The stability of a fiber optic gyroscope (FOG) in measurement while drilling (MWD) could vary with time because of changing temperature, high vibration, and sudden power failure. The dynamic Allan variance (DAVAR) is a sliding version of the Allan variance. It is a practical tool that could represent the non-stationary behavior of the gyroscope signal. Since the normal DAVAR takes too long to deal with long time series, a fast DAVAR algorithm has been developed to accelerate the computation speed. However, both the normal DAVAR algorithm and the fast algorithm become invalid for discontinuous time series. What is worse, the FOG-based MWD underground often keeps working for several days; the gyro data collected aboveground is not only very time-consuming, but also sometimes discontinuous in the timeline. In this article, on the basis of the fast algorithm for DAVAR, we make a further advance in the fast algorithm (improved fast DAVAR) to extend the fast DAVAR to discontinuous time series. The improved fast DAVAR and the normal DAVAR are used to responsively characterize two sets of simulation data. The simulation results show that when the length of the time series is short, the improved fast DAVAR saves 78.93% of calculation time. When the length of the time series is long ( $6\times {10}^5$ samples), the improved fast DAVAR reduces calculation time by 97.09%. Another set of simulation data with missing data is characterized by the improved fast DAVAR. Its simulation results prove that the improved fast DAVAR could successfully deal with discontinuous data. In the end, a vibration experiment with FOGs-based MWD has been implemented to validate the good performance of the improved fast DAVAR. The results of the experience testify that the improved fast DAVAR not only shortens computation time, but could also analyze discontinuous time series.

In the oil industry, the measurement-while-drilling (MWD) systems are usually used to provide the real-time position and orientation of the bottom hole assembly (BHA) during drilling. However, the present MWD systems based on magnetic surveying technology can barely ensure good performance because of magnetic interference phenomena. In this paper, a MWD surveying system based on a fiber optic gyroscope (FOG) was developed to replace the magnetic surveying system. To accommodate the size of the downhole drilling conditions, a new design method is adopted. In order to realize long-term and high position precision and orientation surveying, an integrated surveying algorithm is proposed based on inertial navigation system (INS) and drilling features. In addition, the FOG-based MWD error model is built and the drilling features are analyzed. The state-space system model and the observation updates model of the Kalman filter are built. To validate the availability and utility of the algorithm, the semi-physical simulation is conducted under laboratory conditions. The results comparison with the traditional algorithms show that the errors were suppressed and the measurement precision of the proposed algorithm is better than the traditional ones. In addition, the proposed method uses a lot less time than the zero velocity update (ZUPT) method.

Aiming to improve survey accuracy of Measurement While Drilling (MWD) based on Fiber Optic Gyroscopes (FOGs) in the long period, the external aiding sources are fused into the inertial navigation by the Kalman filter (KF) method. The KF method needs to model the inertial sensors’ noise as the system noise model. The system noise is modeled as white Gaussian noise conventionally. However, because of the vibration while drilling, the noise in gyros isn’t white Gaussian noise any more. Moreover, an incorrect noise model will degrade the accuracy of KF. This paper developed a new approach for noise modeling on the basis of dynamic Allan variance (DAVAR). In contrast to conventional white noise models, the new noise model contains both the white noise and the color noise. With this new noise model, the KF for the MWD was designed. Finally, two vibration experiments have been performed. Experimental results showed that the proposed vibration noise modeling approach significantly improved the estimated accuracies of the inertial sensor drifts. Compared the navigation results based on different noise model, with the DAVAR noise model, the position error and the toolface angle error are reduced more than 90%. The velocity error is reduced more than 65%. The azimuth error is reduced more than 50%.