HORIZONTAL DIRECTIONAL DRILLING SYSTEMS WITH SATELLITE NAVIGATION CORRECTION FOR DATA LOGGING

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit under 35 U.S.C. § 119 (e) of U.S. Provisional Application Ser. No. 63/659,437, filed Jun. 13, 2024, and titled “HORIZONTAL DIRECTIONAL DRILLING SYSTEMS WITH SATELLITE NAVIGATION CORRECTION FOR DATA LOGGING.” The present application is also a continuation-in-part under 35 U.S.C. § 120 of U.S. patent application Ser. No. 18/896,279, filed Sep. 25, 2024, and titled “PORTABLE LOCATOR DEVICE PROVIDING A VIRTUAL DROP-LINE,” which claims priority under 35 U.S.C. § 119 (e) of U.S. Provisional Application Ser. No. 63/585,125, filed Sep. 25, 2023, and titled “PORTABLE LOCATOR DEVICE PROVIDING A VIRTUAL DROP-LINE.” The present application is also a continuation-in-part of International Application No. PCT/US24/48380, filed Sep. 25, 2024, and titled, “PORTABLE LOCATOR DEVICE PROVIDING A VIRTUAL DROP-LINE.” U.S. Provisional Application Ser. Nos. 63/659,437 and 63/585,125, U.S. patent application Ser. No. 18/896,279, and International Application No. PCT/US24/48380 are herein incorporated by reference in their entireties.

BACKGROUND

The term horizontal directional drilling (HDD) generally refers to systems and techniques for installing underground utilities. Such systems can be used in place of trenching or excavating and can minimize surface disturbances for the installation. Directional drilling can be used to drill a tunnel in order to install underground utility lines, pipelines, cables, service conduits, and so forth.

DRAWINGS

The Detailed Description is described with reference to the accompanying figures. The use of the same reference numbers in different instances in the description and the figures may indicate similar or identical items.

FIG. 1 is a diagrammatic illustration of a display for a portable locator device, e.g., for a horizontal directional drilling (HDD) system, where a map shows an ending position for the portable locator device displayed by a red pin icon proximate to a first position of the portable locator device in accordance with example embodiments of the present disclosure.

FIG. 2 is a diagrammatic illustration of a display for a portable locator device, such as the portable locator device illustrated in FIG. 1, where a map shows a starting position for the portable locator device displayed by a green pin icon proximate to a second position of the portable locator device in accordance with example embodiments of the present disclosure.

FIG. 3 is a diagrammatic illustration of a display for a portable locator device, such as the portable locator device illustrated in FIG. 1, where a map shows a starting position and an ending position for the portable locator device displayed by a green pin icon and a red pin icon, respectively, in accordance with example embodiments of the present disclosure.

FIG. 4 is a diagrammatic illustration of a display for a portable locator device, such as the portable locator device illustrated in FIG. 1, where a left indicator icon and a distance measurement of nine-inches (9″) show that the portable locator device is to the left of a virtual drop-line between a starting position and an ending position for the portable locator device in accordance with example embodiments of the present disclosure.

FIG. 5 is a diagrammatic illustration of a display for a portable locator device, such as the portable locator device illustrated in FIG. 1, where a right indicator icon and a distance measurement of one-foot eleven-inches (1′ 11″) show that the portable locator device is to the right of a virtual drop-line between a starting position and an ending position for the portable locator device in accordance with example embodiments of the present disclosure.

FIG. 6 is a diagrammatic illustration of a display for a portable locator device, such as the portable locator device illustrated in FIG. 1, where a right indicator icon and a left indicator icon together show that the portable locator device is over a virtual drop-line between a starting position and an ending position for the portable locator device in accordance with example embodiments of the present disclosure.

FIG. 7 is a top plan view of a virtual drop-line between a starting position and an ending position for a portable locator device in an HDD system, where the virtual drop-line can be used when drilling under a river, with the portable locator device being transported across the river on a water craft, in accordance with example embodiments of the present disclosure.

FIG. 8 is a side elevation view of the virtual drop-line illustrated in FIG. 7.

FIG. 9 is a top plan view of a virtual drop-line between a starting position and an ending position for a portable locator device in an HDD system, where the virtual drop-line can be used to drill under a highway crossing in accordance with example embodiments of the present disclosure.

FIG. 10 is a side elevation view of the virtual drop-line illustrated in FIG. 9.

FIG. 11 is a top plan view of a virtual drop-line between a starting position and an ending position for a portable locator device in an HDD system, where the virtual drop-line can be used without line of sight between the starting position and the ending position in accordance with example embodiments of the present disclosure.

FIG. 12 is a side elevation view of the virtual drop-line illustrated in FIG. 11.

FIG. 13 is a block diagram illustrating a portable locator device, e.g., for use with a horizontal directional drilling (HDD) system, in accordance with example embodiments of the present disclosure.

FIG. 14 is another block diagram illustrating a portable locator device, e.g., for use with a horizontal directional drilling (HDD) system, in accordance with example embodiments of the present disclosure.

FIG. 15 is a diagrammatic illustration of a system using satellite navigation with a walkover locator.

FIG. 16 is a diagrammatic illustration of another system using satellite navigation with a walkover locator in accordance with example embodiments of the present disclosure.

FIG. 17 is a diagrammatic illustration of an HDD system that includes an underground transmitter inside a drill head, an above ground HDD locator, and a base station at an HDD machine, where positioning system coordinates can be determined and logged by the system with a high degree of accuracy in accordance with example embodiments of the present disclosure.

FIG. 18 is a block diagram illustrating a base station and a walkover locator for an HDD system, such as the base station and walkover locator of the HDD system shown in FIG. 17, in accordance with example embodiments of the present disclosure.

FIG. 19 is a block diagram illustrating an HDD system, such as the HDD system shown in FIG. 17, in accordance with example embodiments of the present disclosure.

FIG. 20A is a flow diagram illustrating methods for determining a relative position of a walkover locator used in a horizontal directional drilling system, such as the HDD system illustrated in FIGS. 15 through 19, in accordance with example embodiments of the present disclosure.

FIG. 20B is a continuation of the flow diagram from FIG. 20A.

FIG. 20C is a continuation of the flow diagram from FIG. 20B.

DETAILED DESCRIPTION

Referring generally to FIGS. 1 through 13, portable locator devices 100 are described. A portable locator device 100 can be used with, for example, a horizontal directional drilling (HDD) system 102. A portable locator device 100 includes a display (e.g., an electronic display 104) for providing instructions 106 to an operator of the portable locator device 100. In some embodiments, the electronic display 104 may also be used to display one or more maps 108 (e.g., as described with reference to FIGS. 1 through 3) or other graphical depictions of an environment in which the portable locator device 100 is operated. The portable locator device 100 also includes an interface (e.g., a touchscreen interface 110 disposed on the electronic display 104, buttons, a keypad, etc.) for receiving inputs from the operator of the portable locator device 100.

The portable locator device 100 includes a positioning system receiver 112 for receiving locating signals 114. In some embodiments, the positioning system receiver 112 includes a satellite navigation device receiver 116, such as a Global Navigation Satellite System (GNSS) receiver, where the positioning system receiver 112 receives radio signals from multiple satellites within one or more global satellite networks. Examples include, but are not necessarily limited to: Global Positioning System (GPS) satellites, GLONASS satellites, Galileo satellites, BeiDou satellites, and so forth. In some embodiments, a positioning system receiver 112 can include a regional positioning device receiver 118 configured to receive radio locating signals from, for instance, a network of land-based positioning transmitters. In some embodiments, a positioning system receiver 112 can include a local positioning device receiver 120 configured to receive signals from cellular base stations, wireless networking devices (e.g., Wi-Fi and/or LiFi access points, ultra-wideband (UWB) devices), radio broadcast towers, and so forth. For example, the local positioning device receiver 120 can receive UWB signals for local positioning in the range of hundreds of feet.

The portable locator device 100 includes a controller 122 operatively coupled with the electronic display 104 and communicatively coupled with the touchscreen interface 110 and the positioning system receiver 112. As described, the controller 122 is configured to use the locating signals 114 received by the positioning system receiver 112 to determine a first position of the portable locator device 100. In embodiments, the first position is a geographic location (e.g., aboveground) at or near (e.g., above) the desired termination of an underground utility line, pipeline, cable, service conduit, and so forth. The portable locator device 100 can be conveyed (e.g., carried, driven) by an operator to the first position. For instance, the portable locator device 100 can be walked to a geographic location at or near a hole drilled into the Earth, e.g., where a drilling operation should intersect the hole.

The controller 122 is configured to receive a first input (e.g., a touch 124) from the touchscreen interface 110 indicative of an ending position 126 for the portable locator device 100 proximate to the first position. In one example, when at the first position, the operator interacts with the touchscreen interface 110 by pressing a button (e.g., a physical button, a graphical button on a touchscreen), and the controller 122 designates the first position as the ending position 126. In another example, the operator uses the touchscreen interface 110 to designate another geographic location at or near the first position. For example, the operator uses an interactive map 108 on the electronic display 104 to select a desired geographic location occupied by a natural feature or manmade structure or feature, e.g., where the desired geographic location may not be directly accessible while carrying the portable locator device 100, such as in the case of a large hole or pit.

The controller 122 is configured to use the locating signals 114 received by the positioning system receiver 112 to determine a second position of the portable locator device 100. In embodiments, the second position is a geographic location (e.g., aboveground) at or near (e.g., above) the desired starting location for the underground utility line, pipeline, cable, service conduit, etc. The portable locator device 100 can be conveyed (e.g., carried, driven) by an operator from the first position to the second position. It should be noted that the portable locator device 100 need not be conveyed by the operator directly from the first position to the second position, but rather may be moved around obstacles, carried along existing paths over terrain, and so forth.

The controller 122 is configured to receive a second input (e.g., a touch 128) from the touchscreen interface 110 indicative of a starting position 130 for the portable locator device 100 proximate to the second position. In one example, when at the second position, the operator interacts with the touchscreen interface 110 by pressing a button (e.g., a physical button, a graphical button on a touchscreen), and the controller 122 designates the second position as the starting position 130. In another example, the operator uses the touchscreen interface 110 to designate another geographic location at or near the second position. For example, the operator uses an interactive map 108 on the electronic display 104 to select a desired geographic location under a natural feature or manmade structure or feature, e.g., as previously described.

As described, the controller 122 is configured to determine a virtual drop-line 132 between the starting position 130 and the ending position 126 for the portable locator device 100. For example, the controller 122 uses the starting position 130 and the ending position 126 to construct a geographic model of an aboveground “straight line” (i.e., shortest distance between two points on the generally spherical surface of the Earth). In another example, the controller 122 uses the starting position 130 and the ending position 126 to designate incremental waypoints or intermediate positions 134 between the starting position 130 and the ending position 126 along a line between the starting position 130 and the ending position 126. As described, the virtual drop-line 132 is analogous to a physical chalk line, laser line, or other direct path between two locations on the Earth's surface.

The controller 122 is configured to provide instructions 106 via the electronic display 104 for moving from the starting position 130 to the ending position 126 along the virtual drop-line 132. For instance, with reference to FIGS. 4 through 6, the electronic display 104 is used to describe to the operator whether the portable locator device 100 is to the left of the virtual drop-line 132, to the right of the virtual drop-line 132, above the virtual drop-line 132, and so forth. In this manner, while drilling to install an underground utility line, pipeline, cable, service conduit, and so forth, the portable locator device 100 can be used to ensure that the underground drilling operation is proceeding along the virtual drop-line 132, even when the desired ending location cannot be seen through line of sight.

In embodiments, a sonde and/or other transmitter(s) can be placed at or near the drill head of the HDD system 102, and the portable locator device 100 can be carried along the drill path (e.g., at the surface above the drill head) during the drilling operation by tracking the sonde. For example, the portable locator device 100 can include an antenna 152 (FIG. 14) (e.g., a 3D antenna, a directional antenna) that receives signals from the sonde of the HDD system 102 to detect the location and/or direction of the transmitter/sonde relative to the portable locator device 100. By using the instructions 106 provided via the electronic display 104, the drilling operation (e.g., the drill path) can be adjusted in real-time according to the instructions 106 to keep the drill head moving along the virtual drop-line 132. In embodiments, the electronic display 104 is used to provide information and/or instructions to the operator on moving the portable locator device 100 at the surface to maintain the portable locator device 100 above the drill head.

A portable locator device 100, including some or all of its components, can operate under computer control. For example, a processor can be included with or in a portable locator device 100 to control the components and functions of portable locator devices 100 described herein using software, firmware, hardware (e.g., fixed logic circuitry), manual processing, or a combination thereof. The terms “controller,” “functionality,” “service,” and “logic” as used herein generally represent software, firmware, hardware, or a combination of software, firmware, or hardware in conjunction with controlling the portable locator devices 100. In the case of a software implementation, the module, functionality, or logic represents program code that performs specified tasks when executed on a processor (e.g., central processing unit (CPU) or CPUs). The program code can be stored in one or more computer-readable memory devices (e.g., internal memory and/or one or more tangible media), and so on. The structures, functions, approaches, and techniques described herein can be implemented on a variety of commercial computing platforms having a variety of processors.

The controller 122 can include the processor 136, a memory 138, and a communications interface 140. The processor 136 provides processing functionality for the controller 122 and can include any number of processors, micro-controllers, or other processing systems, and resident or external memory for storing data and other information accessed or generated by the controller 122. The processor 136 can execute one or more software programs that implement techniques described herein. The processor 136 is not limited by the materials from which it is formed or the processing mechanisms employed therein and, as such, can be implemented via semiconductor(s) and/or transistors (e.g., using electronic integrated circuit (IC) components), and so forth.

The memory 138 is an example of tangible, computer-readable storage medium that provides storage functionality to store various data associated with operation of the controller 122, such as software programs and/or code segments, or other data to instruct the processor 136, and possibly other components of the controller 122, to perform the functionality described herein. Thus, the memory 138 can store data, such as a program of instructions for operating the portable locator device 100 (including its components), and so forth. It should be noted that while a single memory 138 is described, a wide variety of types and combinations of memory (e.g., tangible, non-transitory memory) can be employed. The memory 138 can be integral with the processor 136, can comprise stand-alone memory, or can be a combination of both.

The memory 138 can include, but is not necessarily limited to: removable and non-removable memory components, such as random-access memory (RAM), read-only memory (ROM), flash memory (e.g., a secure digital (SD) memory card, a mini-SD memory card, and/or a micro-SD memory card), magnetic memory, optical memory, universal serial bus (USB) memory devices, hard disk memory, external memory, and so forth. In implementations, the portable locator device 100 and/or the memory 138 can include removable integrated circuit card (ICC) memory, such as memory provided by a subscriber identity module (SIM) card, a universal subscriber identity module (USIM) card, a universal integrated circuit card (UICC), and so on.

The communications interface 140 is operatively configured to communicate with components of the portable locator device 100. For example, the communications interface 140 can be configured to transmit data for storage in the portable locator device 100, retrieve data from storage in the portable locator device 100, and so forth. The communications interface 140 is also communicatively coupled with the processor 136 to facilitate data transfer between components of the portable locator device 100 and the processor 136 (e.g., for communicating inputs to the processor 136 received from a device communicatively coupled with the controller 122). It should be noted that while the communications interface 140 is described as a component of a controller 122, one or more components of the communications interface 140 can be implemented as external components communicatively coupled to the portable locator device 100 via a wired and/or wireless connection. The portable locator device 100 can also comprise and/or connect to one or more input/output (I/O) devices (e.g., via the communications interface 140), including, but not necessarily limited to: a display, a mouse, a touchpad, a keyboard, and so on.

The communications interface 140 and/or the processor 136 can be configured to communicate with a variety of different networks, including, but not necessarily limited to: a wide-area cellular telephone network, such as a 3G cellular network, a 4G cellular network, or a global system for mobile communications (GSM) network; a wireless computer communications network, such as a WiFi network (e.g., a wireless local area network (WLAN) operated using IEEE 802.11 network standards); an internet; the Internet; a wide area network (WAN); a local area network (LAN); a personal area network (PAN) (e.g., a wireless personal area network (WPAN) operated using IEEE 802.15 network standards); a public telephone network; an extranet; an intranet; and so on. However, this list is provided by way of example only and is not meant to limit the present disclosure. Further, the communications interface 140 can be configured to communicate with a single network or multiple networks across different access points.

Referring now to FIG. 14, in some embodiments, a portable locator device 100 includes an Earth magnetic sensor 142 (geomagnetic sensor, electronic compass) for detecting the magnetic field of the Earth. The Earth magnetic sensor 142 can be implemented using one or more electronic sensors that detect the Earth's magnetic field. For example, an Earth magnetic sensor 142 can include one or more of the following sensors: a Hall sensor 144 that measures magnetic flux density using the Hall effect, a magnetoresistive (MR) sensor 146 that measures magnetic field strength by detecting changes in individual electrical resistors, a magneto-impedance (MI) sensor 148 that measures the impedance in an amorphous wire, and so forth. In embodiments of the disclosure, the controller 122 can be configured to correlate the detected geomagnetic field of the Earth from the Earth magnetic sensor 142 to one or more orientations and/or locations of the portable locator device.

In embodiments of the disclosure, the electronic display 104 can instruct the operator to press a button (e.g., a physical button, a graphical button on a touchscreen) when facing the ending position 126, i.e., when the portable locator device 100 is facing the end of the virtual drop-line 132. For instance, a positioning system receiver 112 on the portable locator device 100 is used to determine a first geographic location of the portable locator device 100 (e.g., at or near the starting position 130). When the operator faces the ending position 126 at the first geographic location with the portable locator device 100 (e.g., by facing a visually distinct landmark between the starting position 130 and the ending position 126), the operator presses a button on the touchscreen interface 110, and the controller 122 correlates the detected geomagnetic field of the Earth from the Earth magnetic sensor 142 to the first geographic location, logging the direction of magnetic north with respect to a cardinal direction, like true north, as detected by the Earth magnetic sensor 142 at the first geographic location.

For instance, by comparing the coordinates of the first geographic location to the coordinates of the ending position 126 to determine the direction from the first geographic location to the ending position 126, the direction of magnetic north can be determined and stored by the controller 122. In an example, at a first geographic location, the direction of magnetic north is detected as forty-eight degrees) (48°) clockwise with respect to the front facing direction of the portable locator device 100. If the portable locator device 100 is facing a direction forty-three degrees (43°) west of true north from the first geographic location to the ending position 126, the direction of magnetic north with respect to true north at the first geographic location can be determined as five degrees) (5°) east of true north (i.e., 48° minus 43°).

In some embodiments, the electronic display 104 can instruct the operator to press a button (e.g., a physical button, a graphical button on a touchscreen) when facing the starting position 130, i.e., when the portable locator device 100 is facing the beginning of the virtual drop-line 132. For instance, a positioning system receiver 112 on the portable locator device 100 is used to determine a second geographic location of the portable locator device 100 (e.g., at or near an intermediate position 134). When the operator faces the starting position 130 at the second geographic location with the portable locator device 100 (e.g., by standing some distance away from and facing the starting position 130), the operator presses a button on the touchscreen interface 110, and the controller 122 correlates the detected geomagnetic field of the Earth from the Earth magnetic sensor 142 to the second geographic location, logging the direction of magnetic north with respect to a cardinal direction, like true north, as detected by the Earth magnetic sensor 142 at the second geographic location. For instance, by comparing the coordinates of the second geographic location to the coordinates of the starting position 130 to determine the direction from the second geographic location to the starting position 130, the direction of magnetic north can be determined and stored by the controller 122, e.g., as previously described.

In another instance, the operator sets off on a path generally between the starting position 130 and the ending position 126, arriving at a second geographic location (e.g., an intermediate position 134) between the starting position 130 and the ending position 126. When the second geographic location is determined to be an intermediate position 134 between the starting position 130 and the ending position 126 along the virtual drop-line 132, and the operator is facing the ending position 126, the operator presses a button on the touchscreen interface 110, and the controller 122 correlates the detected geomagnetic field of the Earth from the Earth magnetic sensor 142 to the second geographic location, logging the direction of magnetic north with respect to a cardinal direction, like true north, as detected by the Earth magnetic sensor 142. For example, by comparing the coordinates of the intermediate position 134 to the coordinates of the ending position 126 to determine the direction from the intermediate position 134 to the ending position 126, the direction of magnetic north can be determined and stored by the controller 122, e.g., as previously described.

In some embodiments, the memory 138 can be used to store a lookup table 150 of magnetic declination angles (also referred to as magnetic variation angles) between magnetic north and true north for various geographic regions. In this example, a positioning system receiver 112 on the portable locator device 100 is used to determine a geographic location of the portable locator device 100 (e.g., at the starting position 130). By comparing the coordinates of the geographic location for the portable locator device 100 to geographic locations and/or geographic ranges stored in the lookup table 150, the direction of magnetic north can be determined based upon finding a corresponding magnetic declination angle in the lookup table 150. The magnetic declination angle can be stored by the controller 122 for future use along the virtual drop-line 132.

In any of the foregoing examples, the direction of magnetic north can then be used at subsequent locations (e.g., at additional intermediate positions 134) between the starting position 130 and the ending position 126 to determine the direction of the ending position 126 relative to the portable locator device 100, and instructions can be provided to the operator for moving towards the ending position 126, e.g., in the form of a graphical direction indicator provided by the user interface, such as a directional arrow displayed on the electronic display 104, a compass heading displayed on the electronic display 104, a verbal instruction provided by an output device such as a speaker, and so forth.

Referring now to FIGS. 15 through 20, satellite navigation can be used with a walkover locator in a horizontal directional drillings (HDD) system. For example, a typical satellite navigation receiver included in a walkover locator may have an accuracy within a five-to-fifteen-foot (5-15 ft) range. However, this accuracy may not be sufficient for meaningful position logging, but rather may be useful for rough reporting on the area where drilling is done. With reference to FIG. 15, higher accuracy may be achieved by subscribing to a satellite navigation correction service. However, less expensive correction services generally require a continuous internet connection for operation, while services that do not require an internet connection can be prohibitively expensive. High accuracy (sub-inch range) survey-grade satellite navigation receivers are typically large, heavy, and too costly to be included in a walkover locator.

Accordingly, systems, techniques, and apparatus described herein allow a horizontal directional drilling system to determine GPS coordinates and log measurement points with a high degree of accuracy. For example, the controller 122 of a portable locator device 100 is configured to determine a virtual drop-line 132 between a starting position 130 and an ending position 126 using GPS coordinates, as previously described. Further, the path and depth of an underground borehole can be logged by a horizontal directional drilling system. The locating systems described herein can include an underground transmitter inside a drill head, an above ground HDD locator, and a remote display mounted on the HDD machine. The transmitter transmits data and a locating dipole signal at a specific frequency. The locator receives the transmitter data and the locating dipole signal and then transmits its calculated position to the remote display over, for example, a radio frequency (RF) link. A real-time kinematic (RTK) positioning base can be included on the drill as part of the display. The RTK base does not move during drilling. The stationary base allows the use of smaller and cheaper satellite navigation receivers and antennas.

The RTK base itself generates satellite navigation correction data. The RTK base transmits the correction data to the locator via, for instance, an RF link and/or an internet connection via SIM cards installed in each device. The use of SIM cards/internet connectivity enables the transmission of large volumes of data that might restrict the distance when using the RF link alone. In this manner, an Internet connection is not required for ongoing operation, and mobile phone coverage is also not required. However, in some embodiments, the RTK base station can briefly use an internet connection to access a correction service, e.g., at the beginning of a drilling operation. This connection allows the RTK base to establish a precise location by receiving initial correction data from an external source. Once the precise location is determined, the RTK base can disconnect from the correction service and function independently as a base station, transmitting correction data to the locator without the need for continuous external correction subscriptions. This can provide a significant advantage by eliminating a need for costly, continuous correction service subscriptions, while still allowing for high-precision location accuracy.

In embodiments, the system can be self-sufficient, and a subscription is not necessarily needed. The locator uses correction data to determine its own position with sub-inch accuracy. This position can be accurate enough to be used for logging the absolute satellite navigation coordinates of every point. Logged “as-built” information including the coordinates can be added to, for example, a city geographic information system (GIS) to be used later. As described, the locator's position is measured relative to the RTK base (drill start point). When the drill location (the starting point for the drilling) is known, the absolute coordinates of the data points logged by a locator can be calculated (e.g., at a later time).

A horizontal directional drilling system 200 (such as the HDD system 102) is described in accordance with example embodiments of the present disclosure. The horizontal directional drilling system 200 includes a horizontal directional drilling machine 202, which is capable of boring along an underground path using a drilling rig 204 launched from the surface. The horizontal directional drilling machine 202 may be used to install underground utilities, including, but not necessarily limited to: pipe, conduit, cables, and so forth. In some embodiments, the drilling rig 204 includes an underground transmitter 206, where the underground transmitter 206 is configured to transmit a locating dipole signal 208 to be received by a walkover locator and used for positioning the walkover locator above the drilling rig 204.

The horizontal directional drilling machine 202 includes a base station 210, which can include a user interface 212 (e.g., implemented by an interactive display, such as a touch screen display) for controlling operations of the drilling rig 204. The base station 210 includes a first satellite navigation receiver 214 configured to receive a satellite navigation signal 216 transmitted on a carrier waveform. For example, the first satellite navigation receiver 214 is configured to receive signals from a satellite navigation system with global coverage. Such a system is commonly referred to as a global navigation satellite system (GNSS). Examples of satellite navigation systems include the Global Positioning System (GPS), Russia's Global Navigation Satellite System (GLONASS), India's Indian Regional Navigation Satellite System (IRNSS), China's BeiDou Navigation Satellite System (BDS), and the European Union's Galileo.

The first satellite navigation receiver 214 of the base station 210 is configured to receive satellite navigation signals 216 that are each modulated with an information sequence for temporal alignment with a matching information sequence to be generated by the first satellite navigation receiver 214. For example, the information sequence can be a pseudorandom binary sequence or another sequence that can be replicated by the first satellite navigation receiver 214, where the term “pseudorandom” refers to statistical randomness in a sequence generated by a reproducible mathematical procedure. The matching information sequence can be generated by the first satellite navigation receiver 214 using the same procedure, but at different delays to account for a time taken by the satellite navigation signal 216 to travel to the first satellite navigation receiver 214.

Once the appropriate delay in the receiver's sequence has been established, the time taken by the satellite navigation signal 216 to travel to the first satellite navigation receiver 214 is determined, and thereby a distance of the first satellite navigation receiver 214 from a satellite 218 transmitting the satellite navigation signal 216. It should be noted that the distance determined by the first satellite navigation receiver 214 is an estimated distance, subject to the accuracy of the clocks in the first satellite navigation receiver 214 and the satellite 218, for instance, and may also be referred to as a “pseudo-distance” or “pseudo-range,” as the distance is estimated through an adjustment procedure, such as a least squares adjustment.

In embodiments of the disclosure, the satellite navigation signal 216 has a higher frequency than a frequency of the information sequence. For example, a GPS satellite may transmit a coarse-acquisition (C/A) code navigation signal modulated with an information sequence that changes phase at a frequency of 1.023 megahertz (MHz), while the frequency of the GPS carrier waveform itself is 1,575.42 megahertz (MHz). However, it should be noted that a C/A code navigation signal is provided by way of example only and is not meant to limit the present disclosure. In other embodiments, GNSS signals having different purposes and frequencies may be used with the systems, techniques, and apparatus described herein. The base station 210 is configured to determine a first observed phase of the carrier waveform. For example, the base station 210 uses one or more carrier-phase tracking techniques to perform carrier phase measurements and determine the phase of the carrier waveform.

The horizontal directional drilling system 200 also includes an above ground horizontal directional drilling walkover locator 220 (such as the portable locator device 100) communicatively couplable with the base station 210. The walkover locator 220 includes a second satellite navigation receiver 222 (such as the satellite navigation device receiver 116) configured to receive the satellite navigation signal 216 broadcast on the carrier waveform, and the walkover locator 220 is configured to determine a second observed phase of the carrier waveform (e.g., as previously described). In some embodiments, the first and second satellite navigation receivers 214 and 222 are single frequency receivers with GNSS antennas. In some embodiments, the first and second satellite navigation receivers 214 and 222 are multi-frequency receivers with GNSS antennas. For example, the satellite navigation receivers can be multi-frequency GNSS receivers that perform both carrier phase and precise pseudo-range measurements and efficiently address integer cycle ambiguity in the calculations. In some embodiments, the satellite navigation receivers can use one or more statistical methods that compare measurements from the satellite navigation signals and the resulting ranges between multiple satellites to reduce errors in measurements.

The base station 210 is configured to transmit the first observed phase of the carrier waveform to the walkover locator 220, and the walkover locator 220 is configured to compare the second observed phase of the carrier waveform to the first observed phase to determine a relative position of the walkover locator 220 with respect to the base station 210. For example, the base station 210 transmits the phase of the carrier that it observes, and the walkover locator 220 compares its own phase measurements with the one received from the base station 210. In this manner, the walkover locator 220 can determine its relative position with respect to the base station 210. As described, when the location of the base station 210, e.g., the drill location or starting point for the drilling rig 204, is known, the absolute coordinates of data points logged by a walkover locator 220 can be calculated (e.g., at a later time). It should be noted that while operations of the first and second satellite navigation receivers 214 and 222 with respect to receipt of the carrier waveform from the satellite 218 have been described with some specificity for purposes of the examples provided herein, the first and second satellite navigation receivers 214 and 222 can receive satellite navigation signals 216 from multiple satellites 218 and perform the operations described herein simultaneously, or at least substantially simultaneously, using the various carrier waveforms from the multiple satellites 218.

In some embodiments, the base station 210 and the walkover locator 220 can communicate with one another via a radio frequency (RF) communications link, e.g., to send and receive operation commands and information. For example, the base station 210 includes a radio transmitter/receiver 224 and the walkover locator 220 includes another radio transmitter/receiver 226. The base station 210 and the walkover locator 220 can also communicate by satellite or a cellular data network, either directly or via dedicated Wi-Fi hotspot or cellphone. In some embodiments, the base station 210 and the walkover locator 220 can each include circuitry for identification and authentication of the respective devices on mobile networks, such as mobile telephone networks. For example, the base station 210 includes mobile network connectivity circuitry 228 and the walkover locator 220 also includes mobile network connectivity circuitry 230. In some embodiments, the mobile network connectivity circuitries 228 and/or 230 can each include one or more integrated circuits that can securely store a mobile network identity for each respective device, such as an international mobile subscriber identity (IMSI) number and an associated key, which can be used to identify/authenticate subscribers on mobile devices. For example, mobile network connectivity circuitries 228 and/or 230 can each include a subscriber identity module (SIM) or SIM card.

The walkover locator 220 can receive information from an underground transmitter (e.g., associated with the drill head) and locate the underground transmitter position based, for example, on the magnetic signal sent from the underground transmitter. For example, the horizontal directional drilling system 200 includes a drill string 232 made up of a plurality of interconnected drill rods. The drilling rig 204 can be operatively coupled to and carried by an end of the drill string 232 opposite the horizontal directional drilling machine 202. The end of the drill string 232 opposite the drilling rig 204 can, in turn, be operatively coupled to the horizontal directional drilling machine 202. The drilling rig 204 can thereby be driven and/or rotated by the horizontal directional drilling machine 202 via the drill string 232. The drilling rig 204 can include the underground transmitter 206 (e.g., a sonde) and an oriented and/or slanted drill face 234. The underground transmitter 206 can register and wirelessly transmit various data associated with the operation of the drilling rig 204 (e.g., one or more of yaw, pitch, roll, acceleration, ground temperature, ground saturation, etc., depending on the sensor capabilities associated with the drilling rig 204), and the drill face 234 can facilitate the steering and/or boring action of the drilling rig 204.

In embodiments, the walkover locator 220, for use on the terrain above the underground transmitter 206, can receive the wireless signals generated by the underground transmitter 206, thereby facilitating tracking and/or monitoring of the underground drilling process (including facilitating display of drilling data). The underground transmitter 206 can transmit one or more signals (e.g., a magnetic signal and/or another signal) to the surface, for example, to a first locating point off to an angle from the underground transmitter 206 (e.g., a point on the ground surface that has a special spatial relation with the underground transmitter 206) or to a second locating point directly above the underground transmitter 206.

The walkover locator 220 can communicate with the remote display/base station 210, for example, by a radio frequency (RF) link 236. The base station 210 (e.g., mounted or otherwise carried on the horizontal directional drilling machine 202) can allow the HDD operator to view the drilling data generated by the walkover locator 220. The base station 210 may further serve as a computer processor, an input/output location (e.g., via touchscreen or a related keyboard), and/or a communications link (e.g., for RF link 236 and/or for wireless communication with a server and/or a satellite). In an embodiment, the walkover locator 220 and the base station 210 can wirelessly communicate with one another, such as via RF communication between the radio transmitter/receiver 224 and the radio transmitter/receiver 226. For example, data collected, compiled, and/or converted by the walkover locator 220 can be transmitted to at least the base station 210 for use at the base station 210 and/or for storage there or elsewhere (e.g., at a cloud server).

As described, the mobile network connectivity circuitries 228 and/or 230 can facilitate communication between the handheld walkover locator 220 and the remote display/base station 210 on the horizontal directional drilling machine 202 via cellular networks, e.g., where the mobile network connectivity circuitries 228 and/or 230 are implemented as SIM cards in the walkover locator 220 and the base station 210. For example, RF communications between the handheld unit and the display may be subject to range restrictions (e.g., due to physical obstructions). Additionally, RF communications may be subject to data transmission limitations. For instance, when using a GPS RTK station, RF communication may struggle with the large amounts of data used. Moreover, regulatory constraints may become an issue, e.g., when government regulations limit RF transmission power. The use of cellular networks can provide a less restricted range for communications. The use of cellular networks can also provide for seamless high-bandwidth data transfer, especially for GPS RTK corrections. In embodiments, the use of SIM cards/cellular networks can also bypass RF power restrictions while maintaining reliable communications.

In some embodiments, cellular networks are used by the walkover locator 220 and the remote display/base station 210 to communicate using internet connectivity, e.g., when available. The use of internet communications can facilitate the transmission of large amounts of data between the walkover locator 220 and the base station 210. For example, large amounts of data used for precise GPS data logging can be transmitted by an operator over the Internet while drilling information is transmitted simultaneously via radio frequency communications. For instance, pitch and roll measurements can be transmitted via the RF link 236, while the mobile network connectivity circuitries 228 and/or 230 facilitate internet communication of RTK data. This dual approach can provide faster data transfer to the remote display/base station 210 than using only internet communications. For example, slower pitch and roll data rates may hinder drilling efficiency when only internet communications are used. However, when RF range is insufficient to supply drilling data, an operator may send all data via the Internet (e.g., sacrificing speed for range to complete projects). Conversely, when cellular communications are unavailable, all data may be sent via the RF link 236. In some embodiments, the horizontal directional drilling system 200 can briefly connect to a correction service, e.g., to establish RTK correction. The correction service can allow for “survey grade” accuracy without the need for continuous correction services during drilling operations.

Referring now to FIG. 19, a horizontal directional drilling system 200, including some or all of its components, can operate under computer control. For example, a processor can be included with or in a horizontal directional drilling system 200 to control the components and functions of horizontal directional drilling systems 200 described herein using software, firmware, hardware (e.g., fixed logic circuitry), manual processing, or a combination thereof. The terms “controller,” “functionality,” “service,” and “logic” as used herein generally represent software, firmware, hardware, or a combination of software, firmware, or hardware in conjunction with controlling the horizontal directional drilling systems 200. In the case of a software implementation, the module, functionality, or logic represents program code that performs specified tasks when executed on a processor (e.g., central processing unit (CPU) or CPUs). The program code can be stored in one or more computer-readable memory devices (e.g., internal memory and/or one or more tangible media), and so on. The structures, functions, approaches, and techniques described herein can be implemented on a variety of commercial computing platforms having a variety of processors.

The first and second satellite navigation receivers 214 and 222 can be coupled with one or more controllers 250 for controlling the various operations of the receivers, e.g., determining an observed phase of a carrier waveform, communicating an observed phase from the first satellite navigation receiver 214 to the second satellite navigation receiver 222, determining a relative position of the walkover locator 220 with respect to the base station 210, logging a relative position of the walkover locator 220 with respect to the base station 210, logging a depth of the drilling rig 204 and associating the depth with a particular location of the drilling rig 204, and so forth. A controller 250 can include a processor 252, a memory 254, and a communications interface 256.

The processor 252 provides processing functionality for the controller 250 and can include any number of processors, micro-controllers, or other processing systems, and resident or external memory for storing data and other information accessed or generated by the controller 250. The processor 252 can execute one or more software programs that implement techniques described herein. The processor 252 is not limited by the materials from which it is formed or the processing mechanisms employed therein and, as such, can be implemented via semiconductor(s) and/or transistors (e.g., using electronic integrated circuit (IC) components), and so forth.

The memory 254 is an example of tangible, computer-readable storage medium that provides storage functionality to store various data associated with operation of the controller 250, such as software programs and/or code segments, or other data to instruct the processor 252, and possibly other components of the controller 250, to perform the functionality described herein. Thus, the memory 254 can store data, such as a program of instructions for operating the horizontal directional drilling system 200 (including its components), and so forth. It should be noted that while a single memory 254 is described, a wide variety of types and combinations of memory (e.g., tangible, non-transitory memory) can be employed. The memory 254 can be integral with the processor 252, can comprise stand-alone memory, or can be a combination of both.

The memory 254 can include, but is not necessarily limited to: removable and non-removable memory components, such as random-access memory (RAM), read-only memory (ROM), flash memory (e.g., a secure digital (SD) memory card, a mini-SD memory card, and/or a micro-SD memory card), magnetic memory, optical memory, universal serial bus (USB) memory devices, hard disk memory, external memory, and so forth. In implementations, the horizontal directional drilling system 200 and/or the memory 254 can include removable integrated circuit card (ICC) memory, such as memory provided by a subscriber identity module (SIM) card, a universal subscriber identity module (USIM) card, a universal integrated circuit card (UICC), and so on.

The communications interface 256 is operatively configured to communicate with components of the horizontal directional drilling system 200. For example, the communications interface 256 can be configured to transmit data for storage in the horizontal directional drilling system 200, retrieve data from storage in the horizontal directional drilling system 200, and so forth. The communications interface 256 is also communicatively coupled with the processor 252 to facilitate data transfer between components of the horizontal directional drilling system 200 and the processor 252 (e.g., for communicating inputs to the processor 252 received from a device communicatively coupled with the controller 250). It should be noted that while the communications interface 256 is described as a component of a controller 250, one or more components of the communications interface 256 can be implemented as external components communicatively coupled to the horizontal directional drilling system 200 via a wired and/or wireless connection. The horizontal directional drilling system 200 can also comprise and/or connect to one or more input/output (I/O) devices (e.g., via the communications interface 256), including, but not necessarily limited to: a display, a mouse, a touchpad, a keyboard, and so on.

The communications interface 256 and/or the processor 252 can be configured to communicate with a variety of different networks, including, but not necessarily limited to: a wide-area cellular telephone network, such as a 3G cellular network, a 4G cellular network, or a global system for mobile communications (GSM) network; a wireless computer communications network, such as a WiFi network (e.g., a wireless local area network (WLAN) operated using IEEE 802.11 network standards); an internet; the Internet; a wide area network (WAN); a local area network (LAN); a personal area network (PAN) (e.g., a wireless personal area network (WPAN) operated using IEEE 802.15 network standards); a public telephone network; an extranet; an intranet; and so on. However, this list is provided by way of example only and is not meant to limit the present disclosure. Further, the communications interface 256 can be configured to communicate with a single network or multiple networks across different access points.

Referring now to FIG. 20, a process 2000 for determining a relative position of a walkover locator used in a horizontal directional drilling system is depicted in accordance with example embodiments, e.g., as described with reference to the horizontal directional drilling systems 200 discussed above with reference to FIGS. 1 through 19. In the process illustrated, a satellite navigation signal is received by a first satellite navigation receiver at a base station of a horizontal directional drilling machine (Block 2010). For example, horizontal directional drilling system 200 includes horizontal directional drilling machine 202 with base station 210, where base station 210 includes first satellite navigation receiver 214 configured to receive satellite navigation signal 216 transmitted on a carrier waveform. Then, the base station determines a first observed phase of the carrier waveform (Block 2020). For instance, base station 210 determines an observed phase of the carrier waveform using one or more carrier-phase tracking techniques to perform carrier phase measurements and determine the phase of the carrier waveform.

The satellite navigation signal is also received by a second satellite navigation receiver at a walkover locator (Block 2030). For example, horizontal directional drilling system 200 also includes above ground horizontal directional drilling walkover locator 220 (e.g., portable locator device 100) communicatively couplable with base station 210, where walkover locator 220 includes second satellite navigation receiver 222 (e.g., satellite navigation device receiver 116) configured to receive satellite navigation signal 216 broadcast on the carrier waveform. Next, the walkover locator determines a second observed phase of the carrier waveform (Block 2040). For instance, walkover locator 220 determines another observed phase of the carrier waveform.

In some embodiments, the satellite navigation signal is modulated with an information sequence for temporal alignment with a matching information sequence to be generated by the first satellite navigation receiver to determine a time taken by the satellite navigation signal to travel to the first satellite navigation receiver and thereby a distance of the first satellite navigation receiver from a satellite transmitting the satellite navigation signal (Block 2050). For example, satellite navigation signals 216 are modulated with an information sequence for temporal alignment with a matching information sequence to be generated by a satellite navigation receiver, e.g., a pseudorandom binary sequence or another sequence that can be replicated by the satellite navigation receiver. The matching information sequence can be generated by the satellite navigation receiver using the same procedure, but at different delays to account for a time taken by satellite navigation signal 216 to travel to the satellite navigation receiver. Once the appropriate delay in the receiver's sequence has been established, the time taken by satellite navigation signal 216 to travel to the satellite navigation receiver is determined, and thereby a distance of the satellite navigation receiver from satellite 218 transmitting satellite navigation signal 216.

The base station transmits the first observed phase of the carrier waveform to the walkover locator (Block 2060). For example, base station 210 transmits the first observed phase of the carrier waveform to walkover locator 220. Then, the walkover locator compares the second observed phase of the carrier waveform to the first observed phase to determine a relative position of the walkover locator with respect to the base station (Block 2070). For instance, walkover locator 220 compares the second observed phase of the carrier waveform to the first observed phase to determine a relative position of walkover locator 220 with respect to base station 210.

In some embodiments, the horizontal directional drilling machine and the walkover locator communicate via a radio frequency link using a first radio transmitter/receiver at the horizontal directional drilling machine and a second radio transmitter/receiver at the walkover locator (Block 2080). For example, base station 210 includes radio transmitter/receiver 224 and walkover locator 220 includes radio transmitter/receiver 226, and base station 210 and walkover locator 220 communicate with one another via RF link 236 to send and receive operation commands and information. In some embodiments, the horizontal directional drilling machine and the walkover locator communicate via a mobile network using first mobile network connectivity circuitry at the horizontal directional drilling machine and second mobile network connectivity circuitry at the walkover locator (Block 2090). For instance, base station 210 and walkover locator 220 include mobile network connectivity circuitry 228 and mobile network connectivity circuitry 230, respectively, for identification and authentication of the respective devices on mobile networks, such as mobile telephone networks.

In embodiments, at least one of the first mobile network connectivity circuitry or the second mobile network connectivity circuitry is a subscriber identity module (SIM) card and the mobile network is a cellular network (Block 2092). For example, in some embodiments, mobile network connectivity circuitries 228 and/or 230 each include one or more integrated circuits that securely store a mobile network identity for each respective device, such as a SIM card for communications over a cellular network. In some embodiments, the horizontal directional drilling machine and the walkover locator communicate via an internet connection (Block 2094). For instance, one or more cellular networks are used by walkover locator 220 and remote display/base station 210 to communicate using internet connectivity, e.g., when available.

In some embodiments, measurements about a drilling operation are transmitted from an underground transmitter to the walkover locator (Block 3000). For example, horizontal directional drilling system 200 further includes drilling rig 204 with underground transmitter 206, where underground transmitter 206 is configured to transmit pitch and roll measurements to walkover locator 220. Then, the measurements can be transmitted from the walkover locator to the base station via the radio frequency link, while the relative position of the walkover locator with respect to the base station is transmitted via the mobile network (Block 3010). For instance, pitch and roll measurements can be transmitted via RF link 236, while mobile network connectivity circuitries 228 and/or 230 facilitate internet communication of RTK data.

In some embodiments, a connection is made to a positioning system correction service to establish a positional correction for at least one of the base station or the walkover locator (Block 3020). For example, the horizontal directional drilling system 200 can briefly connect to a correction service, e.g., to establish RTK correction. Then, disconnection is made from the positioning system correction service for continuing operations (Block 3030). For instance, when cellular communications are unavailable, all data may be sent via RF link 236. In some embodiments, horizontal directional drilling system 200 briefly connects to a correction service and does not use continuous correction during drilling operations.

In some embodiments, a locating dipole signal can be transmitted from an underground transmitter to the walkover locator, to be received by the walkover locator and used for positioning the walkover locator above the underground transmitter (Block 3040). For example, drilling rig 204 includes underground transmitter 206, where underground transmitter 206 is configured to transmit locating dipole signal 208 to be received by walkover locator 220 and used for positioning walkover locator 220 above underground transmitter 206.

Generally, any of the functions described herein can be implemented using hardware (e.g., fixed logic circuitry such as integrated circuits), software, firmware, manual processing, or a combination thereof. Thus, the blocks discussed in the above disclosure generally represent hardware (e.g., fixed logic circuitry such as integrated circuits), software, firmware, or a combination thereof. In the instance of a hardware configuration, the various blocks discussed in the above disclosure may be implemented as integrated circuits along with other functionality. Such integrated circuits may include all of the functions of a given block, system, or circuit, or a portion of the functions of the block, system, or circuit. Further, elements of the blocks, systems, or circuits may be implemented across multiple integrated circuits. Such integrated circuits may comprise various integrated circuits, including, but not necessarily limited to: a monolithic integrated circuit, a flip chip integrated circuit, a multichip module integrated circuit, and/or a mixed signal integrated circuit. In the instance of a software implementation, the various blocks discussed in the above disclosure represent executable instructions (e.g., program code) that perform specified tasks when executed on a processor. These executable instructions can be stored in one or more tangible computer readable media. In some such instances, the entire system, block, or circuit may be implemented using its software or firmware equivalent. In other instances, one part of a given system, block, or circuit may be implemented in software or firmware, while other parts are implemented in hardware.

Although the subject matter has been described in language specific to structural features and/or process operations, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.