# US 12,110,782 B2 · Identification of residual gravitational signal from drilling tool sensor data > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,782 B2 - Document ID: US12110782B2 - Status: Granted - Kind: B2 - Application number: 18/195,237 - Filed: 2023-05-09 - Published: 2023-08-31 - Granted: 2024-10-08 - Earliest claimed: 2020-10-16 - Assignees: Halliburton Energy Services, Inc. - Applicants: Halliburton Energy Services, Inc. - Inventors: Paul F. Rodney; Reena Agarwal Chanpura - Web page: https://patentgrep.com/patent/US12110782B2 ## CPC - E21B 47/024: of devices in the borehole (determining slope or direction of the borehole E21B47/022) - E21B 44/00: Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions - E21B 47/022: of the borehole, e.g. using geomagnetism - E21B 7/04: Directional drilling - E21B 2200/20: Computer models or simulations, e.g. for reservoirs under production, drill bits - E21B 2200/22: Fuzzy logic, artificial intelligence, neural networks or the like - E21B: EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS ## Abstract In some aspects, the disclosed technology provides solutions for computing a residual noise signal from received gravitational field signal data. In one aspect, a process of the disclosed technology includes steps for receiving a magnetic field signal, wherein the magnetic field signal is generated by measurements produced by a magnetometer disposed in a drilling tool chassis, receiving a gravitational field signal, and processing the magnetic field signal to generate a clean magnetic field signal. In some aspects, the process can further include steps for calculating a residual signal based on the clean magnetic field signal and the gravitational field signal. Systems and machine-readable media are also provided. ## Claims ### Claim 1 A computer-implemented method comprising: receiving a first orientation signal, wherein the first orientation signal comprises a magnetic field signal generated from measurements produced by at least one magnetometer disposed in a drillstring; receiving a second orientation signal; processing the magnetic field signal to generate a clean magnetic field signal; calculating a residual signal based on the clean magnetic field signal and the second orientation signal; and identifying a characteristic of drilling operation performance associated with the drillstring based on the residual signal. ### Claim 2 (depends on 1) The computer-implemented method of claim 1, further comprising adjusting one or more parameters related to the drilling operation performance based on the identified characteristic. ### Claim 3 (depends on 1) The computer-implemented method of claim 1, wherein the identified characteristic comprises at least one of a drill tool displacement and drill tool pattern of motion. ### Claim 4 (depends on 3) The computer-implemented method of claim 3, wherein the drill tool pattern represents forces on the drill tool that are due to causes other than changes in tool orientation. ### Claim 5 (depends on 1) The computer-implemented method of claim 1, wherein the identified characteristic comprises changes in formation characteristics. ### Claim 6 (depends on 1) The computer-implemented method of claim 1, wherein the identified characteristic comprises wellbore properties. ### Claim 7 (depends on 1) The computer-implemented method of claim 1, wherein the identified characteristic comprises at least one drilling anomaly. ### Claim 8 (depends on 7) The computer-implemented method of claim 7, wherein the at least one drilling anomaly identifies a drill bit wobble, chaotic whirl condition, a stick and slip condition, or a combination thereof. ### Claim 9 A system comprising: One or more processors; and a non-transitory computer-readable medium comprising instructions stored therein, which when executed by the processors, cause the processors to perform operations comprising: receiving a first orientation signal, wherein the first orientation signal comprises a magnetic field signal generated from measurements produced by a at least one magnetometer disposed in a drillstring; receiving a second orientation signal; processing the magnetic field signal to generate a clean magnetic field signal; and calculating a residual signal based on the clean magnetic field signal and the second orientation signal; and identifying a characteristic of drilling operation performance associated with the drillstring based on the residual signal. ### Claim 10 (depends on 9) The system of claim 9, further comprising adjusting one or more parameters related to the drilling operation performance based on the identified characteristic. ### Claim 11 (depends on 9) The system of claim 9, wherein the identified characteristic comprises at least one of a drill tool displacement and drill tool patterns of motion. ### Claim 12 (depends on 11) The system of claim 11, wherein the drill tool pattern represents forces on the drill tool that are due to causes other than changes in tool orientation. ### Claim 13 (depends on 9) The system of claim 9, wherein the identified characteristic comprises changes in formation characteristics. ### Claim 14 (depends on 9) The system of claim 9, wherein the identified characteristic comprises at least one drilling anomaly. ### Claim 15 A non-transitory computer-readable storage medium comprising instructions stored therein, which when executed by one or more processors, cause the processors to perform operations comprising: receiving a first orientation signal, wherein the first orientation signal comprises a magnetic field signal generated from measurements produced by at least one magnetometer disposed in a drillstring; receiving a second orientation signal; processing the magnetic field signal to generate a clean magnetic field signal; and identifying a characteristic of drilling operation performance associated with the drillstring based on the residual signal. ### Claim 16 (depends on 15) The non-transitory computer-readable storage medium of claim 15, further comprising adjusting one or more parameters related to the drilling operation performance based on the identified characteristic. ### Claim 17 (depends on 15) The non-transitory computer-readable storage medium of claim 15, wherein the identified characteristic comprises at least one of a drill tool displacement and drill tool patterns of motion. ### Claim 18 (depends on 15) The non-transitory computer-readable storage medium of claim 15, wherein the identified characteristic comprises changes in formation characteristics. ### Claim 19 (depends on 15) The non-transitory computer-readable storage medium of claim 15, wherein the identified characteristic comprises wellbore properties. ### Claim 20 (depends on 15) The non-transitory computer-readable storage medium of claim 15, wherein the identified characteristic comprises at least one drilling anomaly.