The disclosed embodiments include a method, apparatus, and computer program product configured to performing automated downhole wellbore trajectory control for correcting between an actual wellbore trajectory path and a planned wellbore trajectory path. For example, in one embodiment, a PID controller is configured to obtain real-time data gathered during the drilling operation, determine whether the actual wellbore trajectory path deviates from the planned wellbore trajectory path, and automatically initiate the downhole wellbore trajectory control to change the actual wellbore trajectory path to a modified correction path that is determined using a minimum incremental wellbore energy method.

The disclosed embodiments include devices and methods to perform inversion processing of well log data. In one embodiment, a method to perform inversion processing of well log data includes obtaining an initial model of an earth formation based on a plurality of modeling parameters that includes formation parameters of the earth formation and calibration factors associated with orientations of antennas of a logging tool utilized to measure raw measurements of the earth formation. The method also includes performing a forward modeling of the modeling parameters to obtain a modeling response, and performing a joint cost function of the first modeling response and raw measurements obtained by the logging tool. The method further includes readjusting the initial model if a result of the joint cost function is not below a threshold, and providing the modeling response if the result of the joint cost function is below the threshold.

The disclosed embodiments include devices and methods to perform inversion processing of well log data. In one embodiment, a method to perform inversion processing of well log data includes obtaining an initial model of an earth formation based on a plurality of modeling parameters that includes formation parameters of the earth formation and calibration factors associated with orientations of antennas of a logging tool utilized to measure raw measurements of the earth formation. The method also includes performing a forward modeling of the modeling parameters to obtain a modeling response, and performing a joint cost function of the first modeling response and raw measurements obtained by the logging tool. The method further includes readjusting the initial model if a result of the joint cost function is not below a threshold, and providing the modeling response if the result of the joint cost function is below the threshold.

The disclosed embodiments include a rotating survey tool. The rotating survey tool includes a first sensor array that in operation collects a first set of survey measurements during a downhole drilling operation. Additionally, the rotating survey tool includes a second sensor array directly coupled to the first sensor array that in operation collects a second set of survey measurements while a drill bit drills during the downhole drilling operation. Further, the second set of survey measurements has a greater base accuracy than the first set of survey measurements.

The disclosed embodiments include a rotating survey tool. The rotating survey tool includes a first sensor array that in operation collects a first set of survey measurements during a downhole drilling operation. Additionally, the rotating survey tool includes a second sensor array directly coupled to the first sensor array that in operation collects a second set of survey measurements while a drill bit drills during the downhole drilling operation. Further, the second set of survey measurements has a greater base accuracy than the first set of survey measurements.

A method of estimating a directional parameter of a downhole component includes deploying a borehole string in a borehole, the borehole string including the downhole component, the downhole component being rotatable, the downhole component including a gyroscope device and a magnetometer device. The method also includes collecting gyroscope measurement data from the gyroscope device and magnetic field measurement data from the magnetometer device during rotation of the downhole component, and estimating, by a processor, the directional parameter of the downhole component, where the estimating includes correcting the gyroscope measurement data based on the magnetic field measurement data.

An easy building-up hybrid rotary steerable drilling system includes a front supporting body, a weight-on-bit (WOB)-torque-on-bit (TOB) deflectable transmission joint and a deflection control system. The WOB-TOB deflectable transmission joint includes a universal joint. A front end of the front supporting body is fixedly connected to a drill bit, and a rear end of the front supporting body is fixedly connected to an outlet end of the universal joint. A front push-the-bit assembly is provided on a circumferential surface of the front supporting body. The deflection control system controls radial push-the-bit parts of the front push-the-bit assembly to push a borehole wall along a radial direction of the front supporting body, such that the front supporting body generates a deviation angle relative to an input shaft of the universal joint by taking a center point of the universal joint as a center, thereby controlling a drilling direction.

An easy building-up hybrid rotary steerable drilling system includes a front supporting body, a weight-on-bit (WOB)-torque-on-bit (TOB) deflectable transmission joint and a deflection control system. The WOB-TOB deflectable transmission joint includes a universal joint. A front end of the front supporting body is fixedly connected to a drill bit, and a rear end of the front supporting body is fixedly connected to an outlet end of the universal joint. A front push-the-bit assembly is provided on a circumferential surface of the front supporting body. The deflection control system controls radial push-the-bit parts of the front push-the-bit assembly to push a borehole wall along a radial direction of the front supporting body, such that the front supporting body generates a deviation angle relative to an input shaft of the universal joint by taking a center point of the universal joint as a center, thereby controlling a drilling direction.

An improved total field calibration system and method is disclosed for reducing the rotational misalignment between magnetic and gravity sensors in a directional sensing system. A method of calibrating a tri-axial directional sensor comprising orthonormal accelerometers and orthonormal magnetometers, comprises measuring Earth's magnetic and gravity fields with said directional sensor in at least 4 sensor orientations; obtaining at least one reference field value of dip drift of Earth's magnetic field from at least one source independent of said directional sensor corresponding to said orientations; and, determining and applying rotational misalignments between said magnetometers and said accelerometers so that measured magnetic dip drifts are substantially equal to said reference values. The calibration process can be performed without monitoring the declination change during the calibration process. Directional sensing systems can be calibrated accurately during a period when the Earth's magnetic field changes rapidly.

An improved total field calibration system and method is disclosed for reducing the rotational misalignment between magnetic and gravity sensors in a directional sensing system. A method of calibrating a tri-axial directional sensor comprising orthonormal accelerometers and orthonormal magnetometers, comprises measuring Earth's magnetic and gravity fields with said directional sensor in at least 4 sensor orientations; obtaining at least one reference field value of dip drift of Earth's magnetic field from at least one source independent of said directional sensor corresponding to said orientations; and, determining and applying rotational misalignments between said magnetometers and said accelerometers so that measured magnetic dip drifts are substantially equal to said reference values. The calibration process can be performed without monitoring the declination change during the calibration process. Directional sensing systems can be calibrated accurately during a period when the Earth's magnetic field changes rapidly.