method and system for estimating a state of a steerable rotary drilling system; and, state estimating rotatable drilling system

摘要

A method of estimating a state of a rotatable rotary drilling system comprising applying from a control input to a rotatable rotary drilling system, detecting an actual output from the rotatable rotary drilling system, inserting the control input into a mathematical model. rotatable drilling system, receive an estimated rotatable drilling system output from the mathematical model, generate an error compensation signal based on a difference between the actual output and the estimated output, and apply the offset compensation signal. error to the mathematical model.