. A good baseline of G values can only be obtained after
some 15 minutes circulating and several surveys.
15
100 C
12
9
6
3
75 C
50 C
0
0
100
200
25 C
Azimuth Error
Measurement of Azimuth is made by 3 magnetometers mounted in the Sensor Cartridge.
Inclinometer measurements are also used in calculating Azimuth, therefore the above
section on Inclination errors is also very relevant to Azimuth error. The principle of
azimuth measurement is described in Section 3, Appendix D.
The greatest possibility for error in MWD surveying is in measuring Azimuth. Magnetic
anomalies are widespread within the drilling environment. It is our job, as engineers
preparing jobs and working at the rig site, to identify possibilities for anomalies and ensure
that they are either avoided or we have the means to correct for them.
Refer to Section 3, appendix E for a Summary of Magnetic Interference.
In preparing tools for the rig site we have the following checks to make :
a.
Magnetic Parts.
Ensure all Modifications to avoid the use of Magnetic parts close to the D&I
package are implemented. There are New Style M3 Shock standoffs with Shims
that are non magnetic for use on the SCA. The original shock sleeves were
magnetic. These are being replaced but there will still be the Magnetic type in the
field for some time. Ref TIR#47.
b.
LWD Power.
Ensure the Wiring of the LTB lines for LWD is correct. Is the CDN Battery
powered or powered from the MWD ? Currents flowing through the MWD collar
can have effects on the Accuracy of the magnetometers. Current Anadrill policy is
to never power the CDN from the MWD tool.
c.
d.
e.
D & I Calibration.
Check the date of the tools last calibration. Check the tools history and its previous
calibration. Ensure that any changes in calibration/roll test results can be explained
clearly. The calibration procedure can be used to track D&I sensor stability.
For Slim 1 the calibration data is written into a ROM in the tool. There is no
operator manipulation of this data. You should still check previous calibrations.
In the POWERPULSE, the correction matrix is also written to the downhole tool.
The calibration matrix is applied downhole. Note that attention should still be
made to inputs for matrix.
f.
The scale factor for a given sensor can be defined as the unit conversion factor
for the output of the sensor. For example, the number of millivolts/gamma for
a magnetometer sensor is the scale factor for that particular sensor and the
number of volts/g for a particular inclinometer is the scale factor for that
sensor. The matrix diagonal for the M1/M3 magnetometer (going from top left
to bottom right) will always be near 1.0 for a 5.0v Sensor Cartridge, 1.25 for a
4.0v Sensor Cartridge and 1.4 for a 3.57v Sensor Cartridge. The matrix
diagonal for PowerPulse (going from top left to bottom right) will be 1.28.
The Bias can be defined as the sensor output in a zero gravitational or
magnetic field. This output is usually less than or greater than zero due to
circuit imbalances. The bias entered for PowerPulse will be zero. Zero is
entered at the surface for the PowerPulse bias because the bias is corrected
downhole.
The sensor orientation is a function of the alignment of the sensors on the
physical axes of the tool.
To calibrate the D&I package, data is taken at 16 different tool orientations. The
scale factors, biases and sensor orientations are determined from the measurements
made during a 16 point roll test. The scale factors and sensor orientations are then
incorporated into a 3x3 matrix which is used at the rig site along with sensor biases
to provide a more accurate survey. The following is the correction equation for the
X, Y, and Z accelerometers. The equations will apply to the magnetometers
substituting MM for the AA values.
Corr X = AA11(rawX-biasX) + AA12(rawY-biasY) + AA13(rawZ-biasZ)
Corr Y = AA21(rawX-biasX) + AA22(rawY-biasY) + AA23(rawZ-biasZ)
Corr Z = AA31(rawX-biasX) + AA32(rawY-biasY) + AA33(rawZ-biasZ)
Where :
AA11(rawX-biasX) is the scale factor correction. This is the
magnitude of the X vector in Figure A. This is responsible for
the majority of the correction of the X axis reading.
Y Sensor
YAW
PITCH
YAW
Physical
Z Axis
X Sensor
Physical
X Axis
PITCH
PITCH
YAW
Z Sensor
Physical
Y Axis
Figure A.
and 50K resistors, the divider ratio is slightly smaller than 5/7 by about 3 parts in
1000. The fix in the short term is that you multiply all 9 elements of your
magnetometer correction matrices by 1.00287 if you are using one of the dividers.
MR 38 for the SCA rectifies the problem with the voltage divider. Check this
modification has been made if you are using 3.57V SCA.
g.
Temperature.
Specification of M1/M3 magnetometers limits thermal drift. The PowerPulse and
the Slim tools have thermal models in their software.
The full correction matrix is computed with the SCA in the D&I calibration stand
at four different temperatures. The four matrixes are entered into the Advisor
which, by interpolation, will obtain the proper value to be used according to the
cartridge temperature (measured in the magnetometer assembly). This is the
ultimate in the precision of the Anadrill MWD and is required only by certain
clients. (Shell).
Normally the full calibration matrix is computed for one temperature only
with the SCA at room temperature in the Calibration stand.
You should be aware that if you intend to use tools in a very hot well, close to the
limit of the MWD tool, then a high temperature calibration and roll test may be
performed to satisfy the client of the tools accuracy at these extremes of
temperature.
h.
10
i.
j.
The magnetic effects are not the same if the well is deviated or straight.
The effects change as the distance from the steel in question changes.
The latitude of the area has an effect.
A casing collar usually produces a higher interfering field.
The distance required to be clear of effects from a casing shoe can be
anywhere from 30 to 150 ft away. The same amount may be needed away
from a fish, but normally 30ft is acceptable.
11
k.
Survey Technique.
It is important that the correct procedure is properly and clearly explained to the
Driller who has control of the drill string and pumps during surveying. If the drill
string moves during the time when the survey is taken erroneous surveys will
result. Movement may occur due to the Driller releasing the brake prematurely, rig
heave or torque release in the drill string downhole. The X axis is the axis most
affected by drill string movement, up and down (i.e Heave). Axes Y and Z are
most affected by torque release in the drill string.
l.
12
There are certain dangers in running Magcor and Sucop which are important to
note:
1. The input value for H must be correct. Total H is the reference for all the
correction. If this value is wrong then your corrected survey will be wrong.
2. All SCA, SEA, and MEA must be calibrated to measure H accurately.
3. As with 5 axis corrections, if Hx axis is reading close to zero, then some greater
errors may be introduced.
m.
GFH
HFH
DIP
DESCRIPTION
Good
Bad
Bad
Bad
Good
Good/Bad
Bad
Bad
Bad
Good
Good
Bad
13
The square root of the sum of the squares of the Y and Z axis for each sensor type
should remain constant. The constant vector is called T.
HY2 + HZ2 = Constant = Th
GY2 + GZ2 = Constant = Tg
Print out the Survey hold File (Advisor) or Downhole surveys (IDEAL) and
examine the raw data.
Perform an offline 4/5 axis analysis if a D&I abort occurs and change G, H and Dip
deviations until a 4/5 axis is calculated successfully.
Change G, H and Dip deviations to values which work offline.
Check on Quickstart page (Advisor) or Survey page (IDEAL) that Survey
reference is the correct survey reference.
Note : Usually, accelerometers will have either a 0 voltage or a +/- volt output when
a failure occurs. The most common failure mode is a +/-1024 count output
from the accelerometer. Magnetometers normally do not have hard failures.
The output becomes erratic, it does not usually have a zero or full scale
reading when it fails.
n.
The potential for large errors in calculating the 5 axis survey are great. Maximum
error occurs where the remaining axes are reading close to maximum and minimum
scale. However there are many cases where errors are quite small or almost non
existent. In fact , for some errors, rotating the tool to another toolface 45 or 135
degrees away can produce smaller errors. Appendix F covers the principal and the
manual calculation of surveys with a bad axis. Use the uncertainty values
calculated on the IDEAL survey page to determine the quality of the correction.
14
SECTION 2
1.
2.
3.
4.
5.
CONTINUOUS D&I
15
The following inits refer to Advisor V5.2+. For versions later than this please ensure
that you refer to the corresponding release notes.
1.
MWD MODE.
2.
TC TYPE.
3.
SC VOLTS
4.
T/F ANGLE
5.
BIT-SLPN
The distance between the Bit and the Slick Pin of the MWD Tool.
(On 7 FLS collars this means upper Slick Pin)
6.
RES-SLPN
The distance between the slick pin and the mid point between the SN
Resistivity Electrodes. As it is measured downwards from the Slick Pin this
measurement is positive. The default value is 4.6 ft.
16
7.
LOCN H.
8.
MAG DIP
This is the Magnetic DIP Angle for the given location. This is
entered in Degrees. It is used as a reference for survey acceptance
criteria. The DIP Angle is calculated from running GEOMAG or
taken from previous measurement data. (ie MWD Runs) and must
be agreed with the client. This input is critical for MTF
calculations as an input to the 4/5 Axis D&I corrections.
9.
MAG DEC
10.
11.
12.
DWOB
DTORQ
FS RES.
13.
ERR CRN.
This flags the Advisor system to go and look for the error
correction matrix. Inputs to this Init are: N for None, S for a single
matrix and M for multiple matrixes made at various temperatures.
Following this flag the system will refer to the SC # ( INIT 14) to
select the correct matrix.
Powerpulse requires this to be set at S.
14.
SC #
This is the Serial number of the sensor cartridge in the hole. If the
number selected does not match an existing matrix file, error
correction will not be turned on when the MWD INIITS is exited.
It is therefore very important that the Matrix is entered prior to
entering 1. Downhole Tool Inits. ( Matrix is entered at 7. DNI
Error Temp Correction Matrix)
15.
16.
17.
18.
19.
20.
21.
COL OD.
HOLE DIA.
BARITE.
DEF COND.
DEF TEMP.
DEF MWT.
DEF DHT.
17
22.
4/5 AXIS.
23.
TOOL G
24.
TOOL H
25.
G DEV
This is the error, in counts, allowable in TOOL G before a tool Gaxis is assumed to have failed, meaning that axis correction will be
required i.e it switches 4/5 axis measurements on as long as 4/5
axis is enabled at quick start menu.
(Note : The Survey Accept/Reject Criteria sets the Good/Bad flag
in the survey hold file. This flag is not set by G DEV in the MWD
Inits.)
26.
H DEV
This is the error, in counts, allowable in TOOL H before a tool Haxis is assumed to have failed, meaning that axis correction will be
required i.e it switches 4/5 axis measurements on as long as 4/5
axis is enabled at quick start menu.
(Note : The Survey Accept/Reject Criteria sets the Good/Bad flag
in the survey hold file. This flag is not set by H DEV in the MWD
Inits.)
27.
DIP DEV.
28.
GR CART.
18
29.
D&I TEMP.
30.
31.
DC MATRL.
GR-SLPN.
This is the type of drill collar material that encases the gamma ray cartridge.
This is the distance from the Slick Pin to the GR measurement point.
32.
D&I-SLPN.
This is the distance between the slick pin and the mid point of the
D&I package. This point is mid way between the accelerometers
and magnetometers. This point was always a constant -7.4 ft.
However with the introduction of the GRTM without a BHA this
distance is reduced to -6.96 ft. The value for the PowerPulse is 7.83 ft.
19
MWD MODE
TC TYPE
SC VOLTAGE
T/F ANGLE
BIT-SLPN
RES-SLPN
LOC H
MAG DIP
MAG DEC
DWOB OFFSET
DTOR OFFSET
FS RES
ERR CORR
SC#
COL OD
HOLE OD
N
N
Y
Y
Y
Y
Y
Y
Y
N
N
N
Y
Y
Y
Y
N/A to Date
N/A to Date
5 volts (for Magcor)
Measured from ROP*
Measured to ROP
Measured to ROP
As M3
As M3
As M3
N/A to Date
N/A to Date
N/A to Date
Ref MEA No. See below
Input MEA No.
MDC Diameter
As M3
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
BARITE
DEF CON
DEF TEMP
DEF MW
DEF DH TEMP
4/5 AXIS
TOOL G
TOOL H
G DEV
H DEV
DIP DEV
GR CART #
D&I TEMP
DC MTRL
GR TO SLPN
D&I TO SLPN
N
N
N
N
N
Y
Y
Y
Y
Y
Y
N
N
N
Y
Y
1.00
0.00
0.00
AA 1,2
AA 2,2
AA 3,2
0.00
1.00
0.00
AA 1,3
AA 2,3
AA 3,3
0.00
0.00
1.00
BIAS X
BIAS Y
BIAS Z
MM 1,1
MM 2,1
MM 3,1
1.28
0.00
0.00
MM 1,2
MM 2,2
MM 3,2
0.00
1.28
0.00
MM 3,1
MM 2,3
MM 3,3
0.00
0.00
1.28
BIAS X
BIAS Y
BIAS Z
20
Location H
This value should be be obtained from the "Geomag" program. This value will be used in
the "Magnetic Correction" application when available. This is not a reference value for
tool H, the reference value of tool H is entered on the survey panel. The difference
between local H and tool H is that location H is generated by Geomag calculation is a
theoretical value for the given elevation, latitude and longitude for the rig site, where
reference tool H is a value set by user, which is obtained from a tools good readings,
which depends many local conditions and the tool itself.
Reference Dip
This value should be obtained from the "Geomag" program. This value will be used as online criteria for surveys and will be used for "Magnetic Correction" application when
available.
Magnetic Declination
Magnetic declination is an angle between true (geographic) north and magnetic north. It is
not corrected for convergence, the grid convergence angle. This value must be entered
before acquisition is started. The value will be used for Azimuth and MTF computations.
There is no default value for it and computations will not take place if the value is absent.
21
Azimuth (with respect to the true north) = magnetic azimuth + magnetic declination
Where magnetic azimuth is the azimuth measured by the tool.
Grid Convergence Angle
This value must be entered before acquisition is started. The value will be used for survey
and toolface computations. The default value is zero deg. If grid correction angle is not
available, use the default value. If the value is non-zero system will always compute
Azimuth and MTF using grid correction angle.
Azimuth = magnetic azimuth + magnetic declination - grid corr angle.
G rid N orth
T rue N orth
g
M agnetic N orth
m
A zim uth
3
1
m: Magnetic Declination
(negative in this case)
g: Grid Correction
(positive in this case)
Total Correction (for azimuth) As explained in above section total correction for
azimuth is computed from magnetic declination and grid correction angle. It is displayed
on D&I init panel and it will update whenever user hit return key in any of those two
fields, it will update the value. This value is also displayed on thetoolface panel.
total correction = magnetic declination - grid correction angle.
TN
MN
GN
-8
(-8) - 5 = -13
TN
TN
TN
GN
MN
GN
-8
-3
(-3) - (-8) = + 5
MN
GN
-4
(-9 ) - (-4) = -5
MN
+7
-9
+ 10
10 - 7 = 3
22
Reference
1000.0
1000.0
0.0
Deviation
+/- 3.0
+/- 3.5
+/- 0.3
Units
Milli G
Kgamma
Deg
Note: Tool H should have a deviation of +/- 350 gammas not Kgamma which equals +/- 7 counts. The
deviations will be hardcoded in IDEAL V5.0.
In the case of computing online 4/5 axis surveys, the tighter the tolerance on G, H, and Dip,
the greater chance that the recalculated values of Dip may lie outside the reference values.
If this occurs, the deviations must be widened so that the 4/5 axis D&I correction is not
aborted.
A 4/5 axis D&I correction abort may also be caused by inputting inaccurate inputs for
reference G, H, and/or Dip values. When the axis is solved for and re-substituted into the
4/5 axis calculation the calculated G, H, or Dip may be outside of the specified deviations.
The accuracy of the 4/5 axis is solution is dependent on the accuracy of the G and H values
input.
23
For each mwd survey, maximum uncertainty and statistical uncertainty are computed for
inclination, azimuth, dip angle, mtf and gtf and displayed on the IDEAL survey page.
Uncertainty of any computations depends on error on each input. Error on inclination
depends on error on gx, gy and gz. Error on azimuth depends on gx, gy, gz, hx, hy and hz.
Error on these axis are computed from bias error, relative scaling error, absolute scaling
error and coupling errors.
For an open survey, statistical uncertainty is displayed in the uncertainty column. With
each mwd survey statistical uncertainty is displayed for inclination and azimuth. Both
maximum and statistical uncertainty are stored in database for inclination, azimuth, dip,
mtf and gtf.
Uncertainty is also computed for 4/5 axis survey, the uncertainty of 4/5 axis survey will be
higher than 6 axis survey. If the 4/5 axis survey uncertainty is very large, user should
consider not using the 4/5 axis algorithm because the solution it finds is not dependable. In
such cases fixing the problem with the tool is recommended.
Note: Uncertainty for inclination, azimuth, and dip are in degrees.
24
If the value computed for a failed Y or Z axis is small compared to the transverse axis on
that sensor, it is worth rolling the tool by approximately 90 degrees to bring the failed axis
to a large value. This will minimize the azimuth errors.
Because D&I axes are not completely orthogonal, the correction matrix is applied to the
error corrected axes to back out the raw sensor measurement and then a 4/5 axis solution is
computed. The error correction matrix is then re-applied and a 4/5 axis survey is computed.
See section 3, Appendix F for details on the calculations.
Continuous D&I
Continuous D&I computations are done when Rgx and Rhx are transmitted by the MWD
tool. For the computations to take place, at least one accepted MWD survey is required.
The computer uses the Rgx and Rhx values in conjunction with the gy, gz, hy, and hz values
from the previously accepted survey to calculate continuous D&I. The results of the
continuous D&I computations are displayed on the IDEAL toolface control panel. The
continuous D&I calculations are not replacements for surveys, but are useful to help predict
build rates and turns while drilling.
25
SECTION 3
List Of Appendices
Appendix A
- Magnetic Fields.
Appendix B
Appendix C
- Magnetometers.
Appendix D
- Accelerometers.
Appendix E
- Magnetic Interference.
Appendix F
- D&I Computations.
Appendix G
Appendix H
- MAGCOR Program.
Appendix I
- Coordinate Systems.
Appendix J
26
Theory #1:
Rotation of the Earth's solid exterior relative to its liquid iron core is believed to
induce a slow rotation of the core. A magnetic field results from the electrical
currents generated by the relative motion between the liquid core and the mantle.
The conclusion that there is a liquid portion of the core is compatible with
available data (fig. 1).
Core
(fig. 1)
27
Theory #2:
Similar to theory #1. The center portion of the Earth is largely composed of iron
and has the mechanical properties of a fluid. These fluids are subjected to internal
circulation currents similar to phenomena observed at the periphery of the sun. The
internal circulation of these fluids acts as the source of the Earths magnetic field
according to the principle of a self excited dynamo (fig. 2).
(fig. 2)
The total magnetic field is the sum of two fields of different origins:
The principal field which originates within the fluid nucleus of the Earth.
The transitory field which is generated outside the Earth. This field is caused by
the rotation of the Earth relative to the sum and by the cycles of the sun's activity.
28
The Earths own magnetic field extends out to approximately 8 times the radius of the
planet. Beyond this prevails the Magneto Pause, a region in space where the Earths
magnetic field contacts the Solar Wind. On its sunward side, the Earths magnetosphere is
compressed by high energy particles from the solar wind (fig. 3).
(fig 3)
These particles collide with the Earths magnetic field at a speed of 640 miles per second
and are slowed down at the shock front to 400 miles per second. Variations in the solar
wind produce changes in the Earths magnetic field. Solar flare particles reach the Earth in
approximately two days. The shock wave preceding the cloud of plasma from the solar
flare compresses the magnetosphere and rapidly intensifies the geomagnetic field at
ground level (fig. 4). This compression takes place over a few minutes and is called the
Sudden Storm Commencement (SSC). It is followed by the Initial Phase (IP) which lasts
from 30 minutes to a few hours. The Main Phase (MP) produces a drop in the magnetic
field strength due to an opposing field generated by the energized particles in the
magnetosphere. This is normally not a problem for locations in the Gulf of Mexico and at
lower latitudes.
29
30
The total magnetic field intensity is the vector sum of its horizontal component and its
vertical component (fig. 5). The vertical component of the magnetic field points toward
the ground and therefore contributes nothing to the determination of the direction of
magnetic north. The horizontal component can be computed from the following equation:
Magnetic Field Strength (HFH) X COS (Dip Angle) = Horizontal Component
In Alaska:
Gulf of Mexico:
Only the horizontal component of the Earths magnetic field is desired because the
downward vector contributes only to the magnitude of the magnetic field strength and not
to the direction. The expected value can be obtained from the Geomag program.
Differences observed between the measured HFH value and the value derived from
Geomag may be due to the following factors:
Y
HORIZONTAL COMPONENT
OF MAGNETIC FIELD STRENGTH
(fig 5)
Common relative values of total magnetic field strength:
Gulf of Mexico
50,000 gammas
East Canada
54,000
Beaufort Sea
58,500
North Sea
50,000
31
MAGNETIC
DIP
ANGLE
(fig 6)
East Canada
70 degrees
Beaufort Sea
84 degrees
North Sea
70 degrees
32
DIP = 0
EQUATOR
TANGENT at the
EQUATOR
ANGLE FORMED WITH MAGNETIC VECTOR
IS EQUAL TO 0
EQUATOR
DIP = 90
(fig. 6A)
33
(fig 7)
MAGNETIC DECLINATION ANGLE
The Earth can be thought of as having a magnetic dipole running through its centre with
North and South poles at either end. This dipole does not necessarily correspond with the
Earths rotational axis. The angle between magnetic North and geographic North (true
North) is defined as the magnetic declination or the angle of declination (fig. 7). This is
dependant upon the location (both in latitude and longitude) and can vary in areas of high
magnetic activity (such as Alaska). All magnetic surveys require a conversion to
geographic direction by adding or subtracting this angle (fig. 8). If magnetic declination is
known, then the direction of the Earths magnetic field relative to true North can be
calculated. Angles of declination to the West of geographic North are negative and
magnetic declinations to the East of geographic North are positive. For example, 5 West
can be written as -5 and 5 East can be written as +5. An angle without a +/- or an
East/West nomenclature is not sufficient.
34
Magnetic declination can vary up to 1.7 and the total magnetic field strength may vary by
as much as 770 gammas during extreme sun spot activity. Also remember, the closer to
the equator:
the lower the total field strength
the higher the horizontal component
and the less the dip angle
Note:
At declinations greater than 7 in magnitude, magnetic declination is more unstable.
Easterly Declination
Westerly Declination
S
(fig. 8)
The center of the Earth's magnetic field is unstable and difficult to localize. Presently,
magnetic center drifts from the center of the Earth at the rate of two kilometers per year
(three degrees westward and two degrees northward per year). For comparison, the
magnetic declination in Europe during the last twenty centuries has ranged from 27 East
to 22 West. Magnetic center is currently located about 1200 kilometers from geographic
North. The Earth's magnetic field is subject to changes in polarity, but this happens over a
time scale of millions of years. During Miocene, Pliocene and Quaternary periods, North
and South poles have been inverted several times. Although the cause for the reversal has
yet to be explained, the effects can be seen in the sea floor. Using highly sensitive
magnetometers (developed to detect submarines during WWll), scientists sweep the
oceans to record the magnetic retention of the lava rock formed from sea floor spreading.
Lava flowing up from the interior solidifies in the crack that follows the crest of mid-ocean
ridges. The rock then becomes magnetized with either normal or reversed magnetization,
depending on the direction of the Earth's field at the time. Newer material fills the crack,
continuing the process. In this way, the sea floor acts like a tape recorder that encodes, by
magnetic imprinting, the history of reversals of the geomagnetic field. In this way,
scientists have proven the existence of polar shifts, but cannot explain their occurrence.
35
36
37
Changes in the measured value of G are attributed to the Earth's rotation. The rotation has
given the Earth a slightly flattened shape. Therefore, the equatorial radius is larger than the
polar radius. The G value changes from 0.997 at 0 degree latitude (Equator) to
approximately 1.003 at 90 degree latitude (a 0.006 change).
Another effect is due to the centrifugal force due to Earth rotation.
mw2
Worst Case is at the equator:
mg
w2
g
A decrease in G can also be seen with increasing hole depth. The rate of change is
approximately 0.0005 per 10000 feet. You would have to be at 20,000 feet to see a 0.001
change. In other words, if the G value was exactly 1.000 on the surface, it would be 0.999
at 20,000 feet.
38
Regional fluctuations in the density of the Earths crust are practically negligible.
Other reasons for discrepancies in the measured G value are due to instrumentation errors
in the inclinometer. These can be attributed to:
Temperature sensitivity.
Errors due to resolution of the A/D converters.
Shifts in the sensor operating parameters which occur when the inclinometer is
exposed to the shocks and vibrations of the drilling environment. (This can be
observed when surveying with "time option").
g=
Mass = m
G m Me
r 2
G = Universal
Gravitational
Constant
39
Appendix C - MAGNETOMETERS
Anadrill employs three fluxgate saturation induction magnetometers in the D & I survey package
to measure the Earths magnetic field. In Slim 1, the alignment of these tri-axial magnetometers
follows the convention:
The Z-axis lies along the tool axis.
The X and Y-axes are perpendicular to each other in a plane perpendicular to the Z-axis.
In MWD M3/M1, and M10 the alignment of these tri-axial magnetometers follows the
convention:
The X-axis lies along the tool axis.
The Y and Z-axes are perpendicular to each other in a plane perpendicular to the X-axis.
A basic fluxgate magnetometer uses a magnetic core material to gate the ambient magnetic field
flux lines into and out of a pickup coil wound about a primary coil which, in turn, is wound about
the core. The design is based on the phenomenon of magnetic hysteresis and saturation: the failure
of the magnetized body to immediately return to its original value when the external value is
reduced. The field which drives the core through its hysteresis loop is generated by passing a
current through the primary coil. As the flux lines are drawn into and expelled from the core, the
flux in the pickup coil changes and an induced voltage appears across the terminals of the coil (fig.
10, 11).
In practice, the core is composed of a highly magnetically permeable material and is placed inside
of a pair of primary (Drive) coils. These drive coils are toroidally wound in series and are
imbalanced by a resistor. The primary coils are surrounded by a secondary (Pickup) coil. The core
is sharply driven into a saturated state by an AC voltage supply, then slowly returns to its
transition condition (traces A & B of fig. 12). The resulting hysteresis effect produces an output
that resembles trace D, in the absence of a magnetic field. The Earths magnetic field
independently induces a response which resembles trace C. Combined, the resultant pickup signal
would resemble trace E.
The detection circuitry does not directly measure the voltage pulses to determine the magnetic
field strength. Instead, a summing op-amp (error amp) seeks to equalize the positive and negative
pulses. By adjusting the DC bucking current, the effects of the magnetic field are eliminated. With
the effects of the field nullified, the positive and negative pulses are equal (trace D). The DC
voltage measured across the reference resistor is thus the true measure of the magnetic field
strength along the axis of that magnetometer.
40
REFERENCE AXIS
IMBALANCING
RESISTOR
PICKUP COIL
DRIVE COILS
(fig. 10)
DC BUCKING CURRENT Is
CORE
PEAK
DETECTOR/
AVERAGER
DC OUTPUT
DC
error
+
Rs
BLOCKS
DC CURRENT
(fig. 11)
Earths Field Detection and Nulling
41
A
TIME
TRANSITION
SAT.
SAT.
SAT.
C
PICKUP VOLTAGE DUE TO CORE IMBALANCE ONLY
E
(fig. 12)
Pulse sequence generated across terminals of pickup coil in presence of
Earths field.
42
CLOCKWISE
INDUCED
VOLTAGE
NO CURRENT
INDUCED
VOLTAGE
COUNTER-CLOCKWISE
INDUCED
VOLTAGE
(fig. 13)
43
Appendix D - ACCELEROMETERS
A basic accelerometer consists of a simple mass which is constrained to only move linearly
within a frame work and which is coupled to that frame work by an elastic member. From
Figure 14, if the vehicle (or main frame) and the mass are traveling at the same speed, then
no acceleration is felt (position A). If the main frame is suddenly moved (acceleration), the
mass tends to maintain its own speed by virtue of its inertia. Therefore, there is a relative
motion between the vehicle and the mass.
By measuring the acceleration force on the known mass, the vehicle acceleration can be
determined. This can be seen by comparing distance Y and distance Z in Figure 23.
"Accelerometer" is the name given to a transducer which responds to acceleration, while
"inclinometer" is the name given to a set of low range accelerometers. The inclinometer is
used as a slope detector because it is responsive to small gravitational acceleration
changes. An inclinometer refers to a set of three accelerometers.
The accelerometer currently fulfills two major functions:
It is considered a vertical reference device when its function is the proper
alignment of reference axis.
It is considered an inertial device when its major function is the detection and
measurement of acceleration.
An accelerometer device cannot distinguish the difference between acceleration and
gravity. This is important when discussing the determination of the vertical force. A
vertical reference device acting as a plumb line on the rotating Earth assumes the same
direction in which gravity acts on the rotating Earth. Gravity, in this case, is the resultant
between the Earth's mass attraction force and its rotational centrifugal force. Since the
Earth is not a perfect sphere, the geocentric vertical does not coincide with the gravity
vertical force.
44
INCLINOMETER PRINCIPLE
A pendulum suspended inside a case attempts to hang in alignment with the gravity vector
(fig. 15). A compensating electrical force is applied to the pendulum to restore the proof
mass to its original position (horizontal to the case). The sensor imbalance is detected by
the pickoffs and a signal is sent to the servo. This signal causes an electric current to flow
through the torque coil. The torquer current is designed to oppose the reed displacement.
The restoring force is then encoded as an analog signal.
Some single shot instruments or Totco devices that only record drift are sometimes
referred to as inclinometers.
45
46
Any deviation from the expected magnetic field value can indicate magnetic interference.
External magnetic interference can occur as the drill string moves away from the casing shoe or
from the casing window. It can also occur as another cased hole is approached. There are
certain instances where a gyro survey may need to be used if the well requires steering out of
casing or if a possible collision exists with another well (especially if the well being drilled is
straight). There are also cases where magnetic interference may be corrected or at least taken
into account until a different BHA is used.
DRILL STRING MAGNETIC INTERFERENCE
The drill string can be compared to a long slender magnet with its lower end comprising one of
the magnetic poles. Even if the components of a drilling assembly have been demagnetized after
inspection, the steel section of the drill string will become magnetized by the presence of the
Earths field (fig. 16). (In any case, a non-magnetized steel component would probably affect the
D&I package by distorting the Earths magnetic field).
Drill string magnetism can be a source of error in calculations made from the supplied
magnetometer data. This may happen as the angle builds from vertical (fig. 17) or as the
azimuth moves away from a north/south axis (fig. 18). Also, changing the composition of the
BHA between runs may change the effects of the drill string.
It is because of drill string magnetism that non-magnetic drill collars are needed. Non-magnetic
drill collars are used to position the compass or D&I package out of the magnetic influence of
the drill string, both above and below the MWD tool. The magnetometers are measuring the
resultant vector of the Earths magnetic field and the drill string. Since this is in effect one long
dipole magnet with its flux lines parallel to the drill string, only the X-axis of the magnetometer
package is affected, normally creating a greater magnetic field effect along this axis. The
magnitude of this error is dependent on the pole strength of the magnetized drill string
components and their distance from the MWD tool. The error could appear in the calculated
survey as an increased or decreased total HFH value depending on the direction of the borehole.
The total H value should remain constant regardless of the tool face orientation or depth as long
as the hole inclination, azimuth and BHA remain relatively constant.
47
When drill string magnetism is causing an error on the X-axis magnetometer, only the horizontal
component of that error can interfere with the measurement of the Earths magnetic field (see
Magnetic Field Strength section in Appendix A). The horizontal component of the X-axis error
is equal to the X-axis error multiplied by the sine of the hole deviation. This is why experience
has shown that the magnetic survey accuracy worsens as the hole angle increases (especially
with drill string magnetic interference). Since the horizontal component of the Earths magnetic
field is smaller in higher latitudes, the error from a magnetized drill string is relatively greater
than that experienced in lower latitudes (fig. 19). Thus, a 50 gammas error has a larger effect on
a smaller horizontal component, 0.53% error in Alaska compared to only 0.20% in the Gulf of
Mexico.
Magnetic
Flux Lines
Magnetic
Flux Lines
z
y
Earths
Magnetic
Flux
Mag
x
z
y
Inc
Fig. 16
48
z
y
ag
M
x
z
z
y
y
In
c
Mag
x
z
y
Inc
Horizontal Component
of X Axis error larger
with Increased Angle
Horizontal Component
of X Axis error small
with no Inclination.
Fig. 17
49
Hx drilling North
Hx Component
due to Drill String
Magnetism
Hx drilling East
Hx Component
due to Drill String
Magnetism
Figure 18
Hx will read the total magnetic field when drilling along the dip line in a North/South direction.
Therefore, Hx will be a larger vector in the North/South direction than in the East/West direction.
The interference from drill string magnetism affects the x-axis only. Since the drill string magnetism
is the same value regardless of the direction of drilling, the drill string magnetism is a larger
percentage of the total Hx value when drilling East/West.
Drill string magnetism azimuth error is largest when drilling a horizontal well in the East/West
direction. This is why the monel requirements are higher for these wells. See Appendix G.
50
D r il l S t r i n g Magn et is m
z
y
ag
M
x
z
y
In
c
5 0 Gammas
9,4 00 Gammas
2 5 ,2 0 0 Gammas
Fig. 19
The increased value of the X-axis due to drill string magnetism will normally cause all calculated
azimuths to lie closer to north. This error will show up when a gyro is run in the well. All MWD
surveys will be positioned (magnetically) north of the gyro survey stations. (Most gyros derive
true north from the Earths rotation).
MINIMIZING ERRORS
One way to minimize the error caused by the drill string is to eliminate as much of the
magnetism as possible. This is done by isolating the magnetometer package with as many nonmagnetic drill collars as possible. The length of the non-magnetic collars implies a uniform and
non-interrupted non-magnetic environment. Obviously the presence of a steel stabilizer or steel
component between two non-magnetic collars results in a pinching of the lines of force (fig. 20).
51
This is detrimental to the accuracy of the survey. A steel stabilizer may be satisfactory on the
Equator, but not as far north as the North Sea.
N
M
D
C
N
M
D
C
Steel
Stabiliser
Length of NMDC
implies a uniform,
non interupted,
non magnetic
environment.
N
M
D
C
N
M
D
C
Fig 20
The following are circumstances where more non-magnetic drill collars are necessary to counter
drill string magnetism effects. These are also examples in which the azimuth accuracy will likely
decrease.
Note that with 120 feet of non-magnetic material above the magnetometer package the effects
of drill string magnetism in places like ALASKA may still be seen. In fact, Anadrill has
performed jobs in Alaska with as much as 165 feet of non-magnetic material (Motor - 30 feet
Monel - 45 feet M1 collar - 90 feet Monel).
52
Remember:
If magnetic interference is encountered from the drill string, the total H value should
remain constant regardless of tool face orientation or depth as long as the hole
inclination, azimuth and BHA remain fairly constant.
The horizontal component of the X-axis error is equal to:
[(X-axis error) x sin(drift)]. This is why magnetic survey accuracy declines as the hole
angle increases (especially with drill string magnetic interference).
A higher dip angle results in a lower horizontal component of the magnetic field which
means that the same drill string magnetic interference will have a greater effect.
53
Hy
Hot Spot
Hot Spot
Fig 21
54
Gx, Gy, Gz
Gx, Gy, Gz
Mx, My, Mz
Hx, Hy, Hz
SW
GFH
HFH
...... Equation 1
...... Equation 2
55
Gy = Gy/GFH,
Gz = Gz/GFH
Hx = Hx/HFH,
Hy = Hy/HFH,
Hz = Hz/HFH
...... Equation 3
...... Equation 4
...... Equation 5
3. Calculate the two Azimuthal projections A1 and A2 using the formulae below:
A1 = Hx - (VGx)
...... Equation 6
A2 = (GyHz) - (GzHy)
...... Equation 7
...... Equation 8
...... Equation 9
56
Mx
Ay
My
Az
Mz
SW
67
0
-1024
-957
-1
696
1
59
1
25
59
-1
748
0
-1024
-276
-1
697
1
696
1
816
0
-1024
-208
1
697
1
Multiply by
Scale Factor
Gx
957
Hx
696
Gy
-59
Hy
-208
GZ
+276
HZ
697
Calculated Data
Gx
.959
Hx
.691
Gy
-.059
Hy
-.207
Gz
.277
Hz
.692
Processed Data
GFH =
997
HFH =
1007
592 + (-2762)
282
T=
Comments
Raw Data
SW Applied
Inclination Calculation:
I = tan-1 (T/Gx)
=16.4 degrees
Azimuth Calculation:
V = (Gx .Hx) + (Gy .Hy) + (Gz .Hz) = .866
A1 = Hx - (V.Gx) = -0.139
A2 = (Gy .Hz) - G
( z .Hy) = 0.0165
MA = tan-1 (A2/A1) = -6.75
A1 < 0 add 180 to MA
Declination 5 E, add +5
Grid Convergence 2 W, subtract (-2)
Final Azimuth = -6.75 + 180 + 5 - (-2) = 180.3 degrees
57
0V = 2048 Cts
5V = 4095 Cts
0V = 0 Cts
5V = 2048 Cts
This is necessary because the sensors are centered on 0 Volts and therefore, for example,
the counts for -5V and 5V should be equal in magnitude. Therefore, the raw data on the
Advisor/IDEAL is defined as Counts from the SPM - 2048.
Consequently, the raw data sent by the TCA and decoded on the SPM is different from
that displayed on the Advisor/IDEAL.
Ax
1000
Mx
3252
Ay
1542
My
3358
Az
422
Mz
2976
1204
-506
1310
-1626
928
SPM DATA
The Advisor algorithms are setup to deal with M1 data. Therefore, the Advisor now
needs to convert the M3 Raw data to the equivalent reading the M1 would send. The M3
survey data is a 12 bit word while the M1 survey data is a 10 bit word (11 bits with the
sign word). The conversion then is:
(M3 Raw Data) = (M1 Equiv)
2048
1024
The survey calculation would then be as follows:
Ax
RAW DATA -1048
M1 Equiv
-524
Apply SF
-1
Calc. Data
Gx
524
Mx
1204
Ay
-506
My
1310
Az
-1626
Mz
928
602
-253
655
-813
464
-1
Hx
602
Gy
253
-1
Hy
655
Gz
813
Hz
464
The same principle would apply for the vectors in the toolface frame, except that they are
8 bit words instead of 12 bit words.
Note: The raw data on the Advisor/IDEAL can be negative, but the tool is transmitting
positive values. At this point, the survey calculations are the same as the previous
example.
58
D.
This section is intended to clarify the procedures to be used when one of the D&I sensors
fail. It provides some useful hints on recognizing a failed sensor.
Examination of equations 1 - 9 will lead to the following conclusions:
*
*
*
59
Assumptions
1. Assuming an average for GFH or HFH then solving for the sensor value reveals the
magnitude of the sensor, but not its sign.
2. The sign of the X-axis sensors will normally be positive. Gx will be positive if the
inclination is less than 90 degree. There is not a simple relationship for understanding
when Hx is positive or negative. The sign of these sensors can be checked by
comparing the latest processed data to previous good survey processed data.
3. The signs of Gy and Gz do not matter when computing the inclination. See equations
3, 4 and 5.
4. The signs of Gy, Gz, Hy and Hz are critical to the calculation of a correct azimuth.
Since Y and Z continually change as the drill string rotates, signs from the previous
survey cannot be used in the azimuth computations. When a defective accelerometer
or magnetometer is isolated and its magnitude computed, this value with both possible
signs must be tested.
Sin-1V = Dip Angle
...... Equation 10
Since Sin-1V is the dip angle, this is a quick check of whether the correct sign has been
used.
5. It is impossible to obtain the sign of the defective sensor from the Sign Word (SW).
When a sensor fails, it may have the incorrect sign, as well as an incorrect magnitude.
Only the bad sensor will be affected; the signs of the operative sensors will still be
correct.
6. The Advisor/IDEAL software (4/5 axis D*I correction) will identify the failed
sensor(s) and compute a corrected drift and azimuth. If the 4/5 axis correction is
enabled the Master Processor will check the MWD survey for the failed axes. It can
detect and correct up to two bad axes, but they must be of different sensor types (i.e.
one G and one H).
The correction technique operates by comparing the computed values for drift,
azimuth, magnetic dip, G and H with operator entered references. These references are
entered manually on the Master Quickstart menu (Advisor) or the survey page
(IDEAL). These values are updated whenever a good survey is received or a good
correction is made.
The entered MWD Initialization for tool G and H should be that received from the
tool prior to the axis failure. This is a very important number as it is used as the
starting point for calculating the magnitude of the failed axis. An error in the tool G or
H value will adversely affect the accuracy of the 4/5 axis survey.
60
Advisor: If any axes fail during a T/F run, they must be identified from the D&I frame
data and manually specified to the computer via "4/5 Axis" option on the MWD INIT
page. Axes thus identified will berecomputed before the T/F calculations are made.
Refer to Advisor System Users Guide for D&I Axis Correction and Toolface With A
Failed Axis.
Refer to IDEAL FRM for D&I Axis Correction.
x (-1) = _______________________
Gy = ________________________
x (-1) = _______________________
Gz = ________________________
x (-1) = _______________________
61
7. Compute the Sin of the actual DIP angle and multiply by the GFHave.
DIP = Sin (magnetic dip angle) x GFH ave = _____________________
62
63
64
All the above parameters could be determined except the magnetic pole strengths of the
drill string.
NMDC Requirements
LP
MWD / Slim 1 NMDC
Pole Strength
Mag Collars or Motor
IF =
770
+
(z+x)2
AE =
IF
LP
Survey
Package
NMDC
LP.
(y+b)2
NMDC
LP.
(y+b+c)2
65
x
z
y
b
=
=
=
=
H
Az
I
MD
DIP
=
=
=
=
=
66
The program is run in realtime and is accessed at the same time as the survey is read into
surhld.hld. The matrix corrected survey is read into magcor.hld concurrently with
surhld.hld. However, for this to be achieved in the correct manner, a number of inputs
need to be in place correctly prior to this.
a) Magnetic correction must be enabled on the Start Up Page.
b) MWD inits page must be initialized and set up correctly.
IT IS VERY IMPORTANT FOR THE CORRECT OPERATION OF MAGCOR
THAT : DIP, Declination, Locn.H and SC volt are INPUT correctly.
Magcor uses a Field H value as a reference from which to measure the variance of tool H
for each survey. The program then corrects the H axes values to this reference H to
compensate for any magnetic interference.
The reference H used in Magcor is not the Tool H on the MWD inits page.
Ref H for Magcor is calculated as follows:Loc H X 20 X (SC Volt / 5) (converts LOCN H to counts)
This Reference H value is input automatically for each survey when the survey information
is transferred into Magcor. At present there is no way of changing this value on Advisor
once it has been entered. (For this reason you cannot rerun Magcor by changing Reference
H and expect different results - You run it once, in real time, and that is it!)
67
2)
A cluster shot is a rotational shot where at least 4 surveys are taken over a wide spread of
toolfaces.
a)
b)
Make sure the tool is clear of any other possible source of interference, like
casing.(Other than the drillstring).
Take at least 4 surveys over a wide toolface spread. (Minimum, one in each
quadrant). It is recommended that 6 surveys 60 from each other are taken to
guarantee a good cluster shot.
c)
Make sure all the shots in the cluster are at a comparable depth. For the Advisor
this means within 1 foot of each other. The program will hang up if the surveys
show a depth difference.
d)
Check that the surveys are being read to Magcor as they are taken. If the program
has not been enabled then there is no way of reading the surveys toMagcor later.
3)
Once the surveys are stored in Magcor then the program can be run as many times as the
user requires.
a)
Select the shots you require in order to run the program. These should give a wide
toolface coverage. If they do not then either select more valid surveys from your
cluster or retake the cluster. Note at least 4 surveys must be selected otherwise the
program will freeze.
b)
The program will then calculate the error along each of the 3 axes and ask if you
want to accept them. The following rules should be applied as criteria for accept or
reject:-
i)
Check the percentage error of the maximum distance away from the centre of the
uncertainty circle drawn. This is stated at the bottom of this page below the error
diagram. If < 2% then the correction is good, 2-5% the correction should be used
with caution, >5% the program is inducing greater errors than it is correcting for.
The axial error stated on the right may be higher than 5%
ii)
Compare the raw survey azimuth against the range of uncertainty given for the
corrected survey. If the raw azimuth falls within this range then the correction
should not be applied as no interference is present. Obviously if it lies outside this
range then the correction should be used as long as it meets all the other criteria.
If these requirements are met then accept the correction and manually recorrect the
cluster shot surveys in Magcor The following checks should then be made:-
68
iii)
The correction to the X axis should be large compared to those for the Y and Z
axes. If not then :
1) The cluster shot is invalid, or
2) Some other magnetic interference is present and the cluster shot must be
retaken after the hole is displaced further away from this external source.
iv)
When the correction is applied then it should usually correct to the South in the
Northern Hemisphere and vice versa in the Southern Hemisphere. If the correction
corrects in the other direction then the tool calibration should be checked. It was
thought that the program should only correct to the South in the Northern
hemisphere but some recent examples in Aberdeen seem to disprove this. However
it is suggested that if a correction to the North occurs then all other parameters
should be thoroughly double checked before it is used.
4)
As further surveys are taken with depth, then the programs input and output must be
continually monitored for the following:1)
Check that the tool H values from the surveys are not drastically changing. If in
doubt take a fresh cluster shot and compare the differences. H should be
reasonably constant. For instance if the H value of the surveys moves to values
comparable with the theoretical ones then it is probable an external magnetic
source was present when the original cluster shot was taken.
2)
Check that corrections made continue to correct in the same direction. If the
corrections alternate from side to side then something is Wrong!
3)
Apply all the usual criteria (ie. DIP, Tot H, Tot G) when initially
accepting/rejecting a survey. Do not expect Magcor to turn bad surveys into
good ones.
It is suggested that cluster shots are retaken when the following applies:1)
2)
3)
It is good practice to check every time the tool is run in hole regardless of whether the
string has been altered or not.
Remember
MAGCOR is not an alternative to running sufficient non magnetic material in the
drillstring, in order to avoid interference problems. It should be used with utmost
caution.
69
70
Hy
+1
2+
(0,0)
(Ey,0)
+5
Hz
3+
+4
and 0=Cos-1.
.GxHx+GyHyc+GzHzc
GFHxHFH
In figure 2, the measured H vector is defined by the calculated field strength (HFH) and 90
- dip angle ( ) with respect to the gravity vector (G). In figure 2, the vector for the
Earths magnetic field (Emf) has been added. This vector is defined by the field strength
and 90 - dip angle ( o) from GEOMAG. However, its relation with H is unknown. If the
tool is rotated 360 degrees, a plot of all the possible Emf defines a cone with an angle of 2
x 0o and a length equal to GEOMAGs tabulated magnetic field strength.
71
Emf
In figure 3, the azimuth error (E) is the vector defined by the shortest distance from the
extremity of H to the base of the cone. A corrected Hx (Hxc) is calculated by determining
the magnitude of error (Ex) parallel to the X-axis.
As we are dealing with two numbers, field strength and dip angle, a value of Ex must be
found that minimizes the error in both magnitude and direction. By substituting different
values of Ex into the correction, new field strengths and dip angles for H are calculated:
HFH =
.GxHxc+GyHyc+GzHzc
GFHxHFH
When plotted against the amount of error, the new calculations of H describe a curve
(Figure 3). The point of closest approach of this curve to the base of the cone then
becomes the Ex with the minimum error.
72
Ex
Hx
Hx c
Ex
Emf
WARNING: The magnetic field strength from GEOMAG is not perfect. The Earths
magnetic field varies daily by as much as 300nT (nanoTesla) in amplitude and 0.3 degree
in dip. These small variations can be significant when the axial reading is small. In fact in
some cases the technique can cause a bigger error than the one that it tries to correct.
The following guidelines should be followed to minimize the error caused by the
fluctuation in the Earths magnetic field.
The distance to any point minus the circle radius should be less than 5% of the
radius of the circle.
Percent distance = 100 x
Hy2 + Hz2 - r
r
Do not use the correction if the non-corrected azimuth falls within the range of
corrected azimuths.
It is much safer to use non-magnetic drill collars in the string than try to
correct for magnetic interference.
73
2. Program Execution
1. Similar to the 4/5 Axis, the magnetic correction must first be enabled from XMAINs
restart page. Option 12 (Magnetic Correction), signals MAMON or MMON to begin
writing raw survey to MAGCOR.HLD in addition to SURHLD.HLD.
2. Correction factors for Hx, Hy and Hz must then be determined by taking a minimum
of 4 surveys at the same depth, rotating the tool between each survey. The tool should
be at least 100ft away from the nearest casing, and the surveys should cover at least
three quadrants. Use the following procedure:
3. From the Survey Control page, select Magnetic Correction page. The last 14 surveys
taken with the magnetic correction enabled will be displayed.
4. Then select the option to Compute correction factors. The reference surveys to be
used for the correction must then be selected. At the following prompt, enter the
upper and lower survey record numbers to be used in the correction:
RECORD NUMBER FROM:
The opportunity is then given to ignore some of the surveys within the range, if it is
apparent (or becomes apparent later) that they are of poor quality. If any survey within
this range is not suitable to use in the calculation, it can be ignored by entering "N" at
the following prompt:
Use all of them (Y/N):
The program will then prompt for the survey numbers to be ignored.
5. Once the surveys have been selected, a <CR> continue onto the correction diagnostics
menu to allow the operator to assess the quality of the reference surveys and the value
of the correction.
(a)
(b)
(c)
On the left side of the screen, the two transverse magnetometers' readings are
cross-plotted, and a circle fit through the points. If all the points fall close to the
circle, the surveys are OK. The points far away from the circle should be ignored
going back to step 4.
On the display the distance between the circle and the point the most far away
from it is indicated as a percentage of the circle radius. Between 0 and 2%, the
surveys are good and the method appropriate, between 2 and 5% the method is
arguable, above 5% the method is introducing a bigger error than what it
corrects for.
Also a curve on the right hand side of the screen shows the axial correction. The
axial correction is computed from the nominal Earth's magnetic field from
GEOMAG the uncertainty in GEOMAG. This gives a range of azimuth. If the
non-corrected azimuth falls in the range, it is recommended not to use the
technique at all.
74
6. Besides the Compute correction factors option, this program also has the following
functionalities:
Edit correction factors - This option allows the operator to manually change the
calculated correction factors.
Manually correct surveys - If new correction factors are calculated, they can be
applied to a selected range of surveys that were previously taken. The raw surveys
("R" in second column) are kept, and corrected survyes ("C") are added. The
software can only apply corrections to "R" survyes. For display purposes only 10
survyes can be manually corrected at a time.
Select first record for display - Only 14 records can be displayed at one time. This
option defines the first record of the display.
Create print file - This option will create an ASCII file PRO:MAGCOR.PRT. This
is identical to the terminal listings of the surveys.
CAUTION: At the end of the bit run, make sure to stop the real-time correction. The
correction factors are only meaningful for one BHA, and should not be applied to another.
75
76
The user needs to perform the following steps to compute magnetic correction factors for
a set of surveys within close depth range:
1. Enter the measured depth at which there are at least 4 surveys taken within a 2-ft
range. Press the return key. The list of selected MWD surveys will be displayed on the
panel.
2. A survey can be removed from the list by clicking on it and clicking on the delete
button.
3. Click on the Compute button and magnetic correction factors will be computed and
displayed on the panel under Corr Offset for Shx Shy Shz as Computed.
NOTE: A minimum of 4 surveys are required to perform the computations and only the
first 20 surveys in the list will be used to perform the computations.
1. Click on the Show Circle to see the survey distribution around the X-axis passing
through the center of the circle. If any survey is too far from the circumference of the
circle, it can be removed using the Delete button and computations can be performed
again using the Compute button.
77
2. The user can change the values of computed correction by simply editing the values.
3. To save the computed magnetic corrections, click on the Save Corr Offsets button.
4. Applying Correction Factors and Accepting Corrected Data
The user needs to perform the following steps to apply the saved magnetic corrections to
a range of surveys.
1. Click on the "Hide Circle" to hide the circle. The panel will look like Figure 5 .
2. In the "Apply Magnetic Correction" section, choose one option: Depth, Srv # or Entire
database. If the depth is selected, enter the survey measure depth range. If the srv # is
selected, enter the survey number range.
3. Click on "Apply saved corr" to apply. The list of surveys will now show chosen
surveys, each original survey followed by a new magnetically corrected survey (Figure 5).
The new survey will have zero for the survey number, "6-M" (or 4-M or 5-M) in the Axis
column and "MC" in the Tool column. These surveys are not yet stored in the database
and will be lost when the panel is removed. In the new survey, the magnetic correction
factors are subtracted from the temperature-corrected values of Shx, Shy and Shz, and
D&I computations (inclination, azimuth,tool_H, mtf, gtf, etc.) are recomputed.
4.
to accept a magnetically corrected survey, choose the survey by clicking on it and click
on Accept.
Note: The Accept button will be accessible only after saved correction are applied.
78
NORTH POLE
(AXIS)
CIRCLE OF
CONTACT
A1
B1
A
B
CENTRAL
MERIDIAN
NORTH POLE
(AXIS)
N
A
D
D
C
C
LINES OF INTERSECTION
Shapes on the surface of the globe are transferred to the map in a way that may be
illustrated by imagining the globe to be made of glass with a source of light at the centre.
If the cylinder is unwrapped it would give a correct scale representation along the central
meridian (Points C, C1, D, D1) and an increased away from it (A becomes A1 and B
becomes B1).
79
PARALLEL:
REFERENCE MERIDIANS
Reference meridians used are 6 degrees apart starting at the Greenwich meridian giving 60
maps called zones.
The zones are numbered 0 to 60 with the zone 31 having the 0 degree meridian
(Greenwich) on the left and 6 degree E on the right.
Each zone is further divided into grid sectors each covering 8 degrees of latitude.
UTM GRID SECTOR ORIGINS
In longitude the origin (zero value) is a line 500,000m West of the centre meridian of the
relevant grid sector (3 degree E).
In latitude the origin is at the equator.
GRID SECTORS
Grid sectors are divided into squares of 100 x 100 km and then further divided into
squares of 10 x 10 km.
80
15 0
W
1 20
12 0E
W 9
0W 60
90E
60E
W 30W
0 30E
E
150
W
150
120
150
Fig. 2.1
THE METHOD OF ZONE NUMBERING ACCORDING TO THE UTM SYSTEM EACH
ZONE IS 6 LONGITUDE IN WIDTH AND EXTENDS FROM 80 NORTH TO 80 SOUTH.
24 18 12 6
0 6 12 18 24 30 36 42 48 54 60 66 72
V
56
56
31U
48
48
T
40
40
S
32
32
R
24
24
Q
16
16
P
8
N
0
Frg
101 27
28 29
30
31 32 33 34 35
36 37 38
39 40 41
42
As a Mercator projection becomes increasingly inaccurate as one moves away from the
reference meridian, a series of reference meridians is used so that it is always possible to
use a map with the reference meridian close to the place of work and therefore to have
correct scale. Each reference meridian is 6 apart starting at the Greenwich meridian thus
giving 60 zones. The zones are numbered from 0 to 60, starting from meridian 180 with
zone 31 having 0 degrees meridian (Greenwich) on the left and 6 degrees E on the right.
(Fig 2.1)
Each zone is divided into grid sectors each covering 8 of latitude. They are identified by a
letter from C to X (I and O excluded) from parallel 80 South to parallel 80 North. (Fig
2.1a). One grid sector is identified by the zone number followed by the relevant parallel
sector. For instance the southern North Sea is 31 U as shows Fig 2.1a.
24 18
12
12 18 24 30 36 42 48
54 60 66 72
56
56
31U
U
48
48
T
40
40
S
32
32
R
24
24
Q
16
16
P
8
N
Frg
101 27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
UTM COORDINATES
In each sector the UTM coordinates are given in meters with the origins or reference axis
as follows:
- In longitude the origin (zero value) is a line 500,000m West of the center meridian of the
relevant grid sector. (3E in 31U).
- In latitude the origin is at the Equator.
From the origin, the UTM coordinates values are expressed commonly as Eastings and
Northings.
Example:
410,250.00E
6,850,500.00N
This means that the rig is (500,000 - 410,250) = 89,750m West of the central meridian of
the sector 31U and 6,850,000m North of Equator.
82
2. LAMBERT PROJECTION
LINE OF
CONTACT
80W
60W
100W
120W
40W
140W
20W
160W
0
180
20E
160E
40E
140E
60E
80E
120E
100E
The Lambert projection is the projection of the earth on to a cone. The cone axis coincides
with the geographic poles axis of the earth and its vertex could be located at North or
South depending on which hemisphere requires to be mapped. The surface of the cone is a
tangent to the earth or can intersect it on two parallels.
83
3. POLAR COORDINATES
Longitude:
East = +ve
West = -ve
Latitude:
North = +ve
South = -ve
N
EXAMPLE
90
E
E
LATITUD
EQ
U
AT
3 36'
01"
becomes
UD
GI T
52N
N
LO
3 + 36 + 1
=
60
3600
3.600278
OR
Tables are usually available to convert polar coordinates into orthogonal coordinates.
Should tables not be available, the coordinates can be calculated by using ellipse
equations.
Example of conversion from polar coordinates to orthogonal coordinates, let us assume:
Polar coordinates:
Longitude ( ) Latitude ( )
Target
03 35' 45.00"
40 42' 55.00"
Rig
03 36' 01.00"
40 43' 06.50"
- 00 00' 16.00"
- 00 00' 11.50"
in radians
- 0.0000776
- 0.000056
3.59805556
40.71847222
Latitude
(+) = North
(-) = South
84
POLAR PROJECTION
The surface of the earth is projected onto a plane tangent to poles.
Parallels encompass the poles, making concentric circles.
20
10
10
30
ICELAND
60
NORWAY
55
SWEDEN
DENMARK
REPUBLIC
OF IRELAND
50
UNITED
KINGDOM
GERMANY
45
0
FRANCE
200
200
400
300
600 km
400 miles
40
ITALY
SPAIN
ALGERIA
85
E-W Coordinates
r = circumference = 360
R cos
648000
N-S Coordinates
R
B
86
Radius R
Rp
Re
by ellipses:
R2cos2 + R2sin2
Re2
- 1 = 0
Rp2
then:
Re2 x Rp2
R=
where:
87
4. HORIZONTAL DISPLACEMENT
Horizontal distance and direction to the target must be calculated. The following example
uses UTM coordinates to determine the eastings and northings.
410261.0E
412165.0E
Delta E = 1904.0
Delta N = 1661.8
6833184.2N
6834846.0N
HD=
1661.82 + 1904.02 =
1904.0m
2527.21 m
TARGET
.
H.D
1661.9m
RIG
TARGET DIRECTION
The bearing to the target is:
= tan-1 (1904.0 / 1661.8) = 48.90 degree or N48.9E
88
Definition of Terms
ace
me
nt
ure
ec
ti o
n
Ve
rti
ca
lS
Azimuth from
Rotary Table
to Target
Cl
os
Di s
pl
L atitude
Departure
Closure
Azimuth
Rotary Table
89
The North Sea errors are less than the world wide values as there is little volcanic activity
in the North Sea to provide fresh crustal anomalies.
Diurnal Variation
90
91
There is a limit checking on all inputs. Any that are out of range cause an error message to
appear listing the allowed upper and lower limits.
The LOCATION input is a 20 character, alphanumeric string that can be used to describe
the location. It is used in the output display only. To replace a previously entered name
with blanks, enter minus sign (-).
A location string cannot start with a space or a minus.
The ELEVATION is geodetic and should be the elevation above mean sea level, entered
in feet or meters, depending on your initial units selection.
The program will not compute values below sea level.
The DATE should be entered in decimal years, e.g. day 234 in 1988 should be entered as
1988.64. This need not be absolutely accurate as it has a very small effect on the output.
The current model is valid from 1980 to 1990 only.
The LATITUDE should be entered in decimal degrees; positive for northern hemisphere,
negative for the southern hemisphere. There are 60 minutes in a degree and 60 seconds in
a minute of latitude or longitude. A position of 43 23' 45" should be entered as 43.3958.
The LONGITUDE should be entered in decimal degrees; positive for eastern hemisphere,
negative for western hemisphere.
Once Longitude is entered, the program searches the GEOLOC.DAT file to find the first
location that includes the entered coordinates. The test string associated with that location
is displayed for operator information and acceptance. If it is accepted the computations
proceed, if not a new latitude is requested. See below for details of customizing this file.
Outputs
Each cycle of the program will create a report containing the input and output data. It is
displayed on the screen and if a print file has been selected, it is added to the file. Multiple
reports from a single session of the program can be stored in the same print file. To stop
subsequent program cycles being added to the print file select the restart option and
deselect the print file. To restart storage in the print file, reselect the print file. Restarting
the program will create a new print file.
The outputs for declination and dip are in decimal degrees and the various intensities are in
nanotesla, (nt), 1 nt = 1 gamma. In addition, the total field strength is output in Kgamma.
The deviations are in deg or nt per year. A separate line on the screen displays the values
required for the MWD inits. These can be accepted for storage in the MWDINI.LIM file if
required. If they are accepted, the old and new limits are displayed and an 'Are you sure'
gives you one last chance. The limits are set at the value +/- 0.3 degrees for the MAG
DEC and MAG DIP and +/- 0.5 Kgamma for the LOCN H.
92
GEOMAG on IDEAL
The outputs of interest to us for the D&I inits are total intensity (Location H), the
magnetic dip and magnetic declination. They can be loaded directly into the D&I
Initialization panel by clicking "Apply" button. Also available are the E/W, N/S,
horizontal, vertical components of the magnetic field, and the rate of change (deviation) of
each. A Geomag ASCII file can be written to Well folder if required and output through
"Print" button.
The inputs required are elevation, latitude, longitude and date. The file,
OP$CONFIG:GEOLOC.DAT, contains the latitude and longitude definitions for the
geographical locator. This file can be customized by the operator for a given location.
Inputs
There is limit checking on all inputs. Any that are out of range cause an error message to
appear listing the allowed upper and lower limits.
The REMARKS input is a 38 character, alphanumeric string that can be used to describe
the location. It is used in the output display only.
The ELEVATION is geodetic and should be the elevation above mean sea level. The
program will not computer values below sea level.
93
The LATITUDE should be entered in positive decimal degrees for northern hemisphere
and negative for southern hemisphere.
The LONGITUDE should be entered in positive decimal degrees for eastern hemisphere
and negative for western hemisphere.
The DATE should then be entered in day, month, and year of the form DD-MMM-YY.
The current date is default.
Outputs
Once the "Compute" button is clicked, the calculated output data will be displayed on the
screen. If the "Print" button is then clicked, an ASCII file will be created. The outputs for
declination and dip are in decimal degrees and the various intensities are in nanotesla, (nt),
1 nt = 1 gamma. In addition, the total field strength is output in Kgamma. The deviations
are in deg or nt per year.
Push Buttons
OK Updates the D&I initialization panel with the computed Location H, Magnetic Dip
and Magnetic declination and then removes theGeomag panel.
Apply Updates the D&I initialization panel as "OK" button and keeps the control on the
Geomag panel.
Cancel Makes no changes to the D&I initialization panel and removes theGeomag panel.
Print Writes the input and output into an ASCII file CURRENT_WELL :
Geomag.ASCII_FILE
94
SECTION 4
MWD SURVEY QUESTIONNAIRE
1.
At what Magnetic Field Strength will the output of a 5 volt Sensor Cartridge (output of the
Magnetometer) over range ?
2.
At which of the following geographical locations would MWD survey accuracy be best
(assuming the same tool is used) and why ?
Location A.
Declination
Magnetic Field Strength
Magnetic DIP Angle
3.
Location B
1 Degree West.
48,000 Gammas.
57 Degrees
Declination
Magnetic Field Strength.
Magnetic DIP Angle
31 Degrees East
58,000 Gammas
80 Degrees
Manually apply the following correction matrix to the supplied Gx value to attain a matrix
corrected Gx.
Gx before applying matrix = 841
Gy before applying matrix = -269
Gz before applying matrix = -468
Accelerometer Correction Matrix (mg/count)
AA (1,1) = 1.0013
AA (1,2) = 0.0006
AA (2,1) = -0.0010
AA (2,2) = 1.0017
AA (3,1) = 0.0024
AA (3.2) = 0.0158
AA (1,3) = -0.0023
AA (2,3) = -0.0155
AA (3,3) = 1.0015
MM (1,3) = -0.0018
MM (2,3) = -0.0252
MM (3,3) = 1.4095
95
4.
Drill string magnetism will effect MWD surveys by *increasing/decreasing the *Total HFH,
Total GFH, Hx, Hy, Hz, Gx, Gy and/or Gz. Delete as appropriate.
5.
If a well is drilled where Magnetic Interference has effected all the MWD surveys
throughout, the bottom hole location calculated using these results compared to an accurate
Gyro survey will not coincide.
Where will the Gyro Surveys Lie relative to the MWD surveys ?
6.
If a 6 axis survey is showing 39 degrees azimuth and you have been experiencing 0.5
degrees of drill string magnetism error in your MWD surveys, what would the survey be,
correcting for magnetic interference ?
If you were drilling at an Azimuth of 1 Degree what would the corrected survey be ?
7.
If you have a magnetic hot spot on your MWD collar near enough to the Magnetometer
package to effect your surveys then your total HFH value should :
a. Vary with toolface orientation but be repeatable at the same orientation.
b. Not vary with toolface orientation and be unrepeatable at the same toolface orientation.
c. Should be completely random.
96
8.
The following surveys were taken while a well was being kicked off.
The following inputs were made to the MWD Initialization page:
Last Good Survey : Inc = 6.14
G = 998.8 +/- 5 counts
Az = 261.77
H = 991.0 +/- 15 counts
GTF = 33.2
DIP = 59.2 +/- 1.0 degrees
MTF = 295.0
Magnetic Declination = +1.46
SCA Voltage = 5.0
Gx
Hx
Gy
Hy
Gz
Hz
GTF Inc
Az
DIP
989
980
972
972
836
819
809
811
12
-47
-219
-11
518
411
-383
486
123
194
194
194
147
388
432
308
115.2
96.3
61.7
106.5
261.1
258.2
192.5
258.2
998.0
1001.5
1016.4
992.6
990.4
991.2
990.2
990.4
59.3
59.8
71.0
58.9
7.2
11.6
16.8
11.4
a.
b.
c.
d.
97
9.
The following two surveys were taken at a shallow hole test. The BHA was steerable with a
1 deg bent housing. The following inputs were made to the MWD Initialization page :
Inc = 0.5
Az = 331.7
GTF = -14.4
MTF = 249.3
SCA Voltage = 5.0
Gx
Hx
Gy
Hy
Gz
Hz
991
997
625
625
-9
-9
807
807
4
4
-432
-432
GTF Inc
Az
98
DIP
10.
The following survey data is taken from an MWD tool after drilling out of casing.
The following inputs were made to the MWD Initialization page :
Last good Survey:
Inc = 26.39
Az = 262.87
GTF = -14.4
MTF = 249.3
SCA Voltage = 5.0
Gx
Hx
Gy
Hy
Gz
Hz
GTF Inc
Az
DIP
873
861
839
816
717
709
678
654
-443
-86
-340
-215
-268
404
404
404
164
476
-403
517
633
560
-87
703
39.6
99.5
-30.8
87.1
261.8
261.7
36.5
266.7
1004.5
1000.4
1001.5
1001.0
990.9
987.6
792.7
1039.6
59.2
59.5
36.6
51.9
27.8
28.7
31.8
33.8
a.
b.
c.
d.
99
11.
The following survey data is taken from an MWD tool after drilling out of casing.
The following inputs were made to the MWD Initialization page :
Last good Survey:
Inc = 69.52
Az = 259.35
GTF = -165.3
MTF = 102.2
SCA Voltage = 5.0
Gx
Hx
Gy
Hy
Gz
Hz
GTF Inc
Az
DIP
347
329
370
363
-570
-676
241
208
886
659
-900
-726
94
-144
-658
-304
-346
-708
253
604
-405
62
708
918
-138
-111.5
36.3
60.9
210.4
188.0
262.6
259.9
1003.7
1009.0
998.9
999.2
705.8
693.5
996.0
989.2
1.7
-31.2
59.8
59.3
69.3
70.5
68.7
69.1
a.
b.
c.
Can you identify the problem axis or the type of failure that is occurring ?
d.
Can the failed axis or overall problem be identified from the tabulated data ?
e.
Can the 4/5 axis functionality be used to correct for the type of error occurring in
this example?
100
12.
The following survey data is taken from an MWD tool after drilling out of casing. The same
MWD tool was used as in the previous run.
The following inputs were made to the MWD Initialization page :
Element
Bit
Motor
BHA
OD" ID"
12.25 7.75 -
X/O
DSS
DFS
Monel
3xDC
HWDP5.0
8.0
8.0
8.0
7.75
8.0
3.0
Length(ft)
1.00
22.00
3.0
3.40
5.0
34.50
5.0
2.92
2.8
31.00
3.0
94.43
240.27
Gx
Hx
Gy
Hy
Gz
Hz
GTF Inc
Az
DIP
348
346
335
338
239
235
233
229
770
-393
845
728
969
-821
504
965
505
-837
-436
568
32
-514
-826
110
167.4
-42.7
-131.9
162.9
263.3
263.5
263.4
263.3
997.4
1000.0
997.5
997.3
999.3
996.7
996.5
996.5
59.9
59.9
60.0
59.9
69.3
69.7
69.9
70.0
a.
b.
c.
Can you identify the problem axis or the type of failure that is occurring ?
d.
Can the failed axis or overall problem be identified from the tabulated data ?
101
e.
What is the best method to use in correcting for this type of error, and why ?
13.
The following survey data is taken from an MWD tool drilling ahead maintaining Inclination
and Direction. The following inputs were made to the MWD Initialization page:
Last good Survey:
Inc = 67.23
Az = 260.02
GTF = 3.0
MTF = 270.2
SCA Voltage = 5.0
Gx
Hx
Gy
Hy
Gz
Hz
GTF Inc
Az
DIP
373
384
394
402
403
388
395
405
234
151
199
160
117
199
204
137
593
-770
912
-836
-334
-114
-151
-912
102
-871
817
-844
329
-247
-593
-640
-747
-489
-106
-344
861
863
125
95
-953
-1024
-1024
-1024
-1024
-1024
-1024
-1024
-106.8
-11.4
-153.0
-1.6
90.6
104.4
60.5
26.4
260.5
130.9
259.4
117.7
4.7
32.0
77.8
95.8
1012.5
1002.8
996.5
999.4
1000.3
951.6
440.0
1000.1
988.2
1353.4
1326.3
1337.2
1083.7
1073.5
1201.8
1216.3
59.6
66.2
44.9
57.6
-60.4
-50.9
4.1
25.9
67.9
67.7
66.2
66.5
66.6
66.2
26.5
66.5
a.
b.
c.
102
d.
A roll test is performed after the third survey. From the tabulated data can you
determine the problem ?
14. The following is an example from Magcor. Study this and the raw survey data used in the
generation of the output.
a. When inspecting the Magcor output, what three criteria should be used when deciding whether
the Magcor correction should be applied or not?
b. Would you accept the correction shown in the diagram, and why?
103