Patent ID: 11913334
Assignee: HALLIBURTON ENERGY SERVICES, INC.
Field: Civil engineering (Other fields)
Classification: CPC E | IPC E

Claim 9:
10. A system for controlling a rotary steerable system (RSS) comprising:
a downhole information handling system which includes a gain controller;
a steering command generator connected to the downhole information handling system, wherein the steering commands are generated downhole;
an RSS toolface controller connected to the steering command generator;
a first sensor and a second sensor disposed on the RSS, wherein the first sensor and the second sensor are spatially distributed on the RSS, wherein the first sensor and the second sensors are attitude sensors configured to take a first attitude measurement at a first location, wherein the first and second sensors are configured to take a second attitude measurement at a second location, and wherein the downhole information handling system is configured to calculate a first relative attitude from the first attitude measurement, calculate a second relative attitude from the second attitude measurement, compare the first relative attitude to the second relative attitude to find a difference, and determine one or more steering commands based at least in part on the difference; and
an RSS that is connected to the RSS toolface controller, wherein the downhole information handling system is disposed on the RSS.