Systems and methods of optimizing a new well path using a minimum curvature method are disclosed. An arc of the new well path may include a change in curvature at a point along the length of the arc. The arc of the new well path may be determined by iteratively: selecting a length of a first arc portion of the arc; determining a length of a second arc portion of the arc according to a minimum curvature method; combining the first arc portion and the second arc portion to form an arc; determining a deviation of the arc relative to a planned well trajectory; and selecting the arc with the lowest deviation from the planned well trajectory.

In a drilling system, a control system coupled to a drilling rig controls a bottom hole assembly (BHA) to drill a borehole through a geological formation along a drilling path. The control system determines a present position of the BHA and calculates a toolface vector to create a convergence path from the present position of the BHA to a desired target path. The control system also receives geological information and compensates the toolface vector to account for an estimated geologic formation drift. The control system causes at least one control parameter to be modified in order to alter a drilling direction of the BHA based on the calculated toolface vector and transmits the at least one control parameter to the drilling rig to target the BHA in accordance with the calculated toolface vector. The control system iteratively performs this process until convergence with the desired target path is achieved.

In a drilling system, a control system coupled to a drilling rig controls a bottom hole assembly (BHA) to drill a borehole through a geological formation along a drilling path. The control system determines a present position of the BHA and calculates a toolface vector to create a convergence path from the present position of the BHA to a desired target path. The control system also receives geological information and compensates the toolface vector to account for an estimated geologic formation drift. The control system causes at least one control parameter to be modified in order to alter a drilling direction of the BHA based on the calculated toolface vector and transmits the at least one control parameter to the drilling rig to target the BHA in accordance with the calculated toolface vector. The control system iteratively performs this process until convergence with the desired target path is achieved.

Systems, devices, and methods for directing the operation of a drilling system are provided. The location of a bottom hole assembly (BHA) of a drilling rig may be determined using survey data. One or more steering objective locations may be defined and one or more sets of directional motor instructions are generated to drive the BHA to the one or more steering objective location.

Systems, devices, and methods for directing the operation of a drilling system are provided. The location of a bottom hole assembly (BHA) of a drilling rig may be determined using survey data. One or more steering objective locations may be defined and one or more sets of directional motor instructions are generated to drive the BHA to the one or more steering objective location.

Systems, apparatus and methods are described for purposes of initiating a response to detection of an adverse operational condition involving a system including a drill rig and an inground tool. The response can be based on an uphole sensed parameter in combination with a downhole sensed parameter. The adverse operational condition can involve cross-bore detection, frac-out detection, excessive downhole pressure, a plugged jet indication and drill string key-holing detection. A communication system includes an inground communication link that allows bidirectional communication between a walkover detector and the drill rig via the inground tool. Monitoring of inground tool depth and/or lateral movement can be performed using techniques that approach integrated values. Bit force based auto-carving is described in the context of an automated procedure. Loss of locator to drill rig telemetry can trigger an automated switch to a different communication path within the system.

System and method for determining the location of a bottom hole assembly (BHA) during drilling of a well are provided. During drilling, a computer system determines an increase in measured depth during a time interval, and adjusts the determined measured depth to account for tensile and compressive forces, which may stretch or compress, respectively, the length of the drillstring. The computer system also determines a curvature projection of the drillstring responsive to a plane of arc and a build rate estimate, and uses the curvature projection to determine a position of the BHA.

System and method for determining the location of a bottom hole assembly (BHA) during drilling of a well are provided. During drilling, a computer system determines an increase in measured depth during a time interval, and adjusts the determined measured depth to account for tensile and compressive forces, which may stretch or compress, respectively, the length of the drillstring. The computer system also determines a curvature projection of the drillstring responsive to a plane of arc and a build rate estimate, and uses the curvature projection to determine a position of the BHA.

A method for wellbore directional drilling includes selecting a starting and stopping spatial position of at least one portion of the wellbore. A sequence of sliding and rotary drilling operations within the portion is determined to calculate a wellbore trajectory. The sequence has at least one drilling operating parameter. The operations include a constraint on the drilling operating parameter or the calculated trajectory. The calculated trajectory includes a projected steering response of a steerable motor in response to the at least one drilling operating parameter. Drilling the portion of the wellbore is started. A spatial position of the wellbore during drilling is determined at least one point intermediate the starting and stopping positions. Using a relationship between the projected steering response and the drilling operating parameter, the drilling parameter and/or the constraint are adjusted based on the measured spatial position and the stopping spatial position.

A method for wellbore directional drilling includes selecting a starting and stopping spatial position of at least one portion of the wellbore. A sequence of sliding and rotary drilling operations within the portion is determined to calculate a wellbore trajectory. The sequence has at least one drilling operating parameter. The operations include a constraint on the drilling operating parameter or the calculated trajectory. The calculated trajectory includes a projected steering response of a steerable motor in response to the at least one drilling operating parameter. Drilling the portion of the wellbore is started. A spatial position of the wellbore during drilling is determined at least one point intermediate the starting and stopping positions. Using a relationship between the projected steering response and the drilling operating parameter, the drilling parameter and/or the constraint are adjusted based on the measured spatial position and the stopping spatial position.