SPE 56702
Accuracy Prediction for Directional MWD
Hugh S. Williamson, SPE, BP Amoco
Copyright 1999, Society of Petroleum Engineers Inc.
This paper was prepared for presentation at the 1999 SPE Annual Technical Conference and Exhibition
held in Houston, Texas, 3–6 October 1999.
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Abstract
This paper describes a new method for predicting wellbore position
uncertainty which responds to the current needs of the Industry. An
error model applicable to a basic directional MWD service is presented
and used for illustration. As far as possible within the limitations of
space, the paper is a self-contained reference work, including all the
necessary information to develop and test a software implementation of
the method.
The paper is the product of a collaboration between the many
companies and individuals cited in the text.
Introduction
As the Industry continues to drill in mature oil provinces, the dual
challenges of small geological targets and severe well congestion increase
the importance of quantifying typical wellbore positional errors. The
pioneering work of the 1970’s culminated in the paper by Wolff and de
Wardt1. Their approach, albeit extensively modified and added to, has
remained the de facto Industry standard to this day. At the same time,
various shortcomings of the method have been identified2,3,4, but are not
discussed further here.
In recent years, a number of factors have created the opportunity for
the Industry to develop an alternative method:
• risk-based approaches to collision avoidance and target hitting
require position uncertainties with associated confidence levels,
something which Wolff and de Wardt specifically avoided.
• changing relationships brought about by integrated service contracts
have forced directional drilling and survey companies to share
information on tool performance.
• the development of several new directional software products and
their integration with sub-surface applications has provided the
necessity and the opportunity to develop new means of communicating
and visualising positional uncertainty.
This paper provides a three-part response to this need:
1. Error Model for Basic MWD, based on the current state of
knowledge of a group of Industry experts. There are several reasons
why directional MWD is the most suitable survey service to illustrate a
new method of error modelling:
• the error budget is dominated by environmental effects, so that
accuracy differences attributable to tools alone are minimal.
• it is the survey tool of choice for most directional wells, where
position uncertainty is of greatest concern.
• the physical principles of its operation, including the navigation
equations, are in the public domain.
2. Mathematical Basis, being a rigorous description of the
propagation of errors in stationary tools. Fit-for-purpose error models
using the same basis are in development for inertial and continuous
gyroscopic tools, although some simplification and compromise is
inevitable. A rigorous treatment of continuous survey tools would
probably have too restricted a cognoscenti to be practical.
3. Standard Examples and Results. Despite the apparent simplicity
of the Wolff and de Wardt method, different software implementations
generally give subtly different results. While an effort has been made in
this paper to provide a comprehensive description of the new method,
there will surely remain some areas of ambiguity or confusion. In such
cases, reproduction of the numerical results at the end of the paper will
act as a powerful criterion for “validation”. The results were generated
by the author using experimental software and have since been
duplicated by commercially available software.
Genesis of the Work. The content of this paper is the fruit of two
collaborative groups.
ISCWSA. The Industry Steering Committee on Wellbore Survey
Accuracy is an informally constituted group of companies and
2 HUGH S. WILLIAMSON SPE 56702

individuals established following the SPWLA Topical Conference on in different wells in the same field.
MWD held in Kerrville, Texas in late 1995. The Group’s broad To ensure that the correlation coefficients are well defined, only four
objective is “to produce and maintain standards for the Industry relating combinations are allowed.
to wellbore survey accuracy”. Much of the content of this paper, and
specifically the details of the basic MWD error model, had its genesis in Propagation Mode ρ1 ρ2 ρ3
the Group’s meetings, which were distinguished by their open and co- Random (R) 0 0 0
operative discussions. Systematic (S) 1 0 0
Four Company Working Group. The ISCWSA being too large a Per-well (W) 1 1 0
forum to undertake the detailed mathematical development of an error Global (G) 1 1 1
propagation model, this was completed by a small working group from
Sysdrill Ltd., Statoil, Baker Hughes INTEQ and BP Exploration. The ρ1, ρ2 and ρ3 are to be considered properties of the error source, and
mathematical model created by the group and described below has been should be the same for all survey legs.
made freely available for use by the Industry. An error model is a set of error terms chosen with the aim of
properly accounting for all the significant error sources which affect a
Assumptions and Definitions survey tool or service.
The following assumptions are implicit in the error models and
mathematics presented in this paper: An Error Model for “Basic” MWD
1. Errors in calculated well position are caused exclusively by the For the survey specialist in search of a “best estimate” of position
presence of measurement errors at wellbore survey stations. uncertainty it is tempting to differentiate minutely between tools types
2. Wellbore survey stations are, or can be modelled as, three-element and models, running configurations, BHA design, geographical location
measurement vectors, the elements being along-hole depth, D, and several other variables. While justifiable on technical grounds, such
inclination, I, and azimuth A. The propagation mathematics also requires an approach is impractical for the daily work of the well planner. The
a toolface angle, τ, at each station. time needed to find out this data for historical wells, and for many
3. Errors from different error sources are statistically independent. planned wells, is simply not available.
4. There is a linear relationship between the size of each measurement The error model presented in this section is intended to be
error and the corresponding change in calculated well position. representative of MWD surveys run according to fairly standard quality
5. The combined effect on calculated well position of any number of procedures. Such procedures would include
measurement errors at any number of survey stations is equal to the • rigorous and regular tool calibration
vector sum of their individual effects. • survey interval no greater than 100 ft
No restrictive assumptions are made about the statistical distribution • non-magnetic spacing according to standard charts (where no axial
of measurement errors. interference correction is applied)
• not surveying in close proximity to existing casing strings or other
Error sources, terms and models. An error source is a physical steel bodies
phenomenon which contributes to the error in a survey tool • passing standard field checks on G-total, B-total and dip.
measurement. An error term describes the effect of an error source on a The requirement to differentiate between different services may be met
particular survey tool measurement. It is uniquely specified by the by defining a small suite of alternative error models. Examples covered
following data: in this paper are:
• a name • application or not of an axial interference correction
• a weighting function, which describes the effect of the error ε on • application or not of a BHA sag correction
the survey tool measurement vector p. Each function is referred to by a Alternative models would also be justified for:
mnemonic of up to four letters. • In-field referenced surveys
• a mean value, µ. • In-hole (gyro) referenced surveys
• a magnitude, σ, always quoted as a 1 standard deviation value. • Depth-corrected surveys
• a correlation coefficient ρ1 between error values at survey stations
in the same survey leg. (In a survey listing made up of several The model presented here is based on the current state of knowledge and
concatenated surveys, a survey leg is a set of contiguous survey experience of a number of experts. It is a starting point for further
stations acquired with a single tool or, if appropriate, a single tool type). research and debate, not an end-point.
• a correlation coefficient ρ2 between error values at survey stations
in different survey legs in the same well. Sensor Errors. MWD sensors will typically show small shifts in
• a correlation coefficient ρ3 between error values at survey stations performance between calibrations. We may make the assumption that
SPE 56702 ACCURACY PREDICTION FOR DIRECTIONAL MWD
the shifts between successive calibrations are representative of the shifts
between calibration and field performance. On this basis, two major
MWD suppliers compared the results of successive scheduled
calibrations of their tools. Paul Rodney examined 288 pairs of
calibrations, and noted the change in bias (ie. offset error), scale factor
and misalignment for each sensor. Wayne Phillips did the same for 10
pairs of calibrations, except that sensor misalignments were not
recorded.
Andy Brooks has demonstrated that if a sensor is subject to a scale
error and two orthogonal misalignments, all independent and of similar
magnitude, the combination of the three error terms is equivalent to a
single bias term. This term need not appear explicitly in the error model,
but may be added to the existing bias term to create a “lumped” error.
This eliminates the need for 20 extra weighting functions corresponding
to sensor misalignments.
The data from the MWD suppliers suggest that in-service sensor
misalignments are typically smaller than scale errors. As a result, only a
part of the observed scale error was “lumped” with the misalignments
into the bias term, leaving a residual scale error which is modeled
separately. In this way, four physical errors for each sensor were
transformed into two modeled terms. The results were as follows:
Error Source weighting magnitude prop.
function mode
Accelerometer biases ABX,Y,Z 0.0004 g S hole direction, being proportional to sinIsinAm. Thus to model the
Accelerometer scale factors ASX,Y,Z 0.0005 S azimuth error in uncorrected surveys, we require a combination of error
Magnetometer biases MBX,Y,Z 70 nT S terms which
Magnetometer scale factors MSX,Y,Z 0.0016 S • predicts zero error if the well is vertical or magnetic north/south
These figures include errors which are correlated between sensors, and
which therefore have no effect on calculated inclination and azimuth (the
exception being the effect of correlated magnetometer errors on
interference corrected azimuths). It could be argued that the
magnetometer scale factor errors in particular (which may be influenced
by crustal anomalies at the calibration sites) should be reduced to
account for this.
BHA magnetic interference. Magnetic interference due to steel in
the BHA may be split into components acting parallel (axial) and
perpendicular (cross-axial) to the borehole axis.
Axial Interference. Several independent sets of surface
measurements of magnetic pole strengths have now been made.
Observed root-mean-square values are:
Item Pin Box Source
RMS pole strength(sample size)
3
Drill collar 505 µWb (8) Grindrod, Wolff6
605 µWb (11) 435 µWb (11) Lotsberg5
511 µWb (4) McElhinney 7
Stabiliser 177 µWb (6) Grindrod, Wolff
396 µWb (10) 189 µWb (10) Lotsberg
369 µWb (5) 408 µWb (10) McElhinney
Motor 340 µWb (12) 419 µWb (10) Lotsberg
Oddvar Lotsberg also computed pole strengths for 41 BHAs from the
results of an azimuth correction algorithm. The RMS pole strength was
369 µWb (micro-Webers).
These results suggest that 400 µWb is a reasonable estimate for the 1
s.d. pole strength of a steel drill string component where further
information is lacking. This is useful information for BHA design, but
cannot be used for uncertainty prediction without a value for non-
magnetic spacing distance. Unfortunately, there is no “typical” spacing
used in the Industry, and we must find another way to estimate the
magnitude of this error source.
A well-established Industry practice is to require non-magnetic
spacing sufficient to keep the azimuth error below a fixed tolerance
(typically 0.5° at 1 s.d.) for assumed pole strengths and a given hole
direction. This tolerance may need to be compromised in the least
favourable hole directions. For a fixed axial interference field, and
neglecting induced magnetism, azimuth error is strongly dependent on
• predicts errors somewhat greater than the usual tolerance if the well
is near horizontal and magnetic east/west
• predicts errors near the usual tolerance for other hole directions.
These requirements could be met by constructing some artificial
weighting function, but this would violate our restriction to physically
meaningful error terms. A constant error of 0.25° and a direction-
dependent error of 0.6°sinIsinAm is perhaps the best we can achieve by
way of a compromise. It is legitimate to consider these values
representative of 1 standard deviation, since the pole strength values
which underlie the non-magnetic spacing calculations are themselves
quoted at 1 s.d.
Both error terms may be propagated as systematic, although there is
theoretical and observational evidence4 that this error is asymmetric,
acting in the majority of cases to swing magnetic surveys to the north in
the northern hemisphere. Giving the direction-dependent term a mean
value of 0.33° and a magnitude of 0.5° reproduces this asymmetry (with
about 75% of surveys being deflected to the north), while leaving the
root-mean-square error unchanged.
Axial interference errors are not modelled for surveys which have been
corrected for magnetic interference.
Cross-Axial Interference Cross-axial interference from the BHA is
indistinguishable from magnetometer bias, and propagates in the same
4 HUGH S. WILLIAMSON SPE 56702

way. Anne Holmes 8 analysed the magnetometer biases for 78 MWD An additional source of misalignment - collar distortion outside the
surveys determined as a by-product of a multi-station correction vertical plane due to bending forces - may be estimated using 3-
algorithm. Once a few outliers - probably due to magnetic “hot-spots” dimensional BHA models. 0.04° seems to be a typical value. This error
and hence classified as gross errors - had been eliminated, the remaining differs from those above by not rotating with the tool. It should
observations gave an RMS value of 57nT. This figure is somewhat therefore strictly have its own weighting function. Being so small, it
smaller than the 70nT attributable to magnetometer bias alone. The seems justifiable on practical (if not theoretical) grounds, to include it
conclusion must be that cross-axial interference does not, in the average, with the other sources of radially symmetric misalignment. This leaves
make a significant contribution to the overall MWD error budget, and us with an estimate for the error magnitude of 0.06°. This figure may be
may be safely left out of the model. a significant underestimate where there is an aggressive bend in the BHA
or a probe-type MWD tool is in use. This error term may be considered
Tool Misalignment. Misalignment is the error caused by the along- systematic.
hole axis of the directional sensor assembly being out-of-parallel with
the centre line of the borehole. The error may be modeled as a Magnetic field uncertainty. For basic MWD surveys, only the value
combination of two independent phenomena: assumed for magnetic declination affects the computed azimuth.
BHA sag is due to the distortion of the MWD drill collar under However, conventional corrections for axial interference require
gravity. It is modelled as confined to the vertical plane, and proportional estimates of the magnetic dip and field strength. Any error in these
to the component of gravity acting perpendicular to the wellbore (ie. estimates will cause an error in the computed azimuth.
sinI). The magnitude of the error depends on BHA type and geometry, A study commissioned from the British Geological Survey by Baker
sensor spacing, hole size and several other factors. Two-dimensional Hughes INTEQ 9 investigated the likely error in using a global
BHA models typically calculate inclination corrections of 0.2° or 0.3° geomagnetic model to estimate the instantaneous ambient magnetic field
for poorly stabilised BHAs in horizontal hole5. For well stabilised downhole. Five sources of error were identified:
assemblies the value is usually less than 0.15°. In the absence of better • Modelled main field vs. actual main field at base epoch
information, 0.2° (at 1 s.d.) may be considered a realistic input into the • Modelled secular variation vs. actual secular variation
basic error model. • Regular (diurnal) variation due to electrical currents in the
Sag corrections, if they are applied, are calculated on the often ionosphere
unjustified assumptions of both the hole and stabilisers being in gauge. • Irregular temporal variation due to electrical currents in the
Data comparisons by the author suggest a typical efficiency of 60% for magnetosphere
these corrections, leaving a post-correction residual sag error of 0.08°. • Crustal anomalies
Assuming similar BHAs throughout a hole section, all BHA sag errors By making a number of gross assumptions, and by considering typical
may be classified as systematic. drilling rates, the current author has distilled the results of the study into
Radially symmetric misalignment is modelled as equally likely to a single table:
be oriented at any toolface angle. John Turvill made an estimate of its Error Source error magnitude prop.
magnitude based on the tolerances on several concentric cylinders: declination dip total mode
• Sensor package in housing. Tolerances on three components are field
(i) clearance, 0.023°, (ii) concentricity, 0.003°, (iii) straightness of Main field model 0.012°* 0.005° 3 nT G
sensor package, 0.031°. Secular variation 0.017°* 0.013° 10 nT G
• Sensor housing in drill collar. For a probe mounted in a Daily variation 0.045°† 0.011°† 11 nT† R/S‡
centralised, retrievable case, 0.063°. Irregular variation 0.110°† 0.043°† 45 nT† R/S‡
• Collar bore in collar body. Typical MWD vendors’ tolerance is Crustal anomaly 0.476° 0.195° 120 nT G
0.05°. * below 60° latitude N or S
• Collar body in borehole. The API tolerance on collar † at 60° latitude N or S
straightness equates to 0.03°. MWD vendors’ specifications are ‡ daily and irregular variation are partially randomised between surveys.
Correlations between consecutive stations are approximately 0.95 and
typically somewhat more stringent. 0.5 for the two error sources.
The root-sum-square of these figures is 0.094°. Being based on The dominant error source is crustal anomalies, caused by varying
maximum tolerances, it is probably an over-estimate for stabilised rotary magnetisation of rocks in the Earth’s crust. The figures shown are
assemblies. representative of the North Sea. Some areas, particularly those at higher
An analysis by the author of the variation in measured inclination over latitudes and where volcanic rocks are closer to the surface, will show
46 rotation shots produced a root-mean-square misalignment of 0.046°. greater variation. Other areas, where sedimentary rocks dominate, will
Simulations show that within this figure, about 0.007° is attributable to show less.
the effect of sensor errors.
SPE 56702 ACCURACY PREDICTION FOR DIRECTIONAL MWD 5

In the absence of any other information, the uncertainty in an estimate caused by the limitations of the tool electronics and the resolution of the
of the magnetic field at a given time and place provided by a global tool-to-surface telemetry system is not considered significant. Such
geomagnetic model may be obtained by summing the above terms errors will tend to be randomised over long survey intervals.
statistically. There is one complication - some account must be taken of External magnetic interference. Ekseth10 discusses the influence
the increasing difficulty of determining declination as the horizontal of remanent magnetism in casing strings on magnetic surveys, and gives
component of the magnetic field decreases. This can be achieved by expressions for azimuth error when drilling (a) out of a casing shoe and
splitting this error into two components: one constant and one inversely (b) parallel to an existing string. Although certainly not negligible, both
proportional to the horizontal projection of the field, BH. For the error sources are difficult to quantify, and equally difficult to
purposes of the model, the split has been defined somewhat arbitrarily, incorporate within error modelling software. It seems preferable to
while ensuring that the total declination uncertainty at Lerwick, Shetland manage these errors by applying quality procedures designed to limit
(BH = 15000nT) is as predicted by the BGS study (0.49°). Being their effect.
dominated by the crustal anomaly component, all magnetic field errors Effect of survey interval and calculation method. The method
may be considered globally systematic and summarised thus: presented in this paper relies on the assumption that error-free
measurement vectors p will lead to an error-free wellbore position vector
Error Source weighting magnitude prop. r. If minimum curvature formulae are used for survey calculation, this
function mode assumption will only be true when the well-path between stations is an
Declination (constant) AZ 0.36° G exact circular arc. The resulting error may be significant for sparse data,
Declination (BH-dependent) DBH 5000°nT G but may probably be neglected so long as the station interval does not
Dip angle MFD 0.20° G exceed 100 ft.
Total field MFI 130nT G Gravity field uncertainty. Differences between nominal and actual
gravity field strengths will typically have no effect on MWD accuracy
Along-Hole Depth Errors. Roger Ekseth10 identified 14 physical since only the ratio of accelerometer measurements are used in the
sources of drill-pipe depth measurement error, wrote down expressions calculation of inclination and azimuth.
to predict their magnitude, and by substituting typical parameter values Gross errors. Any attempt at a comprehensive discussion of MWD
into the expressions predicted the total error for a number of different error sources must at least acknowledge the possibility of gross errors -
well shapes. He then proposed a simplified model of just four terms, sometimes called human errors. These errors lack the predictability and
and chose the magnitudes of each to match the predictions of the full uniformity of the physical terms discussed above. They are therefore
model as closely as possible. The results were as follows. excluded from the error model, with the assumption that they are
adequately managed through process and procedure.
Error Source error error magnitude (1 s.d.) prop.
proportional land rig floating rig mode
to Propagation Mathematics
Random ref. 1 0.35 m 2.2 m R The mathematical algorithm by which wellbore positional uncertainty is
Systematic ref. 1 0m 1m S generated from survey error model inputs is based on the approach
Scale D 2.4×10-4 2.1×10-4 S outlined by Brooks and Wilson3. The development of this work
Stretch-type D.V 2.2×10-7 m-1 1.5×10-7 m-1 G described here was carried out by the Working Group referred to in the
Introduction.
For the purposes of the basic model, the values for the land rig (or, A physical error occurring at a survey station will result in an error,
equivalently a jack-up or platform rig) may be chosen. The stretch-type in the form of a vector, in the calculated well position. From ref. 3:
error, which dominates the other terms in deep wells, models two d r ∂p
physical effects - stretch and thermal expansion of the drill pipe. Both ei = σi …..(1)
dp ∂εi
these effects generally cause the drill string to elongate, so it may be
appropriate to apply this term as a bias (see below). If this is done, a where ei is a vector-valued random variable, (a vector error), σi is the
mean value of 4.4×10-7 m-1 should be used, since Ekseth effectively magnitude of the ith error source, ∂p/∂εi is its “weighting function” and
treated his estimates of these errors as 2 s.d. values. dr/dp describes how changes in the measurement vector affect the
calculated well position. It is sufficient to assume that the calculated
Errors omitted from the Basic MWD Model. Some errors known to displacement between consecutive survey stations depends only on the
affect MWD surveys have nonetheless not been included in the basic survey measurement vectors at these two stations. Writing ∆rk for the
error model. displacement between survey stations k-1 and k, we may thus express
Tool electronics and resolution. The overall effect on accuracy the (1 s.d.) error due to the presence of the ith error source at the kth
6 HUGH S. WILLIAMSON SPE 56702

survey station in the lth survey leg as the sum of the effects on the  
 Gz  ...(11)
preceding and following calculated displacements: I = cos−1 
2
 Gx + Gy + Gz 
2 2

 d∆rk d ∆rk +1  ∂p k
ei ,l ,k = σi,l 
 dp k
+ 
d p k  ∂εi
…..(2)

Am = tan −1 
(
 G B −G B
x y y x )
G2x + G 2y + Gz2 
 ...(12)
where σi,l is the magnitude of the ith error source over the lth survey leg,
( ) (
 B z Gx2 + G2y − Gz G x B x + G y B y
 ) 


and pk is the instrument measurement vector at the kth survey station. and making use of the inverse relations:
The total position error at a particular survey station K in survey leg
L, will be the sum of the vector errors ei,l,k taken over all error sources i G x = − G sin I sin τ G y = − G sin I cos τ G z = G cos I
and all survey stations up to and including K. The uncertainty in this
position error is expressed in the form of a covariance matrix: …(13,14,15)
Bx = B cosΘcos I cos Am sinτ − B sinΘsin I sinτ + B cosΘsin Am cosτ
CK = ∑ ∑ ∑
errors k1≤ K k2 ≤ K
( )
ρ εi, l1 ,k 1 , εi, l2 , k2 e i,l1 ,k1 . eiT,l2 ,k 2 …..(3)
By = BcosΘcos I cos Am cosτ − B sinΘsinI cosτ − B cosΘsin Am sinτ
i
where ρ(εi,l1,k1,εi,l2,k2) is the correlation coefficient between the value of Bz = B cos Θ sin I cos Am + B sin Θ cos I …(16,17,18)
the ith error source at the k 1th station (in the l1th leg) and the k 2th
station (in the l2th leg). In practice, it is more convenient to sum Taking the X-accelerometer bias (ABX) as an example,
separately the contributions of errors with different propagation ∂I − 1 ∂ cos I − 1  GxGz  cos I sinτ …(19)
characteristics. Details are in Appendix A. = = − =−
∂G x sin I ∂Gx sin I  G 
3 G
Weighting functions. The weighting function for a particular error and similarly,
source is a 3×1 vector, the elements of which describe the effect of a
unit error on the measured along-hole depth, inclination and azimuth. ∂Am ( cosI sin Am sin τ − cos Am cosτ) tanΘ + cot I cosτ
= …(20)
For example, the weighting functions for constant and BH-dependent ∂G x G
magnetic declination errors are:
The appropriate weighting function is therefore:
0  0 
∂p   ∂p   …(4,5)  0  …(21)
= 0 = 0
∂ε AZ   ∂ε DBH   ∂p
=
1
− cos I sin τ 
 1  1 / ( B cosΘ ) 
∂ε ABX G  
( cos I sin Am sin τ − cos Am cos τ) tan Θ + cot I cos τ
For BHA sag and direction-dependent axial magnetic interference they
are: Effect of axial interference correction. When a simple axial
 0   0  magnetic interference correction is applied, (12) is no longer used, and
∂p   ∂p   …(6,7) different weighting functions are required for sensor errors. The
= sin I  =  0 
∂ε SAG ∂ε AMID following analysis is due to Andy Brooks.
 0  sin I sin Am 
The details of the interference corrections differ from method to
and for reference, scale and stretch-type depth errors they are: method, but since all such methods suffer from similar limitations, it is
reasonable to characterise them all with a single example. Methods
 1 D  DV 
∂p   ∂p   ∂p   …(8,9,10) which ignore the BZ measurement and find the solution which minimises
=  0 =  0 = 0  the vector distance between the computed and expected values of the
∂ε DREF ∂ε DSF ∂ε DST
 0  0   0  magnetic field vector will satisfy (16), (17) and:

( B cosΘ − B$ cos Θ$ ) + ( B sin Θ − B$ sin Θ$ )

Weighting functions for sensor errors. Tool axes and toolface 2 2
= minimum …(22)
angle, τ, are defined in Fig 1. There are 12 basic sensor error sources (a
bias and scale factor for each of 3 accelerometers and 3 magnetometers) where B$ and Θ $ are the estimated values of total field strength and dip
and each requires its own weighting function. These are obtained by angle respectively. Solving these three equations for azimuth leads to
differentiating the standard navigation equations for inclination and
azimuth: …(23)
Psin Am + Q cos Am + Rsin Am cos Am = 0
where
SPE 56702 ACCURACY PREDICTION FOR DIRECTIONAL MWD
( )
P = Bx sin τ + B y cos τ cos I + B$ sin Θ
$ sin I cos I …(24)
Q = −( Bx cosτ − B y sinτ ) …(25)
R = B$ cos Θ
$ sin2 I …(26)
The sensitivities of the computed azimuth to errors in the sensor
measurements are found by differentiating (23).
Magnetic Field Uncertainty. The weighting function for magnetic
declination error is given above. Those for magnetic field strength and
dip angle, which are required when an axial magnetic interference
correction is in use, are derived by differentiating (23) with respect to
B$ and Θ$.
Misalignment Errors. Brooks and Wilson3 model tool axial
misalignment as two uncorrelated errors corresponding to the x and y
axes of the tool. Their expressions for the associated inclination and
azimuth errors lead directly to the following weighting functions
 0   0 
∂p   ∂p   …(27,28)
= sin τ  = cosτ 
∂ε MX ∂εMY 
 − cosτ / sin I  sin τ / sin I 
Table 2 contains expressions for all the weighting functions not cited in
this section which are required to implement the error models described
in this paper.
Calculation Options
The method of position uncertainty calculation described here admits a
number of variations. It can still claim to be a standard, in that selection
of the same set of conventions should always yield the same results.
Along-Hole Depth Uncertainty. The propagation model described
above is appropriate for determining the position uncertainty of the
points in space at which the survey tool came (or will come) to rest.
These may be called uncertainties “at survey stations”.
Thorogood2 argues that it is more meaningful to compute the position
uncertainties of the points in the wellbore at the along-hole depths
assigned to the survey stations. These may be called the uncertainties
“at assigned depths”. This approach allows computation of the position
uncertainty of points (such as picks from a wireline log) whose depths
have been determined independently of the survey. Thorogood made
this calculation by defining a weighting function incorporating the local
build and turn rates of the well. The approach described in Appendix A
achieves the same result without the need for a new weighting function.
The results of the two approaches differ only in the along-hole
component of uncertainty. The along-hole uncertainty at a survey
station includes the uncertainty in the station’s measured depth, while
the uncertainty at an assigned depth does not.
The correct choice of approach depends on the engineering problem
being tackled - in many cases it is immaterial. The user of well-designed
directional software need not be aware of the issue.
7
Survey Bias. Not to be confused with sensor biases (which might
better be termed offset errors), survey bias is the tendency for the most
likely position of a well to differ from its surveyed position. The only
bias term defined by Wolff and deWardt was for magnetic interference in
“poor magnetic” surveys. The claims for stretch and thermal expansion
of drill-pipe to be treated as bias errors are at least as strong.
Some vendors of directional software have neglected to model survey
bias on the grounds that (a) such errors should be corrected for and (b)
engineers don’t like/understand them. The first objection can be
countered by the observation “yes, but they aren’t!”, the second by
careful software design.
The sign convention for position bias is from survey to most likely
position (ie. opposite to the direction of the error). Since drill pipe
generally elongates downhole, most likely depths are greater than survey
depths and bias values are positive. For axial drillstring interference,
most likely azimuths are greater than survey azimuths when the
weighting function, sinIsinAm is positive, so bias values are again
positive (at least in the northern hemisphere). The additional
mathematics required to model survey bias is included in Appendix A.
Calculation conventions. The calculation of position uncertainty
requires a wellbore survey consisting of discrete stations, each of which
has an associated along-hole depth, inclination, azimuth and toolface
angle. Clearly, these data will not be available in many cases, and certain
conventions are required whereby assumed values may be calculated.
The following are suggested.
Along-hole depth. For drilled wells, actual survey stations should
be used. For planned wells, the intended survey interval should be
determined, and stations should be interpolated at all whole multiples of
this depth within the survey interval. Typically, an interval of 100 feet
or 30 metres should be used.
Inclination and azimuth. For drilled wells, measured values should
be used. For planned wells, the profile should be interpolated at the
planned survey station depths using minimum curvature.
Toolface. If actual toolface angles are available, they should be used.
If not, several means of generating them are possible:
• Random number generation. Possibly close to reality, but results are
not repeatable and will tend to be optimistic.
• Worst-case. Several variations on this idea are possible, but each will
require some additional calculation. The principle is questionable, and
the computational overhead is probably not justified.
• Borehole toolface (ie. the up-down-left-right change in borehole
direction). This angle bears little relation to survey tool orientation, but
is at least well-defined, and may be computed directly from inclination
and azimuth data. This approach will tend to limit the randomisation of
toolface dependent errors, giving a conservative uncertainty prediction.
This is the convention used in the examples at the end of the paper.
Formulae for borehole toolface are given in Appendix B.
8 HUGH S. WILLIAMSON SPE 56702

Standard Profiles includes:

At the 8th meeting of the ISCWSA participants were set the task of
designing a number of well profiles suitable for:
• testing software implementations of the error models and
propagation mathematics
• studying and highlighting the behaviour of different error models
(magnetic and gyroscopic) and individual error sources
• demonstrating to a non-specialist audience the uncertainties to be
expected from typical survey programs.
The ideas generated at the meeting were used to devise a set of three
profiles:
ISCWSA #1: an extended reach well in the North Sea
ISCWSA #2: a “fish-hook” well in the Gulf of Mexico, with a long
turn at low inclination
ISCWSA #3: a “designer” well in the Bass Strait, incorporating a
number of difficult hole directions and geometries.
Figs. 2, 3 illustrate the test profiles in plan and section. Their full
definition, given in Table 4, includes location, magnetic field, survey
stations, toolface angles and depth units.
Example Results
The error models for basic and interference-corrected MWD have been
applied to the standard well profiles to generate position uncertainties in
each well. The results of several combinations are tabulated in Table 5.
Examples 1 and 2 compare the basic and interference-corrected models
in well ISCWSA #1. Being a high inclination well running approximately
east-north-east, the interference correction actually degrades the
accuracy. The results are plotted in Fig 4. Examples 3 to 6 all represent
the basic MWD error model applied to well ISCWSA #2. They differ in
that each uses a different permutation of the survey station/assigned
depth and symmetric error/survey bias calculation options. The
variation of lateral uncertainty and ellipsoid semi-major axis,
characteristic of a “fish-hook” well, is shown in Fig 5. Finally, example
7 breaks well ISCWSA #3 into 3 depth intervals, with the basic and
interference-corrected models being applied alternately. This example is
included as a test of error term propagation.
Taken together, the examples form a demanding test set for
implementations of the method and models described in this paper.
Conclusions and Recommendations
This paper, and the collaborative work which it describes, establishes a
common starting point for wellbore position uncertainty modelling. The
standardised elements are:
• a nomenclature (see below)
• a definition of what constitutes an error model
• mathematics of position uncertainty calculation
• an error model for a basic directional MWD service
• a set of well profiles for investigating error models
• a set of results for testing software implementations
The future work which these standards were designed to facilitate
• establishment of agreed error models for other survey services,
including in-field referencing and gyroscopic tools.
• interchangeability of calculated position uncertainties between
survey vendor, directional drilling company and operator.
Useful though this work is, it is only a piece in a larger jigsaw. Taking
a wider view, the collaborative efforts of the extended survey
community should now be directed towards:
• standardisation of quality assurance measures
• strengthening the link between quality assurance specifications
and error model parameters
• better integration of wellbore position uncertainty with the other
aspects of oilfield navigation..
Acknowledgments
The author thanks all participants in the ISCWSA for their enthusiasm
and support over several years and in the review of this paper.
Particular contributions to the MWD error model were made by John
Turvill and Graham McElhinney, both now with PathFinder Energy
Services, formerly Halliburton Drilling Systems; Wayne Phillips,
Schlumberger Anadrill; Paul Rodney and Anne Holmes, Sperry-Sun
Drilling Services; and Oddvar Lottsberg, formerly of Baker Hughes
INTEQ .
Participants in the Working Group on error propagation were David
Roper, Sysdrill Ltd; Andy Brooks and Harry Wilson, Baker Hughes
INTEQ ; and Roger Ekseth, formerly of Statoil.
The results in Table 5 were checked by Jerry Codling, Landmark.
The author also wishes to thank BP Amoco for their permission to
publish this paper.
Nomenclature
ISCWSA Nomenclature*
D along-hole depth
I wellbore inclination
A wellbore azimuth
Am wellbore magnetic azimuth
τ toolface angle
N north co-ordinate
E east co-ordinate
V true vertical depth
δ magnetic declination
Θ magnetic dip angle
B magnetic field strength
G gravity field strength
X, x, Y, y, Z, z
tool reference directions - see fig. 1.
* adopted by ISCWSA participants as a standard for all technical
correspondence.
SPE 56702 ACCURACY PREDICTION FOR DIRECTIONAL MWD 9

Special Nomenclature 3. Brooks, A.G. and Wilson, H., An Improved Method for Computing
b component of wellbore position bias vector Wellbore Position Uncertainty and its Application to Collision and
B$ estimated magnetic field strength Target Intersection Probability Analysis, SPE 36863, EUROPEC,
C wellbore position uncertainty covariance matrix Milan, 22-24 Oct 1996.
4. Dubrule, O., and Nelson, P.H., Evaluation of Directional Survey
e 1 s.d. vector error at an intermediate station
Errors at Prudhoe Bay, SPE 15462, 1986 ATCE, New Orleans, Oct
e 1 s.d. vector error at the station of interest 5-8.
E sum of vector errors from slot to station of interest 5. Minutes of the 7th Meeting of the ISCWSA, Houston, 9 Oct
ε particular value of a survey error 1997.
H,L used in calculation of toolface 6. Grindrod, S.J. and Wolff, J.M., Calculation of NMDC Length
m bias vector error at an intermediate station Required for Various Latitudes Developed From Field
m bias vector error at the station of interest Measurements of Drill String Magnetisation, IADC/SPE 11382,
M wellbore position bias vector 1983 Drilling Conference, Houston.
µ mean of error value 7. Minutes of the 6th Meeting of the ISCWSA, Vienna, 24-25 Jun
σ standard deviation of error value, component of wellbore 1997.
position uncertainty 8. Minutes of the 8th Meeting of the ISCWSA, Trondheim, 19 Feb
p survey measurement vector (D,I,A) 1998.
P,Q,R intermediate calculated quantities 9. Macmillan, S., Firth, M.D., Clarke, E., Clark, T.D.G. and
r wellbore position vector Barraclough, D.R., “Error estimates for geomagnetic field values
∆rk increment in wellbore position between stations k-1 and k
computed from the BGGM”, British Geological Survey Technical
report WM/93/28C, 1993.
ρ correlation coefficient
10. Ekseth, R, Uncertainties in Connection with the
Θ$ estimated magnetic dip angle Determination of Wellbore Positions, ISBN 82-471-0218-8,
v along-hole unit vector ISSN 0802-3271, PhD Thesis no. 1998:24, IPT report 1998:2, The
w factor relating error magnitude to uncertainty in measurement Norwegian University of Science and Technology, Trondheim,
Norway.
subscripts and counters
hla borehole referenced frame Appendix A  Mathematical Description of Propagation
i a survey error term Model
k a survey station The total position uncertainty at a survey station of interest, K (in
K survey station of interest survey leg L) is the sum of the contribution from all the active error
Kl number of stations in lth survey leg sources. It is convenient computationally to group the error sources by
l a survey leg their propagation type and to sum them separately.
L survey leg containing the station of interest
nev earth-referenced frame Vector errors at the station of interest. Recall that the vector error
due to the presence of error source i at station k is the sum of the effect
superscripts of the error on the preceding and following survey displacements:
dep at the along-hole depth assigned to the survey station
 d ∆rk d ∆rk +1  ∂p k …(A-1)
rand random propagation mode ei , l , k = σi , l  + 
 dp k d p k  ∂εi
svy at the point where the survey measurements were taken
syst systematic propagation mode Evaluating this expression using the minimum curvature well
well per-well or global propagation mode trajectory model is cumbersome. There is no significant loss of accuracy
in using the simpler balanced tangential model:
References
1. Wolff, C.J.M. and de Wardt, J.P., Borehole Position Uncertainty -  sinI j−1 cos Aj−1 + sinI j cos Aj 
Dj − Dj−1   …(A-2)
Analysis of Measuring Methods and Derivation of Systematic Error ∆rj =  sinI j−1 sin Aj−1 + sinI j sin A j 
2
Model, JPT pp.2339-2350, Dec. 1981  cosI j−1 + cos I j 
 
2. Thorogood, J.L., Instrument Performance Models and their
Application to Directional Survey Operations, SPEDE pp.294-298, The two differentials in the parentheses in (A-1) may then be
Dec. 1990. expressed as:
10 HUGH S. WILLIAMSON SPE 56702

d ∆r j  d ∆r j d ∆r j d∆ r j  where j = k , k+1 …(A-3) expressions may be used for evaluating bias vectors in vertical hole, with
= 
dp k  dD k dI k dI k  m i , l ,k , m i , L , K , and µi,l substituted for e i , l ,k , ei , L , K , and σi,l

− sin I cos A − sin I cos A 

respectively.
j −1 j −1
and d ∆r j 1
j j
 …(A-4)
=  − sin I j− 1 sin A j −1 − sin I j sin Aj  Other hole directions. Some error sources really are unbounded in
dDk 2 
 − cos I j −1 − cos I j  certain hole directions. The examples in this paper are sensor errors after
axial interference correction in a horizontal and magnetic east/west

d ∆r j 1 
(
D −D
j ) 
j− 1 cos I k cos Ak  …(A-5)
wellbore - a so-called “90/90” well. In such cases, the assumptions of
=
2 j
( )
D − D j −1 cos I k sin Ak 

linearity break down, and computed position uncertainties are
( )
dI k meaningless. Software implementations should include an error-catching
 − D j − D j −1 sin I k 
  mechanism for this case.
(
− D − D ) 
j −1 sin I k sin Ak 
1 
d ∆r j
j …(A-6) Summation of errors. Vector errors are summed into position
dA k
=
2 j
( )
D − Dj −1 sin I k cos Ak 
 uncertainty matrices as follows.
 0  Random errors. The contribution to survey station uncertainty from
 
a randomly propagating error source i over survey leg l (not containing
For the purposes of computation, the error summation terminates at the station of interest) is:
the survey station of interest. Vector errors at this station are therefore
Kl …(A-10)
∑ ( ei,l,k ) .( ei ,l ,k )
given by: T
Cirand
,l =
…(A-7) k =1
d∆ rK ∂p K
ei , L, K = σi , L
dpK ∂εi and the total contribution over all survey legs is:
The notation ei , L , K indicates that a measurement error at this station L −1 K −1
i , K = ∑ Ci, l + ∑ ( ei , L ,k ) .( ei , L ,k ) + ( ei, L , K ) . ( ei, L, K )
T T
Crand rand
affects only the preceding survey displacement. In what follows we l=1 k =1
reserve the notation ei,l,k for vector errors at intermediate stations, which …(A-11)
affect both the preceding and following displacements. Systematic errors. The contribution to survey station uncertainty
from a systematically propagating error source i over survey leg l (not
Undefined weighting functions. For some combinations of weighting containing the point-of-interest) is:
function and hole direction, a component of the measurement vector
T
(usually azimuth) is highly sensitive to changes in hole direction and the  Kl   Kl  …(A-12)
vector ∂p/∂εi is apparently undefined. There are two cases: Cisyst
,l =  ∑ i ,l ,k  . ∑ ei ,l ,k 
 e
 k =1   k =1 
Vertical hole. In this case, dr/dp is zero and the vectors ei,l,k and
ei, L, K are still finite and well-defined. They may be computed by and the total contribution over all survey legs is:
forming the product (A-1) algebraically and evaluating it as a whole. L −1  K −1   K −1 
T

Take as an example the weighting function for an x-axis radially =∑

Cisyst +  ∑ ei , L , k + ei , L , K  . ∑ ei , L , k + ei , L, K 
Csyst
,K 
i ,l  
symmetric misalignment. Substituting the expression for ∂p/∂εMX (27) l =1  k =1   k=1 
and the well trajectory model equations (A-3 to A-6) into (A-1) and (A- …(A-13)
7), and setting I equal to zero gives Per-Well and Global errors. Each of these error types is systematic
 sin( A + τ)  between all stations in a well. The individual vector errors can therefore
σi ,l ( Dk +1 − Dk −1 )   …(A-8) be summed to give a total vector error from slot to station
e i,l ,k =
2 − cos( A + τ )
  L −1 K l
0  K −1
and Ei , K = ∑  ∑ ei ,l , k  + ∑ ei , L , k + ei , L , K …(A-14)
l =1  k =1  k =1
 sin ( A + τ) 
σi ,L ( DK − DK −1 )   …(A-9)
 − cos( A + τ) 
ei, L ,K = The total contribution to the uncertainty at survey station K is
2
 0 
, K = E i, K . E i, K
Ciwell T …(A-15)
There are similar expressions for Y-axis axial misalignment and X- and
Y-axis accelerometer biases. These are given in Table 3. Equivalent Total position covariance. The total position covariance at survey
SPE 56702 ACCURACY PREDICTION FOR DIRECTIONAL MWD 11

station K is the sum of the contributions from all the types of error The relative survey bias is simply:

[ ]
source: svy svy
M svy rK A − rKB = M K A − M KB …(A-25)
C svy
K =∑ Crand
i, K +∑ Csyst
i, K + ∑ Cwell
i, K …(A-16)
i∈R i∈S i∈{ W ,G} Substitution of equations (A-20) to (A-23) into these expressions
gives the equivalent results at the along-hole depths assigned to the
where the superscript svy indicates the uncertainty is defined at a stations.
survey station.
Transformation into Borehole Reference Frame. The results
Survey bias. Error vectors due to bias errors are given by expressions derived above are in an Earth-referenced frame (North, East, Vertical -
entirely analogous with (A-1) and (A-7): subscript nev). The transformation of the covariance matrices and bias
 d ∆rk d ∆r k +1  ∂p k vectors into the more intuitive borehole referenced frame (Highside,
m i ,l , k = µi ,l  + 
…(A-17)
 dp k d p k  ∂εi Lateral, Along-hole - subscript hla) is straightforward:
d ∆r K ∂p K
m i , L ,K = µi , L …(A-18) C hla = T T C nev T …(A-26)
d p K ∂εi
b H 
The total survey position bias at survey station K, M svy   …(A-27)
K , is the sum
 b L  = M hla = T M nev
T

of individual bias vectors taken over all error sources i, legs l and  b A 
stations k:
where
 L −1 Kl  K −1 
= ∑  ∑  ∑ m i ,l ,k  + ∑ m i , L ,k + m i , L , K 
svy …(A-19) cos I K cos AK
MK − sin AK sin I K cos AK 
i  l=1  k =1  k =1    …(A-28)
T =  cos I K sin AK cos AK sin I K sin AK 
Position uncertainty and bias at an assigned depth  − sin I K 0 cos I K 
Defining the superscript dep to indicate uncertainty at an assigned
depth, it may be shown that: is a transformation matrix. Uncertainties and correlations in the principal
borehole directions are obtained from:
dep svy
ei , L , K = ei, L , K −σ i , L wi , L , K v K …(A-20)
dep svy
[ ]
σ H = Chla 1 , 1 etc. …(A-29)
ei ,l , k = ei ,l , k …(A-21)

ρHA =
[ ]
C hla 1 , 2
etc. …(A-30)
where wi,L,K is the factor relating error magnitude to measurement
σHσL
uncertainty and vK is the along-hole unit vector at station K. Figs. 6, 7
illustrate these results. Substituting these expressions into (A-12 to A-
16) yields the position uncertainty at the along-hole depth assigned to Appendix B  Calculation of Toolface Angle
each survey station. The following formulae may be used to calculate a synthetic toolface
Survey bias at an assigned depth is calculated by substituting the angle from successive surveys:
following error vectors into (A-19): H K = sin I K cos I K −1 cos( A K − AK −1 ) − sin I K −1 cos I K …(B-1)

LK = sin I K sin( A K − AK −1 )
dep svy
mi , L, K = mi , L ,K − µi , L wi , L, K v K …(A-22) …(B-2)
dep svy
mi ,l ,k = mi ,l ,k …(A-23)
If HK > 0, τK = tan-1(LK/HK) …(B-3)
Relative uncertainty between wells. When calculating the
uncertainty in the relative position between two survey stations If HK < 0, τK = tan (LK/HK) + 180°
-1
…(B-4)
(KA,KB) in wells (A,B), we must take proper account of the correlation If HK = 0, τ K = 270°, 0° or 90° as LK < 0, LK = 0 or LK > 0...(B-5)
between globally systematic errors. The uncertainty is given by:

[
Csvy rK A − rK B ]

(
= C K A + C KB − ∑  Ei , K A . Ei , KB )( ) + ( E ).(E ) 
svy svy T T

i ∈G  
i , KB i, K A

…(A-24)
12 HUGH S. WILLIAMSON SPE 56702

Table 1—Summary of Basic MWD Error Models

Weighting Basic with axial Prop. Weight. Basic model with axial Prop.
Function model correction Mode Func. correction Mode
Sensors Misalignment
ABX 0.0004 g S SAG 0.2° 0.2° S
ABY 0.0004 g S MX 0.06° 0.06° S
ABZ 0.0004 g S MY 0.06° 0.06° S
ASX 0.0005 S
ASY 0.0005 S Axial magnetic interference
ASZ 0.0005 S AZ 0.25° S
MBX 70 nT S AMID 0.6° S or B*
MBY 70 nT S
MBZ 70 nT S Declination
MSX 0.0016 S AZ 0.36° 0.36° G
MSY 0.0016 S DBH 5000°nT 5000°nT G
MSZ 0.0016 S
ABIX 0.0004 g S Total magnetic field and dip angle
ABIY 0.0004 g S MDI 0.20° G
ABIZ 0.0004 g S MFI 130 nT G
ASIX 0.0005 S
ASIY 0.0005 S Along-hole depth
ASIZ 0.0005 S DREF 0.35 m 0.35 m R
MBIX 70 nT S DSF 2.4 × 10-4 2.4 × 10-4 S
MBIY 70 nT S DST 2.2 × 10-7 m-1 2.2 × 10-7 m-1 G or B†
MSIX 0.0016 S * when modelled as bias: µ = 0.33°, σ = 0.5°
MSIY 0.0016 S † when modelled as bias: µ = 4.4 × 10-7 m -1, σ = 0

Table 2—Error Source Weighting Functions not Given in the Text

Sensor Errors (without axial interference correction)
 0   0 
ABX 1  ASX  
− τ τ
G 
2
cos I sin  sin I cos I sin 
 ( m m )
 cos I sin A sin τ − cos A cos τ tanΘ + cot I cosτ 
  ( ( m m )
− tanΘ sin I cos I sin A sin τ − cos A cosτ + cos I cosτ sin τ
 )
 0   0 
ABY 1  ASY  
− cos I cos τ sin I cos I cos τ
2
G   
 ( m m )
 cos I sin A cos τ + cos A sin τ tanΘ − cot I sin τ
  ( ( m m )
− tan Θ sin I cos I sin A cosτ + cos A sin τ − cos I sin τ cosτ 
 )
 0   0 
MBX   MSX  
 0   0 
(cos A cos τ − cos I sin A sin τ ) / ( B cos Θ)  ( )(
 cos I cos A sin τ − tan Θ sin I sin τ + sin A cos τ cos A cos τ − cos I sin A sin τ )

 m m   m m m m 

 0   0 
MBY   MSY  
 0   0 
− (cos A sin τ + cos I sin A cos τ ) / ( B cos Θ )
 m m   ( m m m )(
− cos I cos A cosτ − tan Θ sin I cos τ − sin A sin τ cos A sin τ + cos I sin A cosτ
m )



 0   0   0   0 
AB 1  ASZ   MBZ   MSZ  
− sin I − 0  
G     
sin I cos I 0
Z  tanΘ sin I sin Am  tan Θ sin I cos I sin Am  − sin I sin Am / ( B cos Θ)   − (sin I cos Am + tan Θ cos I ) sin I sin Am 
 
SPE 56702 ACCURACY PREDICTION FOR DIRECTIONAL MWD 13

Table 2—Cont.
Sensor Errors (with axial interference correction)
 0 
ABIX 1  
− I sin τ
G  
cos
( ( ) (
 cos I sin Am sin τ tan Θ cos I + sin I cos Am − cos τ tan Θ cos Am − cot I
2
)) (/ 1 − sin I sin Am 
2 2
)
 0 
ABIY 1  
 − cos I cos τ 
( ( ) ( )) ( )
G
 cos I sin Am cosτ tan Θ cos I + sin I cos Am + sin τ tan Θ cos Am − cot I / 1 − sin I sin Am 
2 2 2

 0 
ASIX  
 sin I cos I sin τ
2

( ( ) (
− sin τ sin I cos2 I sin A sin τ tanΘ cos I + sin I cos A − cosτ tan Θ sin I cos A − cos I / 1 − sin 2 I sin 2 A 
 m m m )) (
m  )
 0 
ASIY  
 sin I cos I cos 2
τ 
(
− cos τ sin I cos 2 I sin A cos τ( tanΘ cos I + sin I cos A ) + sin τ( tanΘ sin I cos A − cos I ) / (1 − sin 2 I sin 2 A )
 m m m m )
 0 
MSIX  
 0 
 ( m m )(
− cos I cos A sin τ − tanΘ sin I sin τ + sin A cos τ cos I sin A sin τ − cos A cos τ / 1 − sin 2 I sin 2 A 
m m ) (
m  )
 0 
MSIY  
 0 
− (cos I cos Am cos τ − tanΘ sin I cosτ − sin Am sin τ)(cos I sin Am cos τ + cos Am sin τ) / (1 − sin I sin Am ) 
2 2
 
 0   0 
MBIX   ABIZ 1 
 0   − sin I 
 m m (
− ( cos I sin A sin τ − cos A cos τ) / B cos Θ(1 − sin 2 I sin 2 A ) 
m  ) G
(
 sin I cos I sin Am ( tanΘ cos I + sin I cos Am ) / (1 − sin I sin Am ) 
2 2 
)
 0   0 
MBIY   ASIZ  
 0   − sin I cos I 
 m m (
− ( cos I sin A cos τ + cos A sin τ) / B cos Θ(1 − sin 2 I sin 2 A ) 
m  )  ( m (
 sin I cos2 I sin A tan Θ cos I + sin I cos A / 1 − sin2 I sin2 A 
m m )) ( )
Magnetic Field Errors (with axial interference correction)
 0   0 
MFI   MDI  
 0   0 
 m m (
− sin I sin A ( tan Θ cos I + sin I cos A ) / B(1 − sin 2 I sin 2 A )
m )

 − sin I sin Am( cosI − tan Θsin I cos Am ) / (1− sin2 I sin2 Am) 
 

Table 3—Error Vectors in Vertical Hole where Weighting Function is Singular

Sensor Errors (with or without axial interference correction)

ABX
( 
) (
σi ,l Dk+1 − Dk −1 − sin A + τ 
( )
)
ABY ei ,l , k =
( )
σi ,l D k +1 − D k −1 − cos( A + τ ) 

− ( + τ )

ei ,l, k =  cos A + τ  2G  sin A 
2G  
or  0  or 0
ABIX ABIY
Misalignment Errors
 sin( A + τ)  cos( A + τ)
σi ,l ( Dk +1 − Dk −1 )   σi ,l ( Dk +1 − Dk − 1)  
− cos( A + τ ) sin ( A + τ) 
MX e i,l ,k = MY ei ,l ,k =
2 2
 0   0 
14 HUGH S. WILLIAMSON SPE 56702

Table 4—Standard Well Profiles

ISCWSA #1 - North Sea Extended Reach Well ISCWSA #2 - Gulf of Mexico Fish Hook Well
Lat. 60°N, Long. 2°E, Total Field, 50,000 nT, Dip 72°, Declination Lat. 28°N, Long. 90°W, Total Field 48,000nT, Dip 58°, Declination
4°W, Station interval 30m, VS Azimuth 75° 2°E, Station interval 100ft, VS Azimuth 21°
MD Inc Azi North East TVD VS DLS MD Inc Azi North East TVD VS DLS
m deg deg m m m m °/30m ft deg deg ft ft ft ft °/100ft
0.00 0.000 0.000 0.00 0.00 0.00 0.00 0.00 0.00 0.000 0.000 0.00 0.00 0.00 0.00 0.00
1200.00 0.000 0.000 0.00 0.00 1200.00 0.00 0.00 2000.00 0.000 0.000 0.00 0.00 2000.00 0.00 0.00
2100.00 60.000 75.000 111.22 415.08 1944.29 429.72 2.00 3600.00 32.000 2.000 435.04 15.19 3518.11 411.59 2.00
5100.00 60.000 75.000 783.65 2924.62 3444.29 3027.79 0.00 5000.00 32.000 2.000 1176.48 41.08 4705.37 1113.06 0.00
5400.00 90.000 75.000 857.80 3201.34 3521.06 3314.27 3.00 5525.54 32.000 32.000 1435.37 120.23 5253.89 1383.12 3.00
8000.00 90.000 75.000 1530.73 5712.75 3521.06 5914.27 0.00 6051.08 32.000 62.000 1619.99 318.22 5602.41 1626.43 3.00
6576.62 32.000 92.000 1680.89 582.00 6050.92 1777.82 3.00
7102.16 32.000 122.000 1601.74 840.88 6499.44 1796.70 3.00
9398.50 60.000 220.000 364.88 700.36 8265.27 591.63 3.00
12500.00 60.000 220.000-1692.70 -1026.15 9816.02 -1948.01 0.00
ISCWSA #3 - Bass Strait Designer Well
Lat. 40°S, Long. 147°E, Total Field 61,000nT, Dip -70°, Declination 13°E, Station interval 30m, VS Azimuth 310°
MD Inc Azi North East TVD VS DLS MD Inc Azi North East TVD VS DLS
m deg deg m m m m °/30m m deg deg m m m m °/30m
0.00 0.000 0.000 0.00 0.00 0.00 0.00 0.00 2850.00 0.000 0.000 1012.23 0.00 2470.73 818.91 0.00
500.00 0.000 0.000 0.00 0.00 500.00 0.00 0.00 3030.00 90.000 283.0001038.01 -111.65 2585.32 905.39 15.00
1100.00 50.000 0.000 245.60 0.00 1026.69 198.70 2.50 3430.00 90.000283.000 1127.99 -501.40 2585.32 1207.28 0.00
1700.00 50.000 0.000 705.23 0.00 1412.37 570.54 0.00 3730.00 110.000193.000 996.08 -727.87 2520.00 1197.85 9.00
2450.00 0.000 0.000 1012.23 0.00 2070.73 818.91 2.00 4030.00 110.000193.000 721.40 -791.28 2417.40 1069.86 0.00

Table 5—Calculated Position Uncertainties (at 1 standard deviation)

• uncertainty at tie-line (MD=0) is zero • stations interpolated at whole multiples of station interval using minimum curvature
• instrument toolface = borehole toolface
uncertainties along correlations between survey bias along
borehole axes borehole axes borehole axes
No. Well Depth interval(s) Model Option σH σL σA ρHL ρHA ρLA bH bL bA
1 #1 0 m - 8000 m basic S, sym 20.11 m 84.33 m 8.62 m -0.015 +0.676 -0.003
2 #1 0 m - 8000 m ax-int S, sym 20.11 m 196.41 m 8.62 m -0.006 +0.676 +0.004
3 #2 0 ft - 12500 ft basic S, sym 16.17 ft 29.66 ft 10.12 ft +0.032 -0.609 +0.060
4 #2 0 ft - 12500 ft basic D, sym 16.17 ft 29.66 ft 9.16 ft +0.032 -0.426 +0.084
5 #2 0 ft - 12500 ft basic S, bias 15.69 ft 27.41 ft 8.61 ft +0.052 -0.602 +0.157 -6.79 ft -12.41ft +11.70 ft
6 #2 0 ft - 12500 ft basic D, bias 15.69 ft 27.41 ft 8.50 ft +0.052 -0.569 +0.160 -6.79 ft -12.41ft -4.76 ft
(1) 0 m - 1380 m basic S, sym
7 #3 (2) 1410 m - 3000 m ax-int S, sym
(3) 3030 m - 4030 m basic S, sym 5.64 m 5.76 m 9.59 m -0.186 -0.588 +0.297
Key to error models: basic Basic MWD
ax-int Basic MWD with axial interference correction
Key to calculation options: S, sym Uncertainty at survey station, all errors symmetric (ie. no bias)
S, bias Uncertainty at survey station, selected errors modelled as biases (see table 1)
D, sym Uncertainty at assigned depth, all errors symmetric (ie. no bias)
D, bias Uncertainty at assigned depth, selected errors modelled as biases (see table 1)
SPE 56702 ACCURACY PREDICTION FOR DIRECTIONAL MWD 15

Vertical Section
X-axis -1000m 2000m 4000m 6000m

True Vertical Depth

HighSide

τ Y-axis 2000m

ISCWSA#3
VS Azi = 310o ISCWSA#1
ISCWSA#2
VS Azi = 21 o VS Azi = 75 o

4000m

Fig.3  Vertical section plot of standard well profiles. Note

Z-axis different section azimuths.
τ = toolface angle (down hole)
Example 1 : Basic MWD
Example 2 : MWD with axial interference
Fig.1  Definition of tool sensor axes and toolface angle correction

200 “corrected” model

deteriorates rapidly
1500m
6 “corrected” model is near “90/90”
marginally more
North

ISCWSA#3 accurate at low

1500m
1000m 160 inclination
4
1 s.d. Lateral Uncertainty (m)

5500m 6000m

ISCWSA#1 120 2

-1000m 1000m 1000m

East

1200 1500 1800 2100

80
ISCWSA#2

-1000m
40
Fig.2  Plan view of standard well profiles

inset
0
2000 4000 6000 8000
Measured Depth (m)

Fig.4  Comparison of basic and interference corrected MWD

error models in well ISCWSA#1
16 HUGH S. WILLIAMSON SPE 56702

Example 4 : Ellipsoid semi-major axis

Example 4 : Lateral uncertainty
Recorded (and calculated)
40 survey station position
True position where
tool came to rest

ellipsoid semi-major axis True well position at depth

30 assigned tosurvey station
reduces as well returns
1 s.d. Uncertainty (ft)

below surface location

Calculated well path
lateral uncertainty and True well path
ellipsoid semi-major
20
axis are equal while
azimuth is constant

vector error at last vector error at last

assigned depth due to
10 station due to depth
depth error at last station error at last station
= eK = eK − σi wi, K v K
at mid-turn, lateral dep svy
direction co-incides = e Ksvy
with ellipsoid minor axis
0
depth error at
0 4000 8000 12000 last station
Measured Depth (ft) = σi wi, K

Fig.5  Variation of lateral uncertainty and ellipsoid semi-

Fig.6  Vector errors at the last station (point of interest) due
major axis in a fish-hook well - ISCWSA#2
to an along-hole depth error at the last station.

Recorded (and calculated)

survey station position

True position where

tool came to rest

True well position at depth

assigned to survey station

Calculated well path

True well path

(2) vector errors for last survey

station and last assigned depth
due to depth error at earlier station
must therefore be the same:
depth error at e dep
k = esvy
k
earlier station
= σ i wi , k

(1) with no depth error at last station,

true positions at survey station and
at its assigned depth coincide

Fig.7  Vector errors at the last station (point of

interest) due to an along-hole depth error at a
previous station.