Professional Documents
Culture Documents
Common Constructs. The absence of consistent mathematical
methods and nomenclature may hide common constructs and po- N
tential simplifications in the coding of the algorithms. For ex- p= E . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (2)
ample, an equation in the form CA sin()+B cos() appears in V
many of the geometric constructions associated with the minimum
curvature method. This equation can be solved explicitly for , and A unit direction vector t can be represented in terms of the local
several mathematically equivalent forms exist. Zaremba2 proposed inclination and azimuth , as shown in Eq. 3. The inclination and
the form (see Eq. 1) that is used throughout this paper: azimuth values can be calculated from the vectors components
using the expressions in Eqs. 4 and 5.
1
N sin cos
A A2 + B2 C 2 2
= 2 tan1
. . . . . . . . . . . . . . . . . . . . . (1) t= E = sin sin . . . . . . . . . . . . . . . . . . . . . . . . . . . (3)
B+C
V cos
When presented in this way, it can be seen that no real solutions
1
exist if C2>A2 + B2. This inequality has simple geometric interpreta- N2 + E22
tions and several examples of its use are highlighted in this paper. = tan1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (4)
V
Inconsistent nomenclature also leads to implemenational diffi-
culties. Review shows the nomenclatures used in the literature are
neither consistent with each other, nor consistent with accepted
mathematical practice. One example is the definition of the normal
= tan1
E
N
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (5)
vector that mathematical convention has pointing towards the cen- By using this reference frame, an implicit assumption is made
ter of curvature. This is opposite to the convention used in the that the Earth is flat. For moderate distances from the origin, this
earlier drilling literature. Because of the expansion in directional- assumption holds. For larger distances, such as those encountered
drilling applications, symbols inevitably conflict. The Industry in extended-reach wells, the Earths curvature is important and
Steering Committee on Wellbore Survey Accuracy has proposed corrections to the coordinates must be made. Williamson and
some standards,8 but with limited scope. We assert that the SPE Wilson10 discuss the matter in detail.
documentation standards9 associated with this subject area are no Borehole Reference Frames. Two reference frames are asso-
longer adequate and need revising. ciated with the borehole, see Fig. 2. The first frame is formed by
the highside, rightside, and tangent unit vectors h, r, and t, respec-
Directional Calculations tively. These form a right-handed, mutually orthogonal set. In
curved hole, the second frame comprises the normal, binormal, and
A consistent vector notation is used throughout this paper. This tangent unit vectors b, n, and t, respectively. These also form a
simplifies the development of the 3D equations and improves the right-handed, mutually orthogonal set. The angle between the
clarity and presentation of the results. For convenience, the main highside vector h and normal vector b is the toolface angle, .
vector operations are summarized in the Appendix. In some cases, The highside, rightside, and vertical unit vectors are represented in
series expansions have been used to ensure the smooth transition Eqs. 6, 7, and 8. Expressions for the normal and binormal vectors
of an expression into what would otherwise be an indeterminate b and n can be found in the Appendix (Eqs. A-8 through A-12).
form. The thresholds at which the series approximations should be
used depend on the machine precision. The constants used in this cos cos
paper assume calculations are good to at least nine significant h= cos sin , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (6)
digits. The angle subtending the arc may assume values such that
0<. Throughout, it is also assumed that the start and end sin
points of the arc are not coincident. Until such time as the stan-
dards are officially revised, we have chosen to maintain common-
ality with earlier papers on this subject and use a vector b pointing
r=
sin
cos , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (7)
0
away from the center of the arc. For comparison with mathematical
texts, the normal vector is, therefore, b. 0
Reference Frames. Coordinate Reference Frame. The tradi-
tional reference frame for directional work uses north, east, and v= 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (8)
1
Fig. 1North, east, and vertical coordinate reference frame. Fig. 2Borehole reference frames, including the toolface angle .
running and directional-drilling operations. For the minimum cur- There is a second possible solution for Eq. 9, which is equal to
vature method, the expression for the dogleg severity takes the (2). The measured depth between the survey stations must be the
form of (18,000* /)/(D2D1) in oilfield units. The difference in same in both cases, implying the second solution has a greater cur-
measured depths, D2D1, between the points is referred to as the vature, see Fig. 5. When calculating directional surveys, the density of
course length, S12. survey stations, behavior of the bottomhole assemblies, and knowl-
Most expressions found in the literature involve the calculation edge of the toolface settings means this situation is of no practical
of an arc cosine. These have been used even though it is recog- concern. This may not be the case for adjacent points in a well-plan
nized that cosines of small angles are more difficult to handle than trajectory, which may be separated by considerable distances.
sines of small angles. Eq. 9, developed by Lubinski,3 does not
make any assumption about the actual path of the wellbore, yet it Interpolation. This is often required to identify the coordinates of
is mathematically equivalent to the expression traditionally used in a particular point, for example, p* on a trajectory, see Fig. 6. In all
the minimum curvature method. An expression for tan(/2) is cases, the problem reduces to one of interpolation or extrapolation
readily developed from it: on an arc, defined by the positions p1 and p2 and directions t1 and
t 2 of its end points. The algorithms presented here may be used for
1
both functions. The interpolation may be driven by one of several
2 1 2 1 2 parameters, such as measured depth, subtended angle, inclination,
= 2 sin1 sin2 + sin1 sin2 sin2 . azimuth, northing, easting, or vertical ordinate.
2 2
. . . . . . . . . . . . . . . . . . . . . . . . . . . (9) Before discussing each of these cases, it is worth reviewing the
properties of a circular arc. The subtended angle, inclination, and
Because the trigonometrical identity and computational advan- azimuth of a point on a circular arc can be determined solely by the
tages of Eq. 9 were recognized, it is surprising that it has not been attitude of the circle in the coordinate reference frame. Knowledge
adopted sooner. The dogleg severity can be related to both the of the size of the circle enables course lengths to be determined.
radius of curvature and the curvature, , of the arc, by use of the Finally, it is only if a north, east, or vertical ordinate is needed that
relationships (see Eq. 10): the absolute position of the circle in the reference frame must
be defined.
1 * Interpolation on Measured Depth. The association of events
= = = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (10)
R S12 S* or observations, such as formation tops and overpulls with points
on the wellbore, is a common requirement. Interpolations on mea-
Survey Calculation. Accurate determination of wellbore position sured depth determined from the pipe tally are, therefore, the most
is critical to well placement, collision avoidance, reservoir mod- common interpolation mode. If S* is the course length along the
eling, and equity determination. Though the accuracy of the mini-
mum curvature method is acknowledged, Stockhausen and Lesso11
showed that modern drilling practices could introduce systematic
errors, even with survey intervals as frequent as 100 ft.
The position of the next survey point, p2, is calculated from
p1 by use of Eq. 11, see Fig. 4. The shape factor f() equals
tan(/2)/(/2). Details are summarized in the Appendix (Eqs. A-6
through A-17).
p2 = p1 +
S12 f
2 sin1 cos1 + sin2 cos2
sin1 sin1 + sin2 sin2 . . . . . . . . . (11)
cos1 + cos2
Straight-Hole Conditions. When equals 0, the shape factor is
mathematically indeterminate, so for <0.02 radians, the series
expansion (Eq. 12) should be used instead.12 The series is pre- Fig. 5The two possible mathematical solutions.
tion vector, t*, at a point p* on an arc to be determined solely from Interpolation on Inclination. The determination of measured
the direction vectors of its start and end points and the angle depths corresponding to some inclination range appears in the
subtended from the first point p1 to the point of interest. Refer to automation of calculations for hole cleaning and rock mechanics.
the Appendix (Eqs. A-18 through A-26). First, check that both points 1 and 2 are not equal to /2. In this
condition, the arc would lie in the horizontal plane and no solutions
sin * sin*
t* = t1 + t . . . . . . . . . . . . . . . . . . . . . . . . . . (13) are possible. In the Appendix (Eq. A-30), it is shown that the
sin sin 2 subtended angle * can be calculated with Eq. 1. In this case, the
Many of the algorithms presented in this paper involve the constants A, B, and C are given by Eqs. 20 through 22:
determination of the subtended angle * as a first step. The rela- A = cos2 cos cos1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (20)
tionship in Eq. 13 provides a convenient means of determining the
other parameters at the point, once the subtended angle has been B = sin cos1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (21)
found. For example, once t* is known, the corresponding point p*
C = sin cos* . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (22)
can be calculated using the minimum curvature equation (Eq. 11).
Straight-Hole Conditions. When the subtended angle, , equals If C2 > A2 + B2, then the orientation of the plane containing the
zero, both terms in Eq. 13 are indeterminate. For <0.02 radians, arc is too close to the horizontal plane to enable the desired incli-
these terms that contain factors of the form sin(c)/sin may be nation to be reached; no solutions exist. The corresponding azi-
expanded14 in another Horner series (see Eq. 14): muth value can be determined from Eq. 23:
sinc
sin
1 c2
c + 2 c
6 6
+ 2 c
7
360
+ c2
1 c2
+
36 120
* = tan1 sin1 sin1 sin * + sin2 sin2 sin*
sin1 cos1 sin * + sin2 cos2 sin*
.
. . . . . . . . . . . . . . . . . . . . . . . . . . (23)
31 7 1 c2
+ 2 c + c2 + c2 Straight-Hole Conditions. Inclination varies linearly with mea-
15,120 2,160 720 5,040 sured depth in near-straight-hole conditions. For the subtended
+ c2 127
604,800
+ c2
31
90,720
+ c2
7
43,200 angle, < 104 radians, Eq. 24 should be used to determine the
course length. The remaining properties can be determined by
interpolating on this depth:
+ c2 1
+
c2
30,240 362,880
. . . . . . . . . . . . . (14) S* S12 * 1
2 1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (24)
It should be noted that this interpolation mode is impossible Interpolation at a Plane. A plane can be used to represent
when the subtended angle is identically 0, unless the constant, c, many geological features, such as formation horizons and faults. In
can be defined in some other way, such as by use of the ratio of the 3D visualization tools, collections of interlocking planes are used
course lengths. to represent complex geological features. Imaginary planes can be
Interpolation on Azimuth. Occasionally, it is necessary to used to represent lease boundaries, or the north, east, and vertical
truncate a well-plan trajectory at a depth so that it is lined up with limits, on directional plots. The point p* at which the well meets
a specified direction. First, check the condition sin1 sin2 sin(2 or crosses these features, is of great practical interest, see Fig. 7.
1)0 to determine that the arc does not lie in the vertical plane The plane is uniquely defined by its normal vector m and any point
and that a solution exists. The subtended angle is then determined px on it.
by use of Eq. 15: There are five possible relationships between the arc and
C=
m px p1 sin
S12
+ m t1cos m t2. . . . . . . . . . (27)
* = tan1 cos1 sin2 sin2 cos2 sin1 sin1
cos1 sin2 cos2 cos2 sin1 cos1
. . . . . . . (31)
S*
m px p1
m t1
1 1 . . . . . . . . . . . . . . . . . . . . . . (29)
2
Orientation of the Target Plane. The normal vector m, defining
the orientation of the target plane, can be constructed in terms
of the dip angle, , and dip azimuth, , of the plane according to
Eq. 30:
m= sin cos
sin sin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (30)
cos
North, East, and Vertical Interpolation. The interpolations on
north, east, or vertical ordinates are particular cases of the more
general expression. The values of the vectors px and m to use in
each of these are listed in Table 1. For example, if the well is
building and approaching an eastern lease line, use the vectors
listed under the heading East, with E* set equal to the numeric Fig. 8The turning point p* is the point at which the well be-
value of the eastern boundary limit. comes horizontal.
Fig. 9In general, one curved and one straight section are re- sponding to the minimum distance to the target, are calculated with
quired if only the position p3 of the target is defined.
Eqs. 35 and 36, respectively:
1 1
are two possible trajectories from p1 to p3, shown by the solid and
dashed lines in Fig. 10. All the trajectories lie in a plane. The solid = 2 2R2 222 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (35)
line shows the minimum distance to the target. The other trajec- and
tory, shown by the dashed line, requires an angle change greater
than .
The changes in angle can be categorized according to the po- = 2 tan1 1
. . . . . . . . . . . . . . . . . . . . . . . . . (36)
sition of the target point p3, relative to the starting point p1 and the 2R 2
2 2
2 2 2
c = 2 tan1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (39)
arcs need to be determined at each iteration. Inspection of Fig. 13
shows that, in general, each of the two sets of points (p1, p2, p3 and 1 cos 2 S12
* = tan1 1 + . . . . . . . . . . . . . . (45)
p2, p3, p4) are geometrically similar. This suggests applying the sin
minimum distance-to-target algorithm alternately for each of the
sets of points. The corresponding position p* on the arc is determined by
Let p1,j and p4,j be the targets and 1,j and 2,j be the subtended interpolating on the subtended angle *, and then using the mini-
angles at the jth iteration. To start the scheme, the subtended angle mum curvature equation. Finally, the distance is calculated from
1,0 is calculated using the minimum distance-to-target algorithm the magnitude of the vector (pxp*). Mathematical and practical
between the points p1 and p4. This corresponds to Trajectory 1 in difficulties arise when the distance to the point is of the same
Fig. 14. magnitude or exceeds the radius of the curvature of the arc. Further
A new target, p1,1, is calculated with Eq. 40: discussion on this topic may become available in future publications.
p1,j+1 = p1 + R1 tan
1,j
2
t1. . . . . . . . . . . . . . . . . . . . . . . . . . . . (40)
The subtended angle, 2,0, is now calculated for the second arc,
using the points p4 and p1,1. When performing the calculation, the
direction of the borehole at p4 must be set to t4, to calculate the
correct angle. This corresponds to Trajectory 2 in Fig. 14. A
new target, p4,1, is calculated with Eq. 41, which completes the
first iteration:
p4,j+1 = p4 R2 tan
2,j
2
t4. . . . . . . . . . . . . . . . . . . . . . . . . . . . (41)
S*
S121
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (46)
* = cos* , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (51)
1 2 + S12
sin*
The point p* is calculated by interpolating on measured depth, * = , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (52)
sin*
assuming straight-hole conditions. For these very small, subtended
angles, the value of the shape factor f(*) in the minimum curva- and
ture equation equals unity. Again, the distance is calculated from 1
the magnitude of the vector (pxp*).
= *2 + *2 sin2*2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (53)
Toolface Angle. Liu and Shi16 provided useful expressions for the Eqs. 51 and 52 can be used to derive the equivalents (Eqs. 54
toolface at the start and end of the arc, in terms of the inclination and 55) of Liu and Shis16 expressions. The representation of the
and azimuth values at its ends. The Appendix (Eqs. A-66 through azimuthal component is simplified:
A-79) shows how the general vector equation provided by
Thorogood and Sawaryn18 may be expanded in terms of the incli- cos *cos1 cos* cos2
* = . . . . . . . . . . . . . . . . (54)
nation and azimuth values at any intermediate point on the arc, as sin sin*
well as at its ends (Eq. 47):
and
tan * =
sin*sin2 cos* sin2 * + sin1 cos *sin* 1
cos *cos1 cos* cos2
.
* = sin2 cos* sin2 * + sin1 cos *sin* 1
sin sin*
. . . . . . . . . . . . . . . . . . . . . . . . . . (47) . . . . . . . . . . . . . . . . . . . . . . . . . . (55)
At the ends, this expression reduces to those presented by Liu Straight-Hole Conditions. Again, for <104 radians, small-
and Shi.16 Eqs. 48 and 49 have a small advantage because they are angle approximations to Eqs. 54 and 55 are used, and Eqs. 56 and
not singular when the inclination at either of the ends is zero. 57 are used to calculate the curvatures. If the azimuth values in Eq.
Dividing both numerator and denominator by a factor that can be 57 straddle north, the minimum angular difference should be used:
zero causes the singularity.
* 1 , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (56)
1 2
sin2 sin2 1 *
1 = tan 1
. . . . . . . (48) S* S12
sin2 cos1 cos2 1 sin1 cos2
and
* . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (57)
and
1
1 2
sin1 sin2 1 *
2 = tan 1
. . . . . . . (49) S* S12
sin2 cos1 sin1 cos2 cos2 1
Implementation and Testing
Straight-Hole Conditions. For <104 radians, small-angle
The algorithms in this paper are presented in logical order with the
approximation to Eq. 47 is used, giving Eq. 50. The toolface is
later, more-complex cases using results of earlier ones. It is rec-
constant over the arc and is undefined when 0. If the azimuth
ommended that the routines are coded and tested in this order. All
values in Eq. 50 straddle north, the minimum angular difference
the equations required for successful implementation are contained
should be used:
in the body of the paper.
tan* sin1 2 1
2 1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (50)
Once coded, a good test procedure is to calculate values in two
different ways. For example, a point can be interpolated using each
of the following: measured depth, inclination, and azimuth deter-
mined from the previous calculation in cyclic order. The results
Curvature. The total curvature, , is a constant 1/R on a circular
should be identical. The four-point trajectory presented in Table 2
arc (see Fig. 16). Liu and Shi16 presented expressions for the
is constructed with both the wellbore position and direction at the
inclination and azimuthal components of the curvature at any point
target defined. This example can be used to test most of the algo-
on an arc, in terms of the toolface angle at its start.
rithms presented here. Station numbers with alphabetical suffixes
Using vector methods, the inclination and azimuthal curvatures
indicate interpolated points. Williamson8 presents other trajecto-
can be shown to be Eqs. 51 and 52, respectively. The signed values
ries that may be used as tests in both oilfield and metric units.
Conclusions
1. Previously unpublished algorithms have been presented for
small-angle approximations associated with a circular arc, the
determination of a turning point, a general expression for tool-
face angle, and the minimum distance to a target with and with-
out the direction at the target defined.
2. Vector methods are useful tools for 3D-directional calculations
and often result in simpler expressions compared to other
means. Their use is recommended.
3. A standard nomenclature is required for all directional work that
is compatible with other related subject areas, such as survey-
instrument design and terrestrial surveying. Consistency with
accepted mathematical conventions in vector calculus should
also be reviewed.
4. The point-to-target algorithm, with both position and direction
Fig. 16The principal curve, inclination, and azimuthal components. at the target defined, is the only construction presented in this
18. Thorogood, J.L. and Sawaryn, S.J.: The Travelling-Cylinder Diagram:
S12
A Practical Tool for Collision Avoidance, SPEDE (March 1991) 31. p2 = p1 + tan t + t . . . . . . . . . . . . . . . . . . . . . . . . . (A-15)
19. Wilson, G.J.: An Improved Method for Computing Directional Sur- 2 1 2
veys, JPT (August 1968) 871. Straight-Hole Conditions. For small angles, tan(z) can be ex-
20. Weatherburn, C.E.: Elementary Vector Analysis, G. Bell and Sons, panded in a Taylor series,21 Eq. A-16. Using the first five terms of
London (1967). the expansion, the factor tan(/2)/(/2) can be put into Horner12,13
21. Abramowitz and Stegun: Handbook of Mathematical Functions, Dover, form, giving Eq. 12 in the body of the paper:
New York City (1972) 75.
z3 2z5 17z7 62z9
Appendix tanz = z + + + + + . . . . . . . . . . . . . . . . . (A-16)
3 15 315 2835
Summary of Vector Methods. Weatherburn20 presents details of
all vector methods used in this paper. The key constructions are the For small angles, the shape factor can be treated as unity and
dot, or scalar, product () and vector cross product (). Let a1, a2, Eq. A-15 reduces to Eq. A-17, which is recognized as the balanced
a3; b1, b2, b3; and c1, c2, c3 be the N,E,V components of vectors a, tangential-survey calculation method3:
b, and c, respectively. Let be the angle between the a and b S12
vectors, and n be a unit vector normal to both a and b. The dot and p2 p1 + t + t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-17)
2 1 2
cross products are then described by Eqs. A-1 through A-3:
a b = a1b1 + a2b2 + a3b3, . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-1) Interpolation. Referring to Fig. 6, interpolation involves deter-
mining the position p* at some point on the arc, given a criterion.
a b = a b cos, . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-2) The corresponding direction vector at the point is t* (Eq. A-18):
a b = a b sin n, . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-3)
a b c = a cb a bc, . . . . . . . . . . . . . . . . . . . . . (A-4)
a b c = a1b2c3 b3c2 + a2b3c1 b1c3 + a3b1c2 b2c1.
t* = sin* cos*
sin* sin* . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-18)
cos*
. . . . . . . . . . . . . . . . . . . . . . . . (A-5) The binormal vector, n12, can also be written in terms of the
direction vectors at the start point and the point at which the
Minimum Curvature. Zaremba2 presented the following deri- interpolation is to take place:
vation (refer to Fig. 4, the direction vectors t1 and t2 at the arcs t1 t*
ends are given by Eqs. A-6 and A-7, respectively): n12 = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-19)
sin*
sin1 cos1
Equating Eqs. A-8 and A-19, and taking the cross product of
t1 = sin1 sin1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-6) both sides of the equality with t1, gives Eq. A-20:
cos1
t1 t1 t* t1 t1 t2
= . . . . . . . . . . . . . . . . . . . . . . . (A-20)
and sin* sin
t2 = sin2 cos2
cos2
sin2 sin2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-7)
Using Eq. A-4 to expand the triple-cross products, and rear-
ranging for t*, gives Eq. A-21:
t* = t1 cos*
sin*t1 cos t2
. . . . . . . . . . . . . . . . . . . . (A-21)
The binormal vector, n12, and vectors b1 and b2 at the arcs sin
ends, are given by the Eqs. A-8, A-9, and A-10, respectively: Multiply the numerator and denominator of the first term in
t1 t2 A-21 by sin and collect terms in t1 and t2. After simplification,
n12 = , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-8) this gives the important relationship in A-22 that is the foundation
sin for all the interpolation formulae:
b1 = t1 n12, . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-9) sin * sin*
t* = t1 + t . . . . . . . . . . . . . . . . . . . . . . . . (A-22)
and sin sin 2
b2 = t2 n12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-10) Substituting Eqs. A-6, A-7, and A-18 into Eq. A-22 gives
Eq. A-23:
Substituting n12 from Eq. A-8 into Eqs. A-9 and A-10, and using
Eq. A-4 for the vector triple products, gives Eqs. A-11 and A-12: sin* cos* sin1 cos1
sin *
t1 cos t2 sin* sin* = sin1 sin1
sin
b1 = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-11) cos* cos1
sin
sin2 cos2
and sin*
+ sin2 sin2 . . . . . . . . . . . . (A-23)
t1 t2 cos sin
b2 = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-12) cos2
sin
Interpolation on Measured Depth. Because the radius of the
The position p2 is calculated from p1 using Eq. A-13. Sub- arc is fixed, the ratio of the subtended angles is identical to the ratio
stituting b1 and b2 from Eqs. A-11 and A-12 into Eq. A-13 of the course lengths to the same points, as shown in Eq. A-24:
gives Eq. A-14:
* S*
p2 = p1 + Rb2 b1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-13) = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-24)
S12
1 cos Substituting * from Eq. A-24 into Eq. A-22, gives Eq. A-25
p2 = p1 + R t1 + t2. . . . . . . . . . . . . . . . . . . . . . . (A-14)
sin for t*, in terms of the course lengths:
t* 1
S*
t +
S12 1
S*
t . . . . . . . . . . . . . . . . . . . . . . . . . . (A-26)
S12 2
is badly behaved. Small-angle approximations must be used, and
the interpolation must be conducted with respect to measured
depth. The expression Eq. A-17 can be used to calculate the po-
Interpolation on Azimuth. Dividing the easting and northing sition of p* from p1, as shown in Eq. A-36:
components of Eq. A-23 eliminates sin*, giving the expression
S*
Eq. A-27: p* = p1 + t + t*. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-36)
2 1
sin* sin1 sin1 sin * + sin2 sin2 sin*
= . Sustituting Eq. A-26 into Eq. A-36 gives Eq. A-37:
cos* sin1 cos1 sin * + sin2 cos2 sin*
. . . . . . . . . . . . . . . . . . . . . . . (A-27) S*2
t t + S*t1 p* p1 = 0. . . . . . . . . . . . . . . . . . . (A-37)
Next, expand the terms sin(*) in both numerator and the 2S12 2 1
denominator of Eq. A-25 by use of the trigonometric identity: Taking the dot product of Eq. A-37, with the normal vector m
sin(*)sin cos*sin* cos. The terms involving sin* of the plane, and substituting (mpx) for (mp*), as before, gives a
are then collected on the left side of the equals sign, and terms quadratic equation (Eq. A-38) in the course length, S*. Eq. A-38
involving cos* are collected on the right side. The azimuth terms has the solution Eq. A-39:
are then combined by use of the same trigonometric identity to
give Eq. 15 for *, which was used to interpolate on azimuth in the m t2 m t1 2
body of the paper. The traditional form of the dogleg-severity S* + m t1S* m px p1 = 0 . . . (A-38)
2S12
equation3 Eq. A-28 can be used to determine *. This is in the
form of CA sin(*)+B cos(*): and
1
cos* = sin1 cos* 1sin* + cos1 cos*. . . . . . . . (A-28) 2m t2 t1m px p1 2
m t1 m t1 + 2
If the arc lies in the vertical plane, then (vn12) equals 0, and the S12
S* = .
solution is single valued. The vector n12 is given by Eq. A-8. Ex- m t2 t1
panding the scalar triple product using Eq. A-5 gives the expression S12
. . . . . . . . . . . . . . . . . . . . . . . (A-39)
sin1 sin2 sin2 1
= 0. . . . . . . . . . . . . . . . . . . . . . . . . (A-29) To simplify the manipulation, define a variable, , according to
sin
Eq. A-40. Eq. A-39 can then be written as Eq. A-41:
Interpolation on Inclination. Extracting and rearranging the
vertical component of Eq. A-23 gives Eq. A-30, which is of the m px p1m t2 m t1
= . . . . . . . . . . . . . . . . . . . (A-40)
form CA sin(*)+B cos(*). Once * has been found, the azi- S12m t12
muth component is determined from Eq. A-27:
1
sin* cos* = cos2 cos cos1sin* + sin cos1 cos*. m t1 m t11 + 22
. . . . . . . . . . . . . . . . . . . . . . . (A-30) S* = . . . . . . . . . . . . . . . . . . . . (A-41)
m t2 m t1
Interpolation at a Plane. Refering to Fig. 7, Eq. A-14 can be S12
used to calculate the point p* from p1. The radius, R, can be
Because 2 is much smaller than unity, the square root may be
expressed as S12/ to give Eq. A-31:
expanded in a series using the first four terms of the binomial
S121 cos* expansion,21 Eq. A-42, to give Eq. A-43:
p* = p1 + t1 + t*. . . . . . . . . . . . . . . . . . . . . (A-31)
sin* 1
z z2 z3 z4
1 + z2 = 1 + + + . . . . . . . . . . . . . . . . . . . . (A-42)
Now, use Eq. A-21 to substitute for t* in Eq. A-31 to give Eq. A-32: 2 8 16 128
p* = p1 +
S121 cos*
sin*
1 + cos*t1
sin*t1 cos t2
sin
. m t1 m t1 1 + 2 3
+
2 2
S* . . . . . . . . . . . . (A-43)
. . . . . . . . . . . . . . . . . . . . . . . (A-32) m t2 m t1
S12
Now, take the dot product of Eq. A-32, with the normal vector
m of the plane, and rearrange slightly: From Eq. A-43, it can be seen that the positive root must be
chosen so that the expression degenerates to the straight-line case
m p* p1 =
S121 cos*
sin*
1 + cos*m t1
when equals 0. Factoring Eq. A-43 gives Eq. 29 in the body of
the paper.
Turning Point. From Fig. 8, the vector t* can be written as Eq.
sin*m t1cos m t2 A-44. The angle between the n12 and v vectors is :
. . . . . . . . (A-33)
sin
n12 v
The equation of the plane20 is given by Eq. A-34, showing t* = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-44)
sin
(mpx)(mp*):
Using A-8 for n12, and expanding the resulting vector triple
m px p* = 0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-34) product, gives Eq. A-45:
2R sin
cos* sin2 cos2 2 = 2R21 cos + R sin
cos1 cos
sin* = sin2 sin2
sin sin 2 2R sin + R2 sin2
0 cos2 + . . . . . . . . (A-60)
cos2
sin1 cos1
cos2 Multiplying by cos2 and rearranging terms, gives Eq. A-61.
sin1 sin1 . . . . . . . . . . . . . (A-46)
sin sin Completing the square on the right side of Eq. A-61 gives
cos1 Eq. A-62:
Dividing the easting by the northing components gives Eq. 31
2 cos2 = 2R sincos 1 + 2 + R21 + cos2
in the body of the paper, for the azimuth * of the turning point.
2R2 cos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-61)
Position at Target Defined. In the most general case, the target p3
can be hit with one curved section of radius R and one straight 2 2cos2 = sin R1 cos2. . . . . . . . . . . . . (A-62)
section of length (see Fig. 9). Using Eq. A-15, the position p3 of Taking the square root of Eq. A-62 and rearranging for R
the target can be written as Eq. A-47: results in equation Eq. A-63 in the form of CA sin()+B cos().
|p3 p1|2 = 2R21 cos + 2R sin + 2. . . . . . . . . . . . (A-49)
Let tan = 1
. . . . . . . . . . . . . . . . . . . . . . . (A-64)
2
2R 2
22
2 = |p3 p1|2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-50)
Setting 0 and RRc in Eq. A-64, gives Eq. 39 in the body
and of the paper for the subtended angle, c, for the minimum curva-
= p3 p1 t1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-51) ture to target.
Substituting Eq. A-50 into Eq. A-49 and Eq. A-51 into Eq. Toolface Angle. The toolface angle is determined by the dot prod-
A-48 gives Eqs. A-52 and A-53, respectively. The variable is ucts between the b, h, and r vectors (see Fig. 2).
determined using Pythagorass theorem (see Fig. 12).
b* h* = cos* . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-65)
= R sin + cos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-52)
and
and
b* r* = sin*. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-66)
2 = 2R21 cos + 2R sin + 2. . . . . . . . . . . . . . . . . . (A-53) Eqs. A-65 and A-66 lead directly to the vector equation Eq.
Multiplying Eq. A-52 by 2R gives Eq. A-53. Rearranging Eq. A-67 for the toolface angle presented by Thorogood and Sawaryn18:
A-54 gives Eq. A-55:
2R sin + 2R cos = 2R . . . . . . . . . . . . . . . . . . . . . . . . (A-54)
2
tan* = b* r*
b* h*
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-67)
and The rightside unit vector lies in the horizontal plane, normal to
both the v and t* vectors, as shown in Eq. A-68. Evaluating the
2R sin 2R2 cos = 2 2 2R2. . . . . . . . . . . . . . . . . (A-55) expression gives Eq. 7 in the body of the paper.
Squaring both Eqs. A-54 and A-55, and adding the results, v t*
r* = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-68)
eliminates and results in a quadratic in 2, as shown in Eq. A-56. sin*
Solving the quadratic gives an explicit expression for
The highside unit vector lies in the vertical plane normal to
(Eq. A-57).
both the r* and t* vectors, as shown in Eq. A-69. Combining Eq.
4 222 + 4 4R22 + 4R22 = 0, . . . . . . . . . . . . . . . (A-56) A-68 with Eq. A-69, and expanding the triple vector product gives
Eq. A-70. Evaluating the expression gives Eq. 6 in the body of
1 1
the paper.
= 2 2R2 222. . . . . . . . . . . . . . . . . . . . . . . . . . . (A-57)
h* = r* t* . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-69)
Inspecting Eq. A-57, the minimum curvature to target will oc-
cur when 0 and the radius equals Rc, as shown in Eq. A-58. t* cos* v
h* = . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-70)
The negative root of Eq. A-57 is the correct one: sin*
2 The unit vector, b*, is normal to both the t* and n12 vectors.
Rc = 1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-58) Combining Eqs. A-8 and A-18 with Eq. A-71 gives Eq. A-72:
22 22 b* = t* n12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-71)
To find the angle , rearrange Eq. A-52 for and square the cos *t1 cos* t2
b* = . . . . . . . . . . . . . . . . . . . . . . . . (A-72)
result to give Eq. A-59: sin
and = * r*. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-81)
t* t2t1 t* t1t2 t* cos* v sin* dS*
b* h* =
sin sin* Eliminating the differential between Eqs. A-79 and A-80 and
. . . . . . . . . . . . . . . . . . . . . . . (A-73) taking the dot product of both sides with h* gives Eq. 51 for * in
cos* cos2 + cos *cos1 the body of the paper. The use of Eqs. A-65 and A-74 for b*h*
b* h* = . . . . . . . . . (A-74) gives Eq. 54 in the body of the paper.
sin sin* Eliminating the differential between Eqs. A-79 and A-81, and
taking the dot products of both sides with r*, gives Eq. 52 for *
Taking the dot product of Eqs. A-72 and A-68 gives an ex-
in the body of the paper. The use of Eqs. A-66 and A-78 for b*r*
pression for (b*r*), as shown in Eq. A-75:
gives Eq. 55 in the body of the paper.
cos*t2 v t* cos *t1 v t*
b* r* = .
sin sin* SI Metric Conversion Factors
. . . . . . . . . . . . . . . . . . . . . . . (A-75)
ft 3.048* E01 m
By use of Eq. A-5, the scalar triple products in Eq. A-75 are /100 ft 0.984252 E00 /30 m
given by Eqs. A-76 and A-77. Inserting these expressions into *Conversion factor is exact.
Eq. A-75 gives the final form for (b*r*), as shown in Eq. A-78:
t1 v t* = sin1 sin* sin* 1, . . . . . . . . . . . . . (A-76) Steve Sawaryn is currently the Wells Team Leader, Engineering,
for BPs Mature Business Unit in Aberdeen and is also the Drilling
t2 v t* = sin2 sin* sin2 *, . . . . . . . . . . . . . . (A-77) and Completions Adviser, specializing in drilling systems. During
the last 26 years, he has held a variety of posts in drilling op-
b* r* = erations and consultancy, as well as in projects in Aberdeen,
sin2 cos* sin2 * + sin1 cos *sin* 1 London, Kuwait, Alaska, and Norway. He is also a chartered
. engineer and fellow of the British Computer Soc. Sawaryn
sin holds an MA degree in chemical engineering from Cambridge
. . . . . . . . . . . . . . . . . . . . . . . (A78) U. He is currently serving on the SPE Digital Energy Committee.
John Thorogood is Chief Engineer for the BP Sakhalin explora-
The general expression (Eq. 47) given in the body of the paper tion program, based in Yuzhno-Sakhalinsk, Russia. In addition,
for toolface angle *, is obtained by substituting Eqs. A-74 and he is actively working on the issues associated with the opera-
A-78 into Eq. A-67. tional command and control of drilling operations. He project
managed the BP deepwater exploration operations in the
Curvature. Referring to Fig. 16, Frenets20 formula for total cur- Faroe Islands, U.K. sector, and in Norway from 1996 to 2001. He
vature, , gives Eq. A-79: has 30 years of experience in drilling operations and technol-
ogy, including his participation in the original deepwater wells
dt* west of Shetland in the early 1980s, and is the author of more
= b*. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (A-79) than 40 papers on directional drilling, surveying, and deepwa-
dS* ter operations. Thorogood holds BA and PhD degrees from
Cambridge U. and is a member of the U.K. Inst. of Mechanical
The definitions for *
and * as the inclination and azimuthal Engineers. He has served on the SPE Board of Directors with
components of the curvature, respectively, give Eqs. A-80 and A-81: special responsibility for Drilling and Completions.