Oilfield tubular running with enhanced parameter measurement

Abstract

A method of running a tubular string into a well can include measuring a threaded connection parameter using a sensor, thereby producing sensor measurements, measuring the threaded connection parameter using another sensor, thereby producing sensor measurements, and performing data fusion on the sensor measurements, thereby producing fused sensor measurements. An apparatus for running a tubular string into a well can include a rotation sensor configured to measure rotation of a tubular and produce rotation measurements, another rotation sensor configured to measure the rotation of the tubular and produce rotation measurements, and a control system including a data fusion module configured to determine fused rotation measurements from the sensed rotation measurements.

What is claimed is: 
     
         1 . A method of running a tubular string into a well, the method comprising:  
       measuring a threaded connection parameter using a first sensor, thereby producing first sensor measurements;  
       measuring the threaded connection parameter using a second sensor, thereby producing second sensor measurements; and  
       performing data fusion on the first and second sensor measurements, thereby producing fused sensor measurements.  
     
     
         2 . The method of  claim 1 , in which the data fusion performing comprises inputting the first and second sensor measurements to a Kalman filter. 
     
     
         3 . The method of  claim 1 , in which the data fusion performing comprises determining at least one of a median and a maximum of the first and second sensor measurements. 
     
     
         4 . The method of  claim 1 , in which the first and second sensors comprise respective first and second rotation sensors. 
     
     
         5 . The method of  claim 1 , in which the first sensor comprises an optical sensor. 
     
     
         6 . The method of  claim 5 , in which the optical sensor comprises a camera. 
     
     
         7 . The method of  claim 1 , in which the second sensor comprises a turns sensor configured to contact the tubular. 
     
     
         8 . The method of  claim 1 , in which the second sensor comprises a turns sensor disposed internal to a tong assembly. 
     
     
         9 . The method of  claim 1 , in which the data fusion performing comprises estimating the fused sensor measurements for time periods in which the first and second sensor measurements are unavailable. 
     
     
         10 . The method of  claim 1 , further comprising controlling operation of a tong assembly based on the fused sensor measurements. 
     
     
         11 . Apparatus for running a tubular string into a well, the apparatus comprising:  
       a first rotation sensor configured to measure rotation of a tubular and produce first rotation measurements;  
       a second rotation sensor configured to measure the rotation of the tubular and produce second rotation measurements; and  
       a control system comprising a data fusion module configured to determine fused rotation measurements from the first and second rotation measurements.  
     
     
         12 . The apparatus of  claim 11 , in which the first rotation sensor comprises an optical sensor. 
     
     
         13 . The apparatus of  claim 12 , in which the optical sensor comprises a camera. 
     
     
         14 . The apparatus of  claim 11 , in which the second rotation sensor comprises a turns sensor configured to contact the tubular. 
     
     
         15 . The apparatus of  claim 11 , in which the second rotation sensor comprises a turns sensor disposed internal to a tong assembly. 
     
     
         16 . The apparatus of  claim 11 , in which the data fusion module comprises a Kalman filter. 
     
     
         17 . The apparatus of  claim 11 , in which the data fusion module is configured to determine a median of the first and second rotation measurements. 
     
     
         18 . The apparatus of  claim 11 , in which the data fusion module is configured to determine a maximum of the first and second rotation measurements. 
     
     
         19 . The apparatus of  claim 11 , in which the data fusion module is configured to estimate the fused rotation measurements for time periods in which the first and second rotation measurements are unavailable. 
     
     
         20 . The apparatus of  claim 11 , in which the control system comprises a controller module configured to control operation of a tong assembly based on the fused rotation measurements.