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

Claim 0:
1. A method for controlling a rotary steerable system (RSS) comprising:
disposing the RSS into a borehole;
storing a curvature for the borehole into a downhole information handling system disposed on the RSS;
storing one or more steering commands in the downhole information handling system;
taking a first attitude measurement at a first sensor and a second sensor disposed on the RSS at a first location in the borehole;
calculating a first relative attitude from the first attitude measurement at the first sensor and the second sensor, on the downhole information handling system;
moving the RSS in the borehole to a second location;
taking a second attitude measurement at the first sensor and the second sensor disposed on the RSS at the second location in the borehole;
calculating a second relative attitude from the second attitude measurement at the first sensor and the second sensor, on the downhole information handling system;
comparing the first relative attitude to the second relative attitude to find a difference; determining one or more steering commands based at least in part on the difference and a feed-back loop, wherein the steering commands are determined on the downhole information handling system, wherein the one or more steering commands include a vertical plane control and a lateral plane control, wherein the vertical plane control comprises an inclination and the lateral plane control comprises an azimuth, wherein at least one of the inclination and the azimuth are hold relative, and wherein the feed-back loop is a closed-loop;
adjusting the RSS based on the one or more steering commands; and
drilling in a direction with the RSS based at least in part on the one or more steering commands.