A drill bit direction system and method is disclosed that modifies or biases the stochastic movement of the drill bit and/or stochastic interactions between the drill bit and an inner-wall of a borehole being drilled by a drilling system to change the direction of drilling of the drilling system. The direction of the drill bit is monitored to determine if the direction happens to align in some way with a preferred direction. If the direction isn't close enough to a preferred direction, a biasing mechanism modifies the stochastic movement in an attempt to modify the direction closer to the preferred direction. Any of a number of biasing mechanisms can be used. Some embodiments can resort to conventional steering mechanisms to supplement the biasing mechanism.

[0001]    This application claims the benefit of and is a continuation-in-part of co-pending U.S. application Ser. No. 11/839,381 filed on Aug. 15, 2007, entitled SYSTEM AND METHOD FOR CONTROLLING A DRILLING SYSTEM FOR DRILLING A BOREHOLE IN AN EARTH FORMATION, which is hereby expressly incorporated by reference in its entirety for all purposes. 
         [0002]    This application is related to U.S. patent application Ser. No. ______, filed on the same date as the present application, entitled “DRILL BIT GAUGE PAD CONTROL” (temporarily referenced by Attorney Docket No. 57.0831 US CIP), which is incorporated by reference in its entirety for all purposes. 
         [0003]    This application is related to U.S. patent application Ser. No. ______, filed on the same date as the present application, entitled “SYSTEM AND METHOD FOR DIRECTIONALLY DRILLING A BOREHOLE WITH A ROTARY DRILLING SYSTEM” (temporarily referenced by Attorney Docket No. 57.0834 US CIP), which is incorporated by reference in its entirety for all purposes. 
         [0004]    This application is related to U.S. patent application Ser. No. ______, filed on the same date as the present application, entitled “METHOD AND SYSTEM FOR STEERING A DIRECTIONAL DRILLING SYSTEM” (temporarily referenced by Attorney Docket No. 57.0853 US CIP), which is incorporated by reference in its entirety for all purposes. 
     
    
     BACKGROUND 
       [0005]    This disclosure relates in general to drilling a borehole and, but not by way of limitation, to controlling direction of drilling for the borehole. 
         [0006]    In many industries, it is often desirable to directionally drill a borehole through an earth formation or core a hole in sub-surface formations in order that the borehole and/or coring may circumvent and/or pass through deposits and/or reservoirs in the formation to reach a predefined objective in the formation and/or the like. When drilling or coring holes in sub-surface formations, it is sometimes desirable to be able to vary and control the direction of drilling, for example to direct the borehole towards a desired target, or control the direction horizontally within an area containing hydrocarbons once the target has been reached. It may also be desirable to correct for deviations from the desired direction when drilling a straight hole, or to control the direction of the hole to avoid obstacles. 
         [0007]    In the hydrocarbon industry for example, a borehole may be drilled so as to intercept a particular subterranean-formation at a particular location. In some drilling processes, to drill the desired borehole, a drilling trajectory through the earth formation may be pre-planned and the drilling system may be controlled to conform to the trajectory. In other processes, or in combination with the previous process, an objective for the borehole may be determined and the progress of the borehole being drilled in the earth formation may be monitored during the drilling process and steps may be taken to ensure the borehole attains the target objective. Furthermore, operation of the drill system may be controlled to provide for economic drilling, which may comprise drilling so as to bore through the earth formation as quickly as possible, drilling so as to reduce bit wear, drilling so as to achieve optimal drilling through the earth formation and optimal bit wear and/or the like. 
         [0008]    One aspect of drilling is called “directional drilling.” Directional drilling is the intentional deviation of the borehole/wellbore from the path it would naturally take. In other words, directional drilling is the steering of the drill string so that it travels in a desired direction. 
         [0009]    Directional drilling is advantageous in offshore drilling because it enables many wells to be drilled from a single platform. Directional drilling also enables horizontal drilling through a reservoir. Horizontal drilling enables a longer length of the wellbore to traverse the reservoir, which increases the production rate from the well. 
         [0010]    A directional drilling system may also be used in vertical drilling operation as well. Often the drill bit will veer off of a planned drilling trajectory because of the unpredictable nature of the formations being penetrated or the varying forces that the drill bit experiences. When such a deviation occurs, a directional drilling system may be used to put the drill bit back on course. 
         [0011]    The monitoring process for directional drilling of the borehole may include determining the location of the drill bit in the earth formation, determining an orientation of the drill bit in the earth formation, determining a weight-on-bit of the drilling system, determining a speed of drilling through the earth formation, determining properties of the earth formation being drilled, determining properties of a subterranean formation surrounding the drill bit, looking forward to ascertain properties of formations ahead of the drill bit, seismic analysis of the earth formation, determining properties of reservoirs etc. proximal to the drill bit, measuring pressure, temperature and/or the like in the borehole and/or surrounding the borehole and/or the like. In any process for directional drilling of a borehole, whether following a pre-planned trajectory, monitoring the drilling process and/or the drilling conditions and/or the like, it is necessary to be able to steer the drilling system. 
         [0012]    Forces which act on the drill bit during a drilling operation include gravity, torque developed by the bit, the end load applied to the bit, and the bending moment from the drill assembly. These forces together with the type of strata being drilled and the inclination of the strata to the bore hole may create a complex interactive system of forces during the drilling process. 
         [0013]    The drilling system may comprise a “rotary drilling” system in which a downhole assembly, including a drill bit, is connected to a drill-string that may be driven/rotated from the drilling platform. In a rotary drilling system directional drilling of the borehole may be provided by varying factors such as weight-on-bit, the rotation speed, etc. 
         [0014]    With regards to rotary drilling, known methods of directional drilling include the use of a rotary steerable system (RSS). In an RSS, the drill string is rotated from the surface, and downhole devices cause the drill bit to drill in the desired direction. Rotating the drill string greatly reduces the occurrences of the drill string getting hung up or stuck during drilling. 
         [0015]    Rotary steerable drilling systems for drilling deviated boreholes into the earth may be generally classified as either “point-the-bit” systems or “push-the-bit” systems. In the point-the-bit system, the axis of rotation of the drill bit is deviated from the local axis of the bottomhole assembly (“BHA”) in the general direction of the new hole. The hole is propagated in accordance with the customary three-point geometry defined by upper and lower stabilizer touch points and the drill bit. The angle of deviation of the drill bit axis coupled with a finite distance between the drill bit and lower stabilizer results in the non-collinear condition required for a curve to be generated. There are many ways in which this may be achieved including a fixed bend at a point in the bottomhole assembly close to the lower stabilizer or a flexure of the drill bit drive shaft distributed between the upper and lower stabilizer. 
         [0016]    Pointing the bit may comprise using a downhole motor to rotate the drill bit, the motor and drill bit being mounted upon a drill string that includes an angled bend. In such a system, the drill bit may be coupled to the motor by a hinge-type or tilted mechanism/joint, a bent sub or the like, wherein the drill bit may be inclined relative to the motor. When variation of the direction of drilling is required, the rotation of the drill-string may be stopped and the bit may be positioned in the borehole, using the downhole motor, in the required direction and rotation of the drill bit may start the drilling in the desired direction. In such an arrangement, the direction of drilling is dependent upon the angular position of the drill string. 
         [0017]    In its idealized form, in a pointing the bit system, the drill bit is not required to cut sideways because the bit axis is continually rotated in the direction of the curved hole. Examples of point-the-bit type rotary steerable systems, and how they operate are described in U.S. Patent Application Publication Nos. 2002/0011359; 2001/0052428 and U.S. Pat. Nos. 6,394,193; 6,364,034; 6,244,361; 6,158,529; 6,092,610; and 5,113,953 all herein incorporated by reference. 
         [0018]    Push the bit systems and methods make use of application of force against the borehole wall to bend the drill-string and/or force the drill bit to drill in a preferred direction. In a push-the-bit rotary steerable system, the requisite non-collinear condition is achieved by causing a mechanism to apply a force or create displacement in a direction that is preferentially orientated with respect to the direction of hole propagation. There are many ways in which this may be achieved, including non-rotating (with respect to the hole), displacement based approaches and eccentric actuators that apply force to the drill bit in the desired steering direction. Again, steering is achieved by creating non co-linearity between the drill bit and at least two other touch points. In its idealized form the drill bit is required to cut side ways in order to generate a curved hole. Examples of push-the-bit type rotary steerable systems, and how they operate are described in U.S. Pat. Nos. 5,265,682; 5,553,678; 5,803,185; 6,089,332; 5,695,015; 5,685,379; 5,706,905; 5,553,679; 5,673,763; 5,520,255; 5,603,385; 5,582,259; 5,778,992; 5,971,085 all herein incorporated by reference. 
         [0019]    Known forms of RSS are provided with a “counter rotating” mechanism which rotates in the opposite direction of the drill string rotation. Typically, the counter rotation occurs at the same speed as the drill string rotation so that the counter rotating section maintains the same angular position relative to the inside of the borehole. Because the counter rotating section does not rotate with respect to the borehole, it is often called “geostationary” by those skilled in the art. In this disclosure, no distinction is made between the terms “counter rotating” and “geo-stationary.” 
         [0020]    A push-the-bit system typically uses either an internal or an external counter-rotation stabilizer. The counter-rotation stabilizer remains at a fixed angle (or geo-stationary) with respect to the borehole wall. When the borehole is to be deviated, an actuator presses a pad against the borehole wall in the opposite direction from the desired deviation. The result is that the drill bit is pushed in the desired direction. 
         [0021]    The force generated by the actuators/pads is balanced by the force to bend the bottomhole assembly, and the force is reacted through the actuators/pads on the opposite side of the bottomhole assembly and the reaction force acts on the cutters of the drill bit, thus steering the hole. In some situations, the force from the pads/actuators may be large enough to erode the formation where the system is applied. 
         [0022]    For example, the Schlumberger™ Powerdrive™ system uses three pads arranged around a section of the bottomhole assembly to be synchronously deployed from the bottomhole assembly to push the bit in a direction and steer the borehole being drilled. In the system, the pads are mounted close, in a range of 1-4 ft behind the bit and are powered/actuated by a stream of mud taken from the circulation fluid. In other systems, the weight-on-bit provided by the drilling system or a wedge or the like may be used to orient the drilling system in the borehole. 
         [0023]    While system and methods for applying a force against the borehole wall and using reaction forces to push the drill bit in a certain direction or displacement of the bit to drill in a desired direction may be used with drilling systems including a rotary drilling system, the systems and methods may have disadvantages. For example such systems and methods may require application of large forces on the borehole wall to bend the drill-string and/or orient the drill bit in the borehole; such forces may be of the order of 5 kN or more, that may require large/complicated downhole motors or the like to be generated. Additionally, many systems and methods may use repeatedly thrusting of pads/actuator outwards into the borehole wall as the bottomhole assembly rotates to generate the reaction forces to push the drill bit, which may require complex/expensive/high maintenance synchronizing systems, complex control systems and/or the like. 
         [0024]    The drill bit is known to “dance” or clatter around in a borehole in an unpredictable or even random manner. This stochastic movement is generally non-deterministic in that a current state does not fully determine its next state. Point-the-bit and push-the-bit techniques are used to force a drill bit into a particular direction and overcome the tendency for the drill bit to clatter. These techniques ignore the stochastic dance a drill bit is likely to make in the absence of directed force. 
       SUMMARY 
       [0025]    In an embodiment, the present disclosure provides for a drill bit direction system that modifies or biases stochastic or natural movement of the drill bit and/or stochastic reaction forces between the drill bit and/or gauge pads and an inner-wall of the borehole being drilled to change a direction of drilling. The change of direction of drilling may in certain aspects be achieved with less effort, less complex surface/downhole machinery and/or more economically than with conventional steering mechanisms. The direction of the drill bit relative to the earth (or some other fixed point) is monitored to determine if the direction happens to align in some way with a preferred direction. If the direction isn't close enough to a preferred direction, a biasing mechanism emphasizes components of radial motion to move the direction closer to the preferred direction. Any of a number of biasing mechanisms can be used. Some embodiments can resort to conventional steering mechanisms to supplement or as an alternative to the biasing mechanism. 
         [0026]    In another embodiment, a method for biasing erratic motion of a drill bit to directionally cause the drill bit to drill in a predetermined direction relative to the earth is disclosed. In one step, a direction of the drill bit relative to the earth is determined. The direction is compared with the predetermined direction. A biasing mechanism is oriented to emphasize components of radial motion of the drill bit in the predetermined direction. The biasing mechanism is activated when the comparing step determines the direction is not adequately aligned with the predetermined direction. 
         [0027]    In yet another embodiment, a drill bit direction system for biasing erratic motion of a drill bit to directionally cause a drill bit to drill in a predetermined direction relative to the earth is disclosed. The drill bit direction system includes a biasing mechanism, a direction sensor and a controller. The biasing mechanism emphasizes components of radial motion of the drill bit in the predetermined direction of the drill bit relative to the earth. The direction sensor determines a direction of the drill bit downhole. The controller compares a predetermined direction with the direction. The biasing mechanism is activated when the direction deviates from the predetermined direction. 
         [0028]    Further areas of applicability of the present disclosure will become apparent from the detailed description provided hereinafter. It should be understood that the detailed description and specific examples, while indicating various embodiments, are intended for purposes of illustration only and are not intended to necessarily limit the scope of the disclosure. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0029]    The present disclosure is described in conjunction with the appended figures: 
           [0030]      FIG. 1  depicts a block diagram of an embodiment of a drill bit direction system; 
           [0031]      FIGS. 2A and 2C  illustrate flowcharts of embodiments of a process for controlling drill bit direction; and 
           [0032]      FIGS. 3A and 3C  illustrate a state machine for managing the drill bit direction system. 
       
    
    
       [0033]    In the appended figures, similar components and/or features may have the same reference label. Further, various components of the same type may be distinguished by following the reference label by a dash and a second label that distinguishes among the similar components. If only the first reference label is used in the specification, the description is applicable to any one of the similar components having the same first reference label irrespective of the second reference label. 
       DETAILED DESCRIPTION 
       [0034]    The ensuing description provides preferred exemplary embodiment(s) only, and is not intended to limit the scope, applicability or configuration of the disclosure. Rather, the ensuing description of the preferred exemplary embodiment(s) will provide those skilled in the art with an enabling description for implementing a preferred exemplary embodiment. It being understood that various changes may be made in the function and arrangement of elements without departing from the spirit and scope as set forth in the appended claims. 
         [0035]    Referring first to  FIG. 1 , a block diagram of an embodiment of a drill bit direction system  100  is shown. An integrated control and information service (ICIS)  104  is located above ground to manage the drillstring rotation control block  112  and the drawworks control block  108 . Additionally, the ICIS  104  generally guides the direction of drilling in the earth formation. Information is communicated downhole to a bottomhole assembly (BHA)  120  such as a desired orientation or direction to achieve for the drill bit and possibly selection of various biasing and steering mechanisms  132 ,  136  to use. The direction is defined relative to any fixed point such as the earth. The information may additionally provide control information for the BHA  120  and any biasing and steering mechanisms  132 ,  136 . 
         [0036]    The ICIS  104  manages the drillstring rotation control block  112  and the drawworks control block  108 . The phase, torque and speed of rotation of the drillstring is monitored and managed by the drillstring control block  112 . Information from the BHA  120  can be analyzed by the ICIS  104  as feedback on how the management is being performed by the drillstring control block  112 . Various operations during drilling use the drawworks control block  108 , for example, removal of the drillstring. The ICIS  104  manages operation of the drawworks control block  108  during these operations. 
         [0037]    The BHA  120  includes a downhole controller  124 , an orientation or direction sensor  128 , a bit rotation sensor  140 , one or more biasing mechanism  132 , and one or more steering mechanisms  136 . A typical BHA may have more control systems, which are not shown in  FIG. 1 . Information is communicated to the BHA  120  from the surface to indicate a preferred direction of the drill bit. Additionally, use of biasing and steering mechanisms  132 ,  136  can be generally controlled by the ICIS  104 , but the downhole controller  124  controls real-time operation of the biasing and steering mechanisms  132 ,  136  with information gathered from the direction and bit rotation sensors  128 ,  140 . 
         [0038]    Information is communicated from the BHA  120  back to the ICIS  104  at the surface. The direction of the drill bit observed may be periodically communicated along with use of various biasing and steering mechanisms  132 ,  136 . A borehole path information database  116  stores the information gathered downhole to know how the borehole navigates through the formation. The ICIS  104  can recalculate the best orientation or direction to use for the drill bit and communicate that to the BHA  120  to override the prior instructions. Additionally, the effectiveness of the various biasing and steering mechanisms  132 ,  136  can be analyzed with other information gathered on the formation to provide guidance downhole on how to best use the available biasing and steering mechanisms  132 ,  136  to achieve the geometry of the borehole desired for a particular drill site. 
         [0039]    The direction sensor  128  can determine the current direction of the drill bit with respect to a particular frame of reference in three dimensions (i.e., relative to the earth or some other fixed point). Various techniques can be used to determine the current direction, for example, an inertially or roll-stabilized platform with gyros can be compared to references on the drill bit, accelerometers could be used to track direction and/or magnetometers could measure direction relative to the earth's magnetic field. Measurements could be noisy, but a filter could be used to average out the noise from measurements. 
         [0040]    The bit rotation sensor  140  allows monitoring the phase of rotation for the drill bit. The downhole controller  124  takes the sensor information to allow synchronized control of the biasing mechanism(s)  132 . With knowledge of the phase, the biasing can be performed every rotation cycle or any integer fraction of the cycles (e.g., every other rotation, every third rotation, every fourth rotation, every tenth rotation, etc.). Other embodiments do not use a bit rotation sensor  140  or synchronized manipulation of the biasing mechanism(s)  132 . 
         [0041]    There are various steering mechanisms  136  that persistently enforce drill bit movement. Steering mechanisms  136  do not intentionally take advantage of the stochastic movement of the drill bit that naturally occurs. A given site may use one or more of these steering mechanisms  136  to create a borehole that changes direction as desired through the formation. Different types of steering mechanisms  136  include bent arms, lever arms synchronized with rotation, universal joints, and geostationary mechanisms that exert force in a particular direction. These steering mechanisms can predictably direct the drill bit, but do not take advantage stochastic movement of the drill bit that could be in the correct direction anyway. Other embodiments may forgo steering mechanisms  136  completely by reliance on biasing mechanisms  132  for directional drilling. 
         [0042]    A biasing mechanism  132  can be used before resort to a steering mechanism  136 . The biasing mechanism  132  selects or emphasizes those components of the radial motion of the drill bit in a chosen direction. Directional control is achieved by holding the orientation of the biasing mechanism  132  broadly fixed in the chosen direction. Some embodiments may only have one or more biasing mechanisms  132  downhole without any steering mechanisms  136 . Biasing mechanisms  132  take advantage of the tendency for the drill bit to move around in the bore hole by only activating when the stochastic movement goes in the wrong direction. For example, gage pads or cutters can be moved, a gage ring can exert pressure and/or jetting can be used in various embodiments as the biasing mechanism  132 . Any asymmetry and can be manipulated is usable as a biasing mechanism  132 . In some cases, the drill bit is designed and manufactured so as to exert a side force in a particular azimuthal direction relative to the drill bit. The biasing mechanism  132  is activated to bias the side force. Such a side force rotates with the drill bit to emphasize cutting in the chosen direction. The biasing mechanism  132  can be synchronized to activate and deactivate with rotation of the drill bit. 
         [0043]    The downhole controller  124  uses the information sent from the ICIS  104  along with the direction and bit rotation sensors  128 ,  140  to actively manage the use of biasing and steering mechanisms  132 ,  136 . The desired direction of the drill bit along with guidelines for using various biasing and steering mechanisms  132 ,  136  is communicated from the ICIS  104 . The downhole controller  124  can use fuzzy logic, neural algorithms, expert system algorithms to decide how and when to influence the drill bit direction in various embodiments. Generally, the speed of communication between the BHA  120  and the ICIS  104  does not allow real-time control from the surface in this embodiment, but other embodiments could allow for surface control in real-time. The stochastic direction of the drill bit can be adaptively used in a less rigid manner. For example, if a future turn in the borehole is desired and the drill bit is making the turn prematurely, the turn can be accepted and the future plan revised. 
         [0044]    With reference to  FIG. 2A , a flowchart of an embodiment of a process  200 - 1  for controlling drill bit direction is shown. This embodiment only uses a single biasing mechanism  136  to control the direction of the drill bit. The depicted portion of the process beings in block  204  where an analysis of the formation and end point is performed to plan the borehole geometry. The ICIS  104  manipulates the drillstring, drawworks and other systems in block  208  to create the borehole according to the plan. A desired direction of the drill bit is determined in block  212  and communicated to the downhole controller  124  in block  216 . The desired direction could be a single goal or a range of acceptable directions. 
         [0045]    The desired direction along with any biasing selection criteria is received by the downhole controller  124  in block  220 . The current pointing of the drill bit is determined by the direction sensor  128  in block  224 . It is determined in block  228  if the direction is acceptable based upon the instructions from ICIS  104 . This embodiment allows some flexibility in the direction and re-determines the plan based upon the stochastic movement allowed to occur. An acceptable direction is one that allows achieving the end point with the drill bit if the plan were revised. A certain plan may have predetermined deviations or ranges of direction that are acceptable, but still avoid parts of the formation that are not desired to pass through. 
         [0046]    Where the direction is not acceptable, processing goes from block  228  to block  236  where the biasing mechanism  132  is activated. The biasing mechanism  132  could be activated once or for a period of time. Alternatively, the biasing mechanism  132  could be activated periodically in synchronization with the rotation of the drill bit. The biasing mechanism  132  selects or emphasizes those components of the radial motion of the drill bit that occur in the desired direction(s). 
         [0047]    Where the direction is acceptable as determined in block  228 , processing continues to block  240 . The biasing mechanism  132  achieves directional control by holding the direction in the desired direction(s). Where un-needed because the erratic motion of the drill bit is already in the desired direction(s), the biasing mechanism  132  is not activated. In block  240 , the current direction is communicated by the downhole controller  124  to the ICIS  104 . After reporting, processing loops back to block  212  for further management of the direction based upon any new instruction from the surface. 
         [0048]    Referring next to  FIG. 2B , a flowchart of another embodiment of the process  200 - 2  for controlling drill bit direction is shown. This embodiment has multiple biasing mechanisms  132  available and can fall back onto a steering mechanism  136  if the biasing mechanism(s)  132  is not effective. The blocks up to block  228  are generally performed the same as the embodiment in  FIG. 2A . Where the direction is not acceptable in block  228 , processing continues to block  232  where a selection is made from at least two biasing mechanisms  232 . Guidance from the ICIS  104  may dictate or influence the decision on those biasing mechanisms  132  to select and in what manner they should be controlled. The selected biasing mechanism  132  is used in step  236 . 
         [0049]    After using the biasing mechanism  132 , the current direction is reported to the ICIS  104  in block  240 . If the biasing mechanism  132  or some other alternative is still believed to be effective in orienting the drill bit in block  244 , processing loops back to block  212  to continue using that biasing mechanism  132  or some other biasing mechanism  132  that might influence those components of the radial motion of the drill bit to exert a side force in a particular azimuthal direction as desired. Where biasing mechanisms  132  are determined to be no longer effective in block  244 , processing continues to block  248  to activate the steering mechanism  136 , if any. 
         [0050]    With reference to  FIG. 2C , a flowchart of yet another embodiment of the process  200 - 3  for controlling drill bit direction is shown. This embodiment is similar to that of  FIG. 2A  except that multiple biasing mechanisms  132  can be chosen from in block  232 . This embodiment only relies upon biasing mechanisms  132  without resort to steering mechanisms  136 . 
         [0051]    Referring next to  FIG. 3A , an embodiment of a state machine  300 - 1  for managing the drill bit direction system  100  is shown. This control system moves between two states based upon a determination in state  304  if the drill bit is not in alignment with a desired direction or range of directions. This embodiment corresponds to the embodiment of  FIG. 2A . Where there is disorientation beyond an acceptable deviation, the drill bit direction system  100  goes from state  304  to state  308 . In state  308 , one or more of the biasing mechanisms are tried  132 . In some cases, the same biasing mechanism  132  is tried with different parameters. For example, a gage pad can be moved at one phase in the bit rotation cycle, but later another phase is tried with the same or a different movement of the gage pad. 
         [0052]    With reference to  FIG. 3B , another embodiment of the state machine  300 - 2  for managing the drill bit direction system  100  is shown. This embodiment has four states and generally corresponds to the embodiment of  FIG. 2B . After attempting a biasing mechanism  132  in state  308 , a determination in state  312  is used to see if the biasing mechanism  132  was effective. Where the biasing mechanism  132  works adequately, the system returns to state  304 . If the biasing mechanism  132  is not effective the drill bit direction system  100  goes from state  312  to state  316  where an active steering mechanism  136  is used before returning to state  304 . 
         [0053]    Referring next to  FIG. 3C , yet another embodiment of the state machine  300 - 3  for managing the drill bit direction system  100  is shown. This embodiment has a number of biasing techniques and generally corresponds to the process  200 - 3  of  FIG. 2C . Where disorientation is found in state  304 , a biasing mechanism or technique is chosen in state  312 . In the alternative, a number of biasing techniques can be chosen from state  312 . The chosen biasing technique is performed in the chosen biasing state  320  before returning to state  304  for further analysis of any disorientation. 
         [0054]    A number of variations and modifications of the disclosed embodiments can also be used. For example, the invention can be used on drilling boreholes or cores. The control of the biasing process is split between the ICIS and the BHA in the above embodiments. In other embodiments, all of the control can be in either location. 
         [0055]    Specific details are given in the above description to provide a thorough understanding of the embodiments. However, it is understood that the embodiments may be practiced without these specific details. For example, circuits may be shown in block diagrams in order not to obscure the embodiments in unnecessary detail. In other instances, well-known circuits, processes, algorithms, structures, and techniques may be shown without unnecessary detail in order to avoid obscuring the embodiments. 
         [0056]    Implementation of the techniques, blocks, steps and means described above may be done in various ways. For example, these techniques, blocks, steps and means may be implemented in hardware, software, or a combination thereof. For a hardware implementation, the processing units may be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described above, and/or a combination thereof. 
         [0057]    Also, it is noted that the embodiments may be described as a process which is depicted as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel or concurrently. In addition, the order of the operations may be re-arranged. A process is terminated when its operations are completed, but could have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. When a process corresponds to a function, its termination corresponds to a return of the function to the calling function or the main function. 
         [0058]    Furthermore, embodiments may be implemented by hardware, software, scripting languages, firmware, middleware, microcode, hardware description languages, and/or any combination thereof. When implemented in software, firmware, middleware, scripting language, and/or microcode, the program code or code segments to perform the necessary tasks may be stored in a machine readable medium such as a storage medium. A code segment or machine-executable instruction may represent a procedure, a function, a subprogram, a program, a routine, a subroutine, a module, a software package, a script, a class, or any combination of instructions, data structures, and/or program statements. A code segment may be coupled to another code segment or a hardware circuit by passing and/or receiving information, data, arguments, parameters, and/or memory contents. Information, arguments, parameters, data, etc. may be passed, forwarded, or transmitted via any suitable means including memory sharing, message passing, token passing, network transmission, etc. 
         [0059]    For a firmware and/or software implementation, the methodologies may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. Any machine-readable medium tangibly embodying instructions may be used in implementing the methodologies described herein. For example, software codes may be stored in a memory. Memory may be implemented within the processor or external to the processor. As used herein the term “memory” refers to any type of long term, short term, volatile, nonvolatile, or other storage medium and is not to be limited to any particular type of memory or number of memories, or type of media upon which memory is stored. 
         [0060]    Moreover, as disclosed herein, the term “storage medium” may represent one or more memories for storing data, including read only memory (ROM), random access memory (RAM), magnetic RAM, core memory, magnetic disk storage mediums, optical storage mediums, flash memory devices and/or other machine readable mediums for storing information. The term “machine-readable medium” includes, but is not limited to portable or fixed storage devices, optical storage devices, wireless channels, and/or various other storage mediums capable of storing that contain or carry instruction(s) and/or data. 
         [0061]    While the principles of the disclosure have been described above in connection with specific apparatuses and methods, it is to be clearly understood that this description is made only by way of example and not as limitation on the scope of the disclosure.