Surface steerable drilling system for use with rotary steerable system

A method for rotary steerable drilling, comprising:

• calculating, by a rotary steerable system, a first plurality of convergence plans if an estimated position of a drill bit is not within a defined margin of error of a desired point along a planned path for a borehole, wherein each of the first plurality of convergence plans defines a first solution vector to realign the drill bit with the planned path from the estimated position based on drilling operation information including feedback information, formation information, and a set of financial cost parameters;
• calculating, by the rotary steerable system, a second plurality of convergence plans if the estimated position of the drill bit is not within the defined margin of error, wherein each of the second plurality of convergence plans defines a second solution vector to realign the drill bit with the planned path from a projected position based on the drilling operation information, wherein the projected position is determined by extending a current trajectory of the bit from the estimated position;
• selecting, by the rotary steerable system, a convergence plan that best satisfies a set of target parameters from the first and second plurality of convergence plans;
• producing, by the rotary steerable system, a set of control parameters representing the selected convergence plan;
• transmitting, by the rotary steerable system, one or more commands to one or more rotary steering components to actuate the one or more rotary steering components, in order to alter the planned path for the borehole in accordance with the set of control parameters;
• and
• drilling, by the drilling rig, at least a portion of the borehole based on the set of control parameters.

A method for drilling a borehole comprising:

• receiving, by a rotary steerable system, feedback information from a drilling rig engaged in using a drill bit to drill a borehole in a formation;
• calculating, by the rotary steerable system, an estimated position of the drill bit in the formation based on the feedback information;
• comparing, by the rotary steerable system, the estimated position of the drill bit to a desired position of the drill bit along a planned path of the borehole;
• calculating, by the rotary steerable system, a plurality of solutions if the comparison indicates that the estimated position is outside a defined margin of error relative to the desired position, wherein each of the plurality of solutions defines a path from the estimated position to the planned path;
• calculating, by the rotary steerable system, a cost of each of the plurality of solutions;
• selecting, by the rotary steerable system, a first solution from the plurality of solutions based at least partly on the cost of the first solution;
• producing, by the rotary steerable system, control information representing the first solution;
• outputting, by the rotary steerable system, the control information for the drilling rig;
• transmitting, by the rotary steerable system, one or more commands to one or more rotary steering components to actuate the one or more rotary steering components, in order to alter the planned path for the borehole in accordance with the control information;
• and
• drilling, by the drilling rig, at least a portion of the borehole based on the control information.