ABSTRACT:The accurate measurement of platform orientation plays a critical role in a range of applications including marine, aerospace, robotics, navigation, human motion analysis, and machine interaction. We used Mahoney filter, Complementary filter and Xsens Kalman filter for achieving Euler angle of a dynamic platform by integration of gyroscope, accelerometer, and magnetometer measurements. The field test has been performed in Kish Island using an IMU sensor (Xsens MTi-G-700) that installed onboard a buoy so as to provide raw data of gyroscopes, accelerometers, magnetometer measurements about 25 minutes. These raw data were used to calculate the Euler angles by Mahoney filter and Complementary filter, while the Euler angles collected by XSense IMU sensor become the reference of the Euler angle estimations. We then compared Euler angles which calculated by Mahoney Filter and Complementary Filter with reference to the Euler angles recorded by the XSense IMU sensor. The standard deviations of the differences between the Mahoney Filter, Complementary Filter Euler angles and XSense IMU sensor Euler angles were about 0.5644, 0.3872, 0.4990 degrees and 0.6349, 0.2621, 2.3778 degrees for roll, pitch, and heading, respectively, so the numerical result assert that Mahoney filter is precise for roll and heading angles determination and Complementary filter is precise only for pitch determination, it should be noted that heading angle determination by Complementary filter has more error than Mahoney filter.
The key to drilling a successful well, from a directional point of view, is having an organized program to follow beforehand. This program should foresee ail possible problem areas and include all drilling parameters, Bottom Hole Assemblies (BHA) and individual tools. The tools alone will not drill the hole, but with the support of operators and office personnel as well as an organized and readily retrievable pool of information, time on bottom will increase while costs decrease. This combination of experienced personnel and computerized information constitutes what we refer to as "Know-How". Actual drilling data retrieved from a computerized database adds to the validity of a directional decision. The database aids in the planning and drilling of the well while reducing costs by eliminating uncertainty. Drilling technology has increased tremendously over the past five (5) years. Associated with this technological growth, unfortunately, comes an upswing in complexity that requires know-how for proper utilization. Improper utilization will reverse the trend of cost and result in higher expenses. By efficiently utilizing technology and preserving this knowledge in the form of a directional database, reproduction is only a page away. This new concept allows educated decisions to be made long beforehand as well as concise immediate decision making. The program is designed to make hole. Staying on bottom, eliminating unnecessary trips and motor runs, reducing time and costs as well as hitting targets are all results of the concept. The system is an additional engineer with expertise in hydraulics, Bottom Hole Assembly (BHA) design, MWD's, mud motors, bits and conventional as well as advanced directional drilling techniques. The concept has been proven very effective throughout the Gulf of Mexico. Introduction Technological advances in drilling have ushered a bewildering variety of new instruments and tools into the Gulf of Mexico oilfields. While each advance has some potential to improve drilling productivity, correct field usage is needed to generate savings large enough to offset each tool's own added cost. Correct field usage, however, cannot be boxed up and shipped out to a rig as easily as the tool itself can. The uneven, breakneck pace with which new tools and instruments are reaching tile field has created a "Know How" gap. "Know How" gap is a catch all expression for the many bothersome, costly gaps in our information covering the proper use in the field of all advanced tools. In many cases, equipment manufacturers cannot document performance or provide instructions in advance of actual field operation. P. 347^
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