Abstract: An instrument package for use during the drilling a wellbore. The instrument package includes a plurality of instruments such as accelerometers, gyroscopes, and magnetometers; a computer is configured to determine the current position of the plurality of instruments from a set of measurements produced by the plurality of instruments; and wherein the plurality of instruments are mechanically isolated from a drill head assembly by one or more multi-degree of freedom vibration isolators. The computer preferably has at least two modes different analytical modes of analyzing the set of measurements produced by the plurality of instruments, including a continuous mode and a survey mode, the continuous mode being operational during times that active drilling is occurring and the survey mode being operational during times that the active drilling is not occurring.

Abstract: Described is a system for position estimation. A set of raw sensor outputs are acquired from a sensor of a platform. The set of raw sensor outputs are stored in non-transitory memory. A set of optimized sensor measurements is generated by deducing errors in the raw sensor outputs using an unconstrained optimization algorithm. The system determines a position of the platform based on the set of optimized sensor measurements.

Abstract: A method for dynamic characterization of an electrochemical system (such as a lithium-ion battery) is provided, comprising exciting an electrochemical system with a plurality of double-pulse sequences, each comprising a constant-current discharge pulse, a constant-current charge pulse having the same pulse width and pulse amplitude, and a zero-current period between the pulses; and calculating an impulse response, using a recursive or matrix-based method, to dynamically characterize the electrochemical system. A constant state-of-charge is maintained in the electrochemical system. Therefore the signal-to-noise ratio is high due to the repetition of the driving sequence. This method may be employed for on-line determination of the impedance spectrum of an electrochemical system, since the cycling profile can be easily integrated into charge/discharge profiles. Batteries (and other devices) can be diagnosed at high speed and with high accuracy. The double-pulse sequence is robust for fairly noisy systems.

Abstract: A method for generating an output of a downhole inertial measurement unit (IMU) includes: generating a trajectory between a plurality of survey points of a planned well data as a function of time, wherein the planned well data includes a plurality of three-dimensional coordinates corresponding to the survey points of an underground planned well are used to generate a trajectory comprising a plurality of trajectory coordinates between the consecutive ones of the survey points; generating sensor data for each of the trajectory coordinates as a function of time based on the geodetic reference parameters, the generated sensor data comprising: generated accelerometer output; generated gyroscopic output; and generated magnetometer output; and outputting the generated accelerometer output; the generated gyroscopic output; and the generated magnetometer output as a function of time as a generated output of the downhole IMU.

Abstract: Described is a system for adaptive calibration of a sensor of an inertial measurement unit. Following each sensor measurement, the system performs automatic calibration of a multi-axis sensor. A reliability of a current calibration is assessed. If the current calibration is reliable, then bias and scale factor values are updated according to the most recent sensor measurement, resulting in updated bias and scale factor values. If the current calibration is not reliable, then previous bias and scale factor values are used. The system causes automatic calibration of the multi-axis sensor using either the updated or previous bias and scale factor values.

Abstract: Some variations provide a method for real-time estimation of state of charge and state of power of a battery, comprising: (a) cycling a battery with a driving profile; (b) utilizing a recursive algorithm that relates battery terminal voltage to battery current, wherein the algorithm includes open-circuit voltage and a finite-impulse-response filter to dynamically model kinetic voltage; measuring the battery terminal voltage and the battery current at least at a first time and a second time during cycling; calculating battery open-circuit voltage and finite-impulse-response filter parameters; calculating battery state of charge based on the open-circuit voltage; and calculating battery state of power based on the open-circuit voltage and the finite-impulse-response filter parameters. An extended Kalman filtering technique is incorporated for real-time updating of FIR model parameters.

Abstract: Described is a system for incremental trajectory estimation of an implement. During operation, the system determines a time span of each stationary period of the implement based on accelerometer and gyroscopic data. Gyroscopic bias is then estimated based on the time span and gyroscopic data. An attitude of the implement is then estimated at each time step based on the estimated gyroscopic bias and gyroscopic data. Further, a traveling distance of the implement is estimated. Finally, a trajectory of the implement is estimated based on the estimated attitude and traveling distance. Given the trajectory estimate, an implement (e.g., drilling platform, vehicle, etc.) can be caused to alter its direction based on the trajectory estimate.

Abstract: Described is a system for estimating a trajectory of a borehole. The system processes signals of sensor streams obtained from an inertial sensor system. Using the set of processed signals, the system determines whether a drill is in a survey mode state or a continuous mode state, and a measured depth of the borehole is determined. A set of survey mode positioning algorithms is applied when the drill is stationary. A set of continuous mode navigation algorithms is applied when the drill is non-stationary. Using at least one Kalman filter, results of the set of survey mode positioning algorithms and the set of continuous mode navigation algorithms are combined. An estimate of a borehole trajectory and corresponding ellipse of uncertainty (EOU) is generated using the combined results.

Abstract: A number of variations may include a product comprising: at least one sensor comprising an optical fiber comprising a first end comprising a semiconductor material, a second end, and a longitudinal midsection comprising a grating, wherein the sensor is constructed and arranged to provide measurements that derive both state of charge and temperature of an electrochemical device simultaneously.

Abstract: A number of illustrative variations may include a method, which may include obtaining terminal voltage data of a electrochemical device; determining an equivalent circuit model which operates in a manner approximating the terminal voltage data comprising an open circuit voltage VOC comprising a constant voltage source V0 and a voltage Vs across a capacitor Cs, in series with an overpotential circuit comprising an overpotential voltage V1; determining at least one of the power capabilities of the equivalent circuit model; and, estimating at least one of the power capabilities of the electrochemical device based upon the determined power capabilities of the equivalent circuit model.

Abstract: The internal temperature of an electrochemical device may be probed without a thermocouple, infrared detector, or other auxiliary device to measure temperature. Some methods include exciting an electrochemical device with a driving profile; acquiring voltage and current data from the electrochemical device, in response to the driving profile; calculating an impulse response from the current and voltage data; calculating an impedance spectrum of the electrochemical device from the impulse response; calculating a state-of-charge of the electrochemical device; and then estimating internal temperature of the electrochemical device based on a temperature-impedance-state-of-charge relationship. The electrochemical device may be a battery, fuel cell, electrolytic cell, or capacitor, for example. The procedure is useful for on-line applications which benefit from real-time temperature sensing capabilities during operations. These methods may be readily implemented as part of a device management and safety system.

Abstract: The disclosed battery system comprises a three-electrode metal-ion battery configured with voltage meters connected between anode and cathode, between anode and a reference electrode, and between cathode and the reference electrode; a current source connecting the anode and cathode; and a programmable computer. The system is configured to control the current source to drive the battery with a current cycling profile, and to measure current signals between anode and cathode, and voltage signals derived from the voltage meters. An impulse response is then calculated for each of the anode and cathode, to dynamically estimate open-circuit potential and impedance of each of the anode and cathode. Battery aging, battery capacity fading, and other diagnostics are provided in real time. This invention can characterize each individual electrode of a battery, even when the battery is cycling away from equilibrium states, which is important for electric vehicles.

Abstract: Described is a system for position estimation. A set of raw sensor outputs are acquired from a sensor of a platform. The set of raw sensor outputs are stored in non-transitory memory. A set of optimized sensor measurements is generated by deducing errors in the raw sensor outputs using an unconstrained optimization algorithm. The system determines a position of the platform based on the set of optimized sensor measurements.

Abstract: In some variations, an apparatus provides real-time monitoring of voltage and differential voltage of both anode and cathode in a battery configured with at least one reference electrode. Voltage monitors are connected to a computer programmed for receiving anode voltage signals; receiving cathode voltage signals; calculating the derivative of the anode voltage with respect to time or with respect to capacity; and calculating the derivative of the cathode voltage with respect to time or with respect to capacity. Other variations provide an apparatus for real-time assessment of capacities of both anode and cathode in a battery, comprising a computer programmed for receiving electrode voltage signals; estimating first and second electrode open-circuit voltages at two different times, and correlating the first and second electrode open-circuit voltages to first and second electrode states of charge, respectively, for each of anode and cathode. The anode and cathode capacities may then be estimated independently.

Abstract: The present invention provides impulse-response-based algorithms for high-speed characterization of electrochemical systems (e.g., batteries) with good accuracy. In some variations, a method for dynamic characterization of an electrochemical system comprises selecting an electrochemical system to be characterized; sensing the measured current to or from said electrochemical system; sensing the measured voltage across said electrochemical system; sensing or calculating the time derivatives of the measured current and voltage; and calculating an impulse response using a recursive or matrix-based algorithm (as disclosed herein), wherein said impulse response characterizes said electrochemical system within a selected sampling window. The algorithms are robust, incorporating noise-reduction techniques, and are suitable for real applications under various operating conditions.

Abstract: This invention provides methods for dynamic estimation of the open-circuit voltage of a battery. In some embodiments, an impulse response is calculated using a matrix-based algorithm or a recursive algorithm. Then, a current response is calculated by convolving the impulse response with the measured current. The open-circuit voltage of the battery is derived by subtracting the current response from the measured voltage. Using the principles disclosed to estimate OCV, a lithium-ion battery may be managed with a battery-state estimator that allows accurate and timely estimation of the state of charge, the charge and the discharge power capabilities, and the state of health of the battery. These methods are able to accept various exciting signals, are stable and robust against noises, even when diffusion is a limiting kinetic factor in the battery.

Abstract: The present invention provides impulse-response-based algorithms for high-speed characterization of electrochemical systems (e.g., batteries) with good accuracy. In some variations, a method for dynamic characterization of an electrochemical system comprises selecting an electrochemical system to be characterized; sensing the measured current to or from said electrochemical system; sensing the measured voltage across said electrochemical system; sensing or calculating the time derivatives of the measured current and voltage; and calculating an impulse response using a recursive or matrix-based algorithm (as disclosed herein), wherein said impulse response characterizes said electrochemical system within a selected sampling window. The algorithms are robust, incorporating noise-reduction techniques, and are suitable for real applications under various operating conditions.

Abstract: A method of determining and predicting a state of a rechargeable battery device in real time involves measuring a current and a voltage of the rechargeable battery in real time, inputting the measured current and voltage into an algorithm, and applying the algorithm to determine the state of the rechargeable battery. The algorithm includes a first mathematical model based on a direct solution of at least one differential equation characterizing an equivalent RC circuit of the battery as a function of time. The first model generates a plurality of parameters that are usable to determine the state of the battery. The algorithm further includes a second mathematical model configured to regress the parameters over time, and a third mathematical model configured to estimate the state of the battery.

Abstract: In some variations, an apparatus provides real-time monitoring of voltage and differential voltage of both anode and cathode in a battery configured with at least one reference electrode. Voltage monitors are connected to a computer programmed for receiving anode voltage signals; receiving cathode voltage signals; calculating the derivative of the anode voltage with respect to time or with respect to capacity; and calculating the derivative of the cathode voltage with respect to time or with respect to capacity. Other variations provide an apparatus for real-time assessment of capacities of both anode and cathode in a battery, comprising a computer programmed for receiving electrode voltage signals; estimating first and second electrode open-circuit voltages at two different times, and correlating the first and second electrode open-circuit voltages to first and second electrode states of charge, respectively, for each of anode and cathode. The anode and cathode capacities may then be estimated independently.

Abstract: The internal temperature of an electrochemical device may be probed without a thermocouple, infrared detector, or other auxiliary device to measure temperature. Some methods include exciting an electrochemical device with a driving profile; acquiring voltage and current data from the electrochemical device, in response to the driving profile; calculating an impulse response from the current and voltage data; calculating an impedance spectrum of the electrochemical device from the impulse response; calculating a state-of-charge of the electrochemical device; and then estimating internal temperature of the electrochemical device based on a temperature-impedance-state-of-charge relationship. The electrochemical device may be a battery, fuel cell, electrolytic cell, or capacitor, for example. The procedure is useful for on-line applications which benefit from real-time temperature sensing capabilities during operations. These methods may be readily implemented as part of a device management and safety system.