Planning the Directional Well-

A Calculation Method
William H. McMillian, SPE, ARCO Oil and Gas Co.

Summary
This paper describes a radius-of-curvature cal- procedure is a preferred approach to well-path
culation of the three-dimensional (3D) path of a calculation because of its relative simplicity and
directionally drilled well from kickoff point to target. general use in the industry for interpreting direc-
Slant-well, S-shape, and maximum turn well paths tional surveys. It also appears to conform to the
can be computed. Equations are developed for geometry of directional drilling since the objective of
calculating critical points along the well path in terms turning a well with, for example, a bent sub and
of cartesian coordinates and directional survey downhole mud motor is to drill a well path with
parameters. The effect of right-hand walk (drift) and constant radius of curvature. Rivero 5 has generalized
a technique for calculating the appropriate lead to the radius-of-curvature equations to the following
compensate for drift is presented. form.
Introduction Cases 1 and 2. <P2,c. <P I .
In contrast to the many references 1-3 on methods for
calculating directional surveys, there is a notable L 2 -L I . .
Z2 -ZI = (Sill <P2 -Sill <PI)' ........ (1)
absence of articles discussing the related problem of <P2 -<PI
well planning. Wilson 4 derived the concept of
compounded well bore curvature in discussing the Case 1. 8 2 ,c. 8 1 1- 7['::; (8 2 - 8 1 )::; 7['1.
curvature method to calculate directional surveys.
However, no 3D method has been published to
handle the calculation of well paths that have both
changes of azimuth and changes of inclination. This
is a common type of well path, especially in
I (L 2 -LI)(cos <PI -cos<P2)(sin 8 2 -sin 8 1)1.
(<P2 -<PI)(8 2 -8 1 )
sidetracked holes and for drilling around salt domes.
The intent of this paper is to describe a procedure . ......................... (2)
that will accommodate the 3D geometry of practical
well trajectories. Y2 - YI =
The general solution assumes that all curvatures
between two points are constant. The only other (L2 -LI)(cos <PI -cos<P2)(sin 8 2 -sin 8 1 ) j.
limitations imposed are a maximum curvature and a
maximum inclination.
I (<P2 -<PI)(8 2 -8 1 )
. ......................... (3)
Radius-of-Curvature Equations
The radius-of-curvature method used in this This case represents a constant curvature in azimuth
as well as inclination. It conforms to the curve
0149-2136/81/0006-8337$00_25
resulting from bending to the shape of a vertical
Copyright 1981 society of Petroleum Engineers of AIME cylinder - a vertical plane which contained a constant
952 JOURNAL OF PETROLEUM TECHNOLOGY
curvature line. It also can be described as a non-
vertical plane containing a constant curvature line.
This case represents a constant curvature line on a
vertical plane. It conforms to the curve resulting
from the intersection of parts of a horizontal cylinder
with a vertical plane. The projection of the line on
the horizontal XY surface is a straight line.
Cases 3 and 4. ¢2 = ¢I (constant inclination).
Case 3. 8 1 ~82[-7r::5(82-81)::57rJ.
(L2 -LI)(sin ¢2)(cos 8 1 -cos 8 2)]
x2 l
-xI = (8 -8 )
2 1
•
· ......................... (7)
_ -l
Y2 YI-
(L 2 -LI)(sin ¢2)(sin 8 2 -sin 8 1).1
(8 -8 ) •
2 1
· ......................... (8)
This case represents a changing azimuth at constant
inclination, or the case of a helix. It conforms to the
path of a straight line on a plane when the plane is
warped or bent to the shape of a vertical cylinder.
Case 4. 82 = 8 I•
X2 -xI =(L 2 -LI)sin 8 2 , ............... (9)
Y2 - YI = (L 2 - LI )sin ¢2cos82 ........... (10)
This case represents a straight line in space.
Curvature Considerations
In the process of directional drilling, one of the
constraints is the maximum dogleg or curvature of
the wellbore. Wilson 4 developed an expression for
curvature of the well bore as a function of change of
inclination as well as direction. His equation in terms
of .18, .1¢, and constant curvature between two
points in space is
a=Jl 82~8112 sin2l ¢I ;¢2j+ l¢2~¢1 p.
· ........................ (11)
If the curve lies on a vertical plane, .18 = 0 and
JUNE 1981
y
Plan View
~+-------------------x
z
Fig. 1 - Directionally drilled well.
......................... (12)
If the curve lies on a horizontal plane,
¢ I = ¢2 = 1/2 7r(900) and
8 2 -8 1
a= ........................ (13)
M
A positive difference of inclination angles implies
angle building. Conversely, a negative difference
implies angle dropping. A positive difference in
azimuth denotes a turn to the right and a negative
difference implies a turn to the left (.18 < 7r).
The curvature is related to the dogleg severity by
Eq.14:
7rT
a= - - .......................... (14)
18 000
As long as the curvature is in a plane (vertical or
inclined), the path of a belt over a pulley is a simple
mechanical analogJor visualizing radius of curvature
in three dimensions. The radius of curvature of the
imaginary pulley would be defined as the inverse of
Eq.14:
1 18 000
r-- -a -- - 7rT
- - . .................... (14a)
The Base Trajectory
The radius-of-curvature equations can be used to
compute a base trajectory for a directionally drilled
well. The base trajectory later can be altered to
account for drift or walk of the bit. The initial design
may involve the use of four different segments either
separately or in various combinations.
953
 Segment Type Direction Case Equations
- -
A Angle building 2 1,4,and5
or dropping
B Straight line 4 6,9, and 10
in space
C Helical turn 3 6,7, and 8
D Simultaneous 1 1,2, and 3
change in
Point A~ _____ --*_______"'" inclination
and azimuth

All four segment types are drawn for an idealized

case in Fig. 1, which shows the well building angle
from Point 1 to Point 2, running at constant in-
clination and azimuth from Point 2 to Point 3 (first
target), then helically turning to reach Point 4
(second target) at constant inclination, and finally
turning and dropping angle to the third target. Any
combination of these sequents can be used together
so long as their common points have the same in-
clination and direction - i.e., the end of one segment
coincides with the beginning of the next.

Simple Turn in a Plane

Segment Types 1 and 2 can be described by the radius
of curvature equations and some simple geometrical
Fig. 2 - Radius of curvature.
relationships. Consider the possible planar paths
from Point A to Point B as shown in Fig. 2. The
coordinates of Point A and Point B along with the
direction of the well path at Point A define a plane.
Three radius-of-curvature paths from Point A to
Point B in this plane are shown. Each path has a
curved segment and a straight segment. Path 1 has
y zero radius of curvature so that the length of the
curved segment is zero. Path 3 has maximum radius
of curvature, r3, so that the length of the straight
segment is zero. Path 2 is an intermediate path from
A to B. Total path length ranges between the
maximum for Path 3 and the minimum for Path 1.
Fig. 2 also shows that the path direction at Point 2
changes for various paths.
L -________ ~~~ ____________ ~x
Fig. 3 shows one of these radius-of-curvature paths
(x"y,) Lc oriented in a horizontal plane so that the relationship
between the direction at Points 1 and 2, the path
length, and the radius of curvature can be written as
a simple trigonometric expression. The initial
Fig. 3 - Turn in a plane. direction is zero and the length of the path is the sum
of the curved segment s and the straight segment L D'
The change in direction from '8 1 to 8 2 can be ex-
pressed as follows .

. (LB/L c )' ................... (15)

Since the length of s is the product of .18 times the

radius r, the total path is

L=LD+rjA8 I

= LD + r[ 'II" - tan - 1(L D / r)

-tan- 1 (L B /L c )], .................. (16)

954 JOURNAL OF PETROLEUM TECHNOLOGY
 TABLE 1 - SIMPLE TURN IN A PLANE,
EXAMPLE CALCULATION

Xl = Yl =0
81 =0
X2 = 8,000
Y2 = 10,000
T r 82 s Lo L
[degrees/100 ft (m)] (ft or m) (degrees) (ft or m) (ft or m) (ft or m)
o 38.7 o 12,806 12,806
100 57.3 38.7 39 12,770 12,809
10 573 39.2 392 12,443 12,835
5 1,146 39.9 797 12,069 12,866
2 2,865 41.9 2,097 10,870 12,967
1 5,730 46.8 4,676 8,504 13,180
0.559 10,250 77.3 13,832 o 13,832

where Inversely, given a maximum curvature, Eq. 22 can be

and
Lc= IX2 -XI I-r . ................... (18)
Table 1 gives the results of an example calculation for
XI =YI = 0, x2 = 8000 and Y2 = 10 000. Path length
ranges from 12806 (for zero curvature) to 13832 (for
minimum dogleg case). Direction at Point 2 ranges
from 38.7 to 77.3°.
The minimum curvature case corresponds to
LD =0 so that from Eqs. 17 and 18 the curvature
radius may be calculated as follows.
and
+ r~in - r~in , ...................... (20)
which reduces to
_ (x2 -XI)2 +(Y2 - y,)2
rmin - .......... (21)
2(x2 -Xl)
This procedure can be carried out for any turn in
any plane (horizontal, vertical, or tilted). In general,
a simple transformation of coordinates can be used
to align the curve on the XY plane and the starting
coordinates to the origin. In the example calculation
the minimum curvature is 10 250 and T= 0.559°
ft (1.70° /100 m).
Helical Turn
A turn or change in azimuth direction at constant
inclination requires a ·helical turn not contained in a
plane. The curvature of the helix can be obtained
from Eq. 11 for constant ¢:
a =[ 82-81 ] sin ¢. . ................. (22)
L 2 -L I
solved for 1181 IlL:
a 7fT
18000 sin ¢. . ............ (23)
sin¢
Eq. 23 can be used with Eqs. 6, 7, and 8 to locate any
point in the helix as a function of drilled depth IlL.
The projection of the helix on the XY plane is a
segment of a circle of length &- = IlL sin ¢ and radius
of curvature:
18000 sin 2 ¢
rxy= ................... (24)
Simultaneous Change of Azimuth
and Inclination
In general, the starting location, initial azimuth and
inclination, and target location are not oriented to
give a simple well path as the one calculated
previously. However, a 3 x 3 matrix can be used to
transform the general 3D problem into a two-
dimensional configuration. Once the two-
dimensional well path is determined, it can be
transformed back into three dimensions by an inverse
matrix. Appendix A gives details of the mathematics.
To illustrate the use of this method, consider a well
to be sidetracked from a point at true vertical depth
of 2991, 6566 west and 5814 south of the lease
corner, with initial azimuth of 256 ° and inclination
of 2.5°. The location of this point can be written as
(-6~66, -5~1.4, 2991, 256°, 2.5°) since, by con-
ventIOn, posItIve X and yare east and north
respectively, of the reference origin. The proposed
1100 target is the .top of sand at (-7483, - 5978, 4400).
The appropnate transformation (using equations A-I
to A-1O) is
0.9844 0.1708 0.0435)
M= - 0.0423 - 0.0106 0.9990 , .... (25)
( 0.1710 -0.9853 -0.0032
0.1710 -0.9853 -0.0032
so that the transformed coordinates are (0, 0, 0) and
(-712,1341,0). If the radius of curvature is 1637
(corresponding to 3.5° /100), Eqs. 15 through 18 give

JUNE 1981 955

 Side View and the target. The well path then is calculated as if it
were two-dimensional. The solution technique
suggested in this paper, however, is a repeated use of
Departure
the radius-of-curvature equations. This approach
1000 2000 3000 4000 5000
involves repetitive and tedious calculations, but lends
KOP at 500 Feet
-----~--
itself readily to solution by computer.
//1
1000 / / /j Slant-Well Configuration
/" / /
// j r=1910Feet The generalized solution described in Appendix A
/ can be used to determine the path of a slant well. An
2000 alternative approach is to construct a graph to scale
such as the one shown in Fig. 4. This graph was used
to evaluate placement of platforms for optimum
3000 development of an offshore prospect. The pay zone
is at 5000 subsea and water depth is 120. Kick-off
point for slant wells is below conductor pipe at 500
4000 and the rate of building angle is r /100 ft (m) of
drilled depth. Fig. 4 shows how true vertical depth
changes with departure for various slant wells. If 55"
5000 is the maximum allowed hole inclination, the
maximum kick is 5006 to a depth of 5000.
The radius-of-curvature equations also can be used
to calculate the slant well path. Table 2 shows the
results of this type of calculation. Given the kick-off
Fig. 4 - Slant well. point, target location, and radius of curvature
lexpressed as degrees per 100 ft (m)], the well path is
calculated incrementally using Eqs. 1, 4, and 5 during
the curved segment, and Eqs. 6, 9, and 10 during the
L = 1770, straight segment. While calculating the curved path
LD = 190, (for changing inclination), the target inclinatiun is
s = 1580, determined at each calculated well path location (x,
e 2 260 0, y, z, e, and ¢) by
¢2 58.20,
x2 -7323,
Y2 - 5950, and
z2 4300.
,/.. _ t -I I (x tgt -x)2 + (Ytgt - y)2
'l'tgt - an ...J .... (26)
Ztgt -z .
0

The calculated well path is 1770 long with 1580 If (¢tft - ¢) is within a certain tolerance (eg., 0.1 ),

curved path to the point ( - 7323, - 5950, 4300) and the weI path continues on a constant inclination
190 of straight path to the target. The well path turns trajectory to the target. Otherwise, the inc~ination is
0 0
from 256 to 260 of azimuth and builds from 2.5 0 increased to ¢tgt and the next increment is calculated.
to 58.20 of inclination simultaneously. This procedure eventually will converge to a constant
inclination path if the radius of curvature meets the
criteria:
Well Path Configuration
The simultaneous change of azimuth and inclination
calculated in the previous example may be useful for r
=_ <_ (x tgt -x)2 + (Ytgt - y)2
........ (27)
planning a sidetrack well path, but this is not the a 2 (x tgt -x)
normal directional well path planned from the The incremental calculation method can accom-
surface. The most common well path configurations modate changes of azimuth as well as changes of
are the slant well and the S-shape well (S-well). The inclination. At each calculated well path location, the
slant well kicks off, builds angle, and then continues target direction is calculated:
to the target with constant inclination. The S-well
x -x
builds angle, runs straight, and then drops angle into e tgt =tan-I~-
Y_Y
the target. As long as these paths lie in a vertical tgt
plane (no changes in azimuth), the planning of the A change of azimith from e to etgt is calculated
directional hole is quite simple. However, if any using Eqs. 6, 7, and 8. The same iterative calculation
changes in azimuth are required (to drill around is used for changing azimuth as was described for
obstacles or to change initial direction for some other changing inclination.
reason), the calculation is a 3D problem and is more
difficult to solve.
A common graphical technique uses a projection s- Well Configuration
of the 3D well path onto the vertical section - a Fig. 5 is a schematic of a typical S-shape drilling path
vertical plane passing through the surface location in a vertical plane. The segment between Points 1 and
956 JOURNAL OF PETROLEUM TECHNOLOGY
2 is a Type A segment where the inclination angle is
built from cf>1 to cf>c- The segment from Point 2 to
Point 3 is the straight line (Type B) portion and from
Point 3 to Point 4 is the drop-off (Type A) portion.
Several physical constraints are involved in com-
puting the appropriate well path.
1. Rate of change in inclination, T', [degrees per
100 feet (meters)] dictates the curvature of the
buildup segment, and T" determines the curvature of
the dropoff.
2. The target angle cf>2 depends on the desired
inclination (from the vertical) of the wellbore
through the pay section.
3. Maximum inclination (e.g., 60°) limits the value
of the critical angle cf>c (the inclination of the con-
stant dip segment from 2 to 3).
4. As derived in Appendix B, the critical in-
clination of the S-well path is specified completely by
the following equation.

Fig. 5 - S·shape drilling path.

TABLE 2 - SLANT·WELL CALCULATION

Kickoff point = (0,0,500)
Target location = (2,000; 2,000; 5,000)
Radius of curvature (for 3°/100) = 1,910
=
81 45°
<1>1 = 0°
Calculated Well Path
Measured Azimuth Inclination
X Location Y Location Z Location Departure Depth Direction Angle
(ft or m) (ft or m) (ft or m) (ft or m) (ft or m) (degrees) (degrees)
0 0 500 0 500 45 0.0
0 0 517 0 517 45 0.50 build
1 1 556 1 556 45 1.68 build
2 2 595 2 595 45 2.85 build
3 3 634 5 634 45 4.03 build
6 6 673 8 673 45 5.20 build
8 8 712 12 713 45 6.38 build
12 12 751 17 752 45 7.55 build
16 16 790 22 791 45 8.73 build
20 20 829 28 830 45 9.91 build
25 25 867 36 869 45 11.08 build
31 31 905 44 909 45 12.26 build
37 37 944 52 948 45 13.43 build
44 44 982 62 987 45 14.61 build
51 51 1020 72 1026 45 15.79 build
67 67 1057 83 1065 45 16.96 build
76 76 1095 95 1105 45 18.14 build
85 85 1132 107 1144 45 19.31 build
95 95 1168 121 1183 45 20.49 build
106 106 1205 135 1222 45 21.66 build
117 117 1241 150 1261 45 22.84 build
128 128 1313 182 1301 45 24.02 build
140 140 1348 199 1340 45 25.19 build
153 153 1383 . 216 1418 45 26.37 build
166 166 1418 235 1457 45 27.54 build
180 180 1452 254 1496 45 28.72 build
194 194 1486 274 1536 45 29.89 build
208 208 1519 295 1575 45 31.07 build
225 225 1555 318 1617 45 32.25 build
241 241 1590 341 1659 45 33.51 build
259 259 1624 366 1702 45 34.78 build
694 694 2470 981 2748 45 36.05 build
1129 1129 3316 1597 3794 45 36.05 straight
1565 1565 4161 2213 4840 45 36.05 straight
2000 2000 5007 2828 5886 45 36.05 straight

JUNE 1981 957

 18000
. (COS<P j - cos<Pc _ cos<P2 - cos<Pc )/
T' Til
18000 (Sin<pc -sin<Pj
(Z4 -Zj)- - 7 r - . T'
sin<pc - sin<P2 )
- Til ' .............. (28)
for a well path in a vertical plane. This equation is
generalized in Appendix B to account for changes in
azimuth. Eq. 28 is implicit in <pc-i.e., the unknown
appears on both sides of the equation. A solution can
be obtained by trial and error.
The incremental calculation of well path for the S-
well is similar to that used in the slant well except that
once Eq. 28 is solved, all the critical parameters are
known. Eqs. 1, 4, and 5 are used in building angle to
<Pc' The straight segment is calculated using Eqs. 6, 9,
and 10, for a path length equal to
L=L D cot <Pc' •...•••••..•••.•...••.. (29)
where LD is given by Eq. B-2. Finally, Eqs. 1,4, and
5 are used to drop angle from <Pc to <P2 at the target.
Table 3 illustrates this method. Note that for this
example the well path initiates at 40° of azimuth and
turns to 46.1 ° after inclination is built. <Pc is
calculated to be 38.2° of inclination.
Compensation for Right-Hand Walk
After the well path has been calculated, a trial-and-
error approach can be used to determine optimum
left-hand lead angle to compensate for right-hand
walk that normally occurs in drilling a directional
well. The key parameters required for determining
lead are rates of drift lin degrees per 100 ft (m)] that
will occur during the build-up, straight, and dropoff
segments of the well path. Rate of drift depends on a
number of factors including type of formation, dip
of beds, bit type, drilling rate, etc. 6 In general, drift

TABLE 3 - S·WELL CALCULATION WITH HELICAL TURN

Kickoff point =
(0,0,500)
Target location = (2,000; 2,000; 5,000)
Maximum build and drop curvature, T =
3°/100 ft (m)
Maximum turn curvature, T =
1.15°/100 ft (m)
81 = 40°
<1>1 = 0°
<1>2 = 15°
Calculated Well Path
Measured Azimuth Inclination
Segment X Location Y Location Z Location Departure Depth Direction Angle
Type (ft or m) (ft or m) (ft or m) (ft or m) (ft or m) (degrees) (degrees)
0 0 500 0 500 40 0.0
0 0 517 0 517 40 0.50 build
25 29 880 38 883 40 11.49 build
49 59 1035 76 1042 40 16.27 build
74 88 1152 114 1165 40 19.95 build
98 117 1249 152 1269 40 23.08 build
A 123 146 1333 190 1362 40 25.85 build
147 176 1407 228 1445 40 28.36 build
172 205 1475 266 1523 40 30.69 build
196 234 1536 304 1595 40 32.86 build
221 263 1593 343 1664 40 34.92 build
246 293 1646 381 1729 40 36.87 build
263 313 1681 408 1773 40 38.20 build
288 343 1731 447 1836 41.17 38.20 turn
314 372 1780 486 1899 42.34 38.20 turn
341 401 1830 526 1962 43.51 38.20 turn
C 368 429 1879 565 2025 44.68 38.20 turn
396 456 1929 604 2088 45.84 38.20 turn
399 459 1934 608 2095 45.97 38.20 turn
402 462 1940 612 2102 46.10 38.20 turn
852 895 2733 1235 3112 46.10 38.20 straight
B 1302 1328 3527 1860 4122 46.10 38.20 straight
1752 1761 4321 2484 5133 46.10 38.20 straight
1780 1788 4371 2522 5196 46.10 36.31 drop
1807 1814 4425 2560 5262 46.10 34.33 drop
1835 1841 4483 2599 5331 46.10 32.24 drop
1862 1867 4546 2637 5405 46.10 30.03 drop
A 1890 1894 4616 2675 5484 46.10 27.65 drop
1917 1920 4693 2713 5570 46.10 25.07 drop
1945 1947 4780 2751 5666 46.10 22.21 drop
1972 1973 4882 2789 5774 46.10 18.95 drop
2000 2000 5007 2828 5905 46.10 15.03 drop
2000 2000 5008 2828 5906 46.10 15.00 drop

958 JOURNAL OF PETROLEUM TECHNOLOGY

during buildup will exceed drift during dropoff. The
least amount of walk normally will occur when the
hole is locked up - with no change in inclination.
Specific values of drift rate must be obtained from
previous wells drilled in the area.
To calculate optimum lead, drift is imposed on the
base well path and a new well path is calculated for
various lead angles. As Fig. 6 shows, if the lead angle . _--.:---:-:~- ~Target
Optimum Lead ~ ___ : :__ ;..~-
is too large, the well path will be to the left of the
,/
,/ --->
/",
Small Lead
target. If it is too small, the path will drift to the right Large Lead _ _//,,:;"-::::;
////.
of the target. Optimum lead is selected to give the 11'/ ~
/1/,/ Base Trajectory
closest approach to the target location.
For a particular lead angle 8 1ead , the initial
azimuth is

8' \. =8\. -8 1ead . • . . • . . . . . . . . . . . . . . (30) Top View

In In

At any point in the base calculation, azimuth is Fig. 6- Drilling lead angle.
modified to account for drift as follows.

TABLE 4 - DRILLING LEAD CALCULATION

Kickoff point =
(0,0,500)
Target location =
(2,000; 2,000; 5,000)
Maximum curvature, 3°/100 ft (m)
Drift during buildup =
0.2°/100 ft (m)
Drift during straight =
0.05°/100 ft (m)
Drift during dropoff =
0.1 °/100 ft (m)
Calculated optimum lead =
3.2°
81 =
45°
<1>2 0° =
Calculated Well Path
Measured Azimuth Inclination
Segment X Location Y Location Z Location Departure Depth Direction Angle
Type (ft or m) (ft or m) (ft or m) (ft or m) (ft or m) (degrees) (degrees)
0 0 500 0 500 41.80 0.0
0 0 517 0 517 41.83 0.50 build
1 1 556 1 556 41.91 1.68 build
D 2 2 595 2 595 41.99 2.85 build
3 4 634 5 634 42.07 4.03 build
5 6 673 8 673 42.15 5.20 build
8 9 712 12 713 42.23 6.38 build
11 12 751 17 752 42.30 7.55 build
15 16 790 22 791 42.38 8.73 build
19 21 829 28 830 42.46 9.91 build
24 26 867 36 869 42.54 11.08build
29 32 905 44 909 42.62 12.26 build
35 39 944 52 948 42.70 13.43 build
42 46 982 62 987 42.77 14.61 build
49 53 1020 72 1026 42.85 15.79 build
56 61 1057 83 1065 42.93 16.96 build
64 70 1095 95 1105 43.01 18.14 build
73 79 1132 107 1144 43.09 19.31 build
82 89 1168 121 1183 43.17 20.49 build
92 99 1205 135 1222 43.24 21.66 build
102 110 1241 150 1261 43.32 22.84 build
112 121 1277 165 1301 43.40 24.02 build
124 133 1313 182 1340 43.48 25.19 build
135 145 1348 199 1379 43.56 26.37 build
148 158 1383 216 1418 43.64 27.54 build
160 172 1418 235 1457 42.71 28.72 build
174 185 1452 254 1496 43.79 29.89 build
187 200 1486 274 1536 43.87 31.07 build
202 215 1519 295 1575 43.95 32.25 build
218 231 1555 318 1617 44.03 33.51 build
234 248 1590 341 1659 44.12 34.78 build
251 266 1624 366 1702 44.20 36.05 build
683 705 2470 981 2748 44.73 36.05
1118 1141 3316 1597 3794 45.25 36.05
1557 1572 4161 2213 4840 45.77 36.05
2000 1999 5007 2828 5886 46.30 36.05

JUNE 198\ 959

 8' 1= 8 1 - 8 1ead + 1: 1~0 D, ......... (31)
where the last term is accumulated drift. Drift ac-
cumulates with drilled length at a rate depending on
whether the well is building angle, drilling straight, or
dropping angle. Typical values for drift are
DI =0.2° /100 ft (6.56°/100 m) during buildup
segments,
D2=0.05°/100 ft (0.164°/100 m) during straight
segments, and
D3 =0.1°/100 ft (0.328°/100 m) during drop off
segments. . ...................... (32)
Actual values to be used in this calculation must be
obtained from drilling experience in a particular
area. Once the drifting azimuth is determined for
each point along the base well path, Eqs. 1 through 3
and 6 through 8 are used to calculate the well path for
each value of 8 1ead . The final point calculated for the
drifting path is used to calculate departure from the
target location using the following equation.
Optimum lead is that value which minimizes the M
from Eq. 33.
Table 4 is an example of the optimum lead
calculations for the drift rates as given in Eq. 32 and
the base well path from Table 2. Optimum lead angle
is determined to be 3.2°.
Conclusions
A method is presented for calculating the 3D well
path for a deviated hole given the kick-off point and
target coordinates. The calculations are based on
generalized radius of curvature equations. The
method can be applied to either slant-well or Sowell
configurations. In addition, a technique is described
for determining optimum lead angle to compensate
for right-hand walk.
Acknowledgment
I gratefully acknowledge the assistance of Ray Rivero
without whose technical critique and encouragement
this paper would not have been published.
Nomenclature
curvature of a curve, rads/ft (rad/m)
rate of drift in azimuth [degree/100 ft (m)]
during build-up segment
rate of drift in azimuth [degree/IOO ft (ill)]
during straight segment
rate of drift in azimuth [degree/IOO ft (m)[
during drop-off segment
well path length, ft (m)
straight portion of well path (Fig. 3), ft (m)
distance on x-axis from pivot point to
Location 2 (Fig. 3), ft (m)
distance on y-axis from pivot point to
Location 2 (Fig. 3), ft (m)
M= 3 x 3 transformation matrix
960
r = radius of curvature, ft (m)
s = curved portion of well path (Fig. 3), ft (m)
T = dogleg severity [degree/100 ft (m)[
T' dogleg severity during buildup [degree/100
ft (m))
T" = dogleg severity during dropoff )degree/100
ft(m)j
x = distance east (or west, if negative) from the
reference point, ft (m)
y = distance north (or south, if negative)
Z = true vertical depth, ft (m)
¢c inclination of constant dip portion of S-
shape path, rads
inclination at target location, rads
inclination at Point I, rads
inclination at Point 2, rads
left-hand azimuth lead angle, rads
maximum well path inclination permitted,
rads
8 tgt azimuth at target location, rads
8 I = azimuth at Point 1, rads
8 2 = azimuth at Point 2, rads
References
1. Walstrom, J.E., Harvey, R.P., and Eddy, H.D.: " A Com-
parison of Various Directional Survey Models and An Ap-
proach to Model Error Analysis," J. Pet. Tech. (Aug. 1972)
935-943.
2. Callas, N.P. et al.: "Directional Survey Calculation Methods
Compared and Programmed," Oil and Gas J. (Jan. 1979) 53-
58.
3. Sidman, R.D. et al.: "Quadratic Calculation improves in-
terpretation of Directional Surveys," Oil and Gas J. (Jan.
1978) 69-72.
4. Wilson, G.J.: "An improved Method for Computing Direc-
tional Surveys," J. Pet. Tech. (Aug. 1968) 871-876.
5. Rivero, R.T.: "Use of the Curvature Method to Determine
True Vertical Reservoir Thickness," J. Pet. Tech. (April 1971)
491-496; Trans., AIME, 251.
6. Millheim, K.: "Proper Application of Directional Tools Key to
Success," Oil and GasJ. (Nov. 1978) 156-160.
APPENDIX A
Transformed Coordinates Calculation
Consider a radius of curvature well path starting at
(XI' YI' ZI) with initial angles ¢I and 8 1, and having
a target at (x2' Y2, Z2)' The calculation of the well
trajectory is simplified if the starting point is trans-
lated to the origin (0, 0, 0). In addition, a rotation
can be made so that the entire well path j<; in the
horizontal plane (z = 0) and the initial azimuth is due
north (8 I = 0). This transformation can be obtained
using the following matrix.
ba33 )
, • . . . . . . • . . . . . . (A-I)
c3
where
bl sin 8 1 sin ¢I' ................. (A-2)
b2 cos 8 1 sin ¢I' ................. (A-3)
b3 cos ¢I' ....................... (A-4)
ci [b2(Z2-ZI)-b3(y2-YI))/c, .... .. (A-5)
c2 [b3(x2-XI)-bl(Z2-ZI))/c, ...... (A-6)
c3 [b l (Y2 - YI) - b 2 (x2 -xl)ilc, ...... (A-7)
JOURNAL OF PETROLEUM TECHNOLOGY
 x=alx'+bly'+xl' ................. (A-22)
forc=([b 2(Z2 -zl)-b 3(Y2 - Yl)]2 +
y=a2x'+b2y'+YI' ................. (A-23)
[b 3(X2 -XI)- b l (Z2 -ZI)j2 +
z=a3x' +b 3y' +Zl . ................. (A-24)
Ib 1 (Y2 -YI)-b 2(X2 _XI)]2yz
al = (b2c3 - b3c2)la, ................. (A-8)
As many points along the well path as are desired
(x k'Yk, Z k' k = 1, N) can be calculated first in the
a2=(clb3-c3bl)la, ................. (A-9) horizontal system and then transformed by Eqs. A-
a3=(blc2-b2cl)la, ................ (A-lO)
22 through A-24. Azimuth and inclination at each
point along the well path can be calculated by the
fora=[(b2c3 -b3C2)2 +(c l b 3 -C3 b l)2
following equations.
dx
+ (b l c2 - b 2CI)2] Yz. 8 = tan - I - ...................... (A-25)
dy
Transformed coordinates are xi =Yi =z; =0, with and
8 1 =0, and dz
¢=cos -I dL' ..................... (A-26)
X2 = (X2 -xI)al +(Y2 - YI)a2 +(Z2 -zl)a3'
............................ (A-It) where the differentials may be approximated by
incremental values (e.g., dx:=:;t:.x=xk+ I -xk)·
Y2 = (x2 -xI)b l +(Y2 - YI)b 2 +(Z2 -zl)b 3 ,
............................ (A-12)
and APPENDIXB
Z2 =0 ............................. (A-13)
s- Well Calculation
These coordinates define a path in the horizontal The calculation of the inclination angle 8 c is the first
plane. The solution is equivalent to that given by step in computing the trajectory of an S-well. Fig. 5
Eqs.16through 19: shows that the tangent of 8 c is
L = L D + (-II- - tan - I L D / r - tan - I L y / Lx) , horizontal distance (2 to 3)
tan = ¢c vertical distance (2 to 3)
. . .... (B-1)
,
.............................. (A-14) If the well path lies in a vertical plane (no changes
in azimuth), the numerator of Eq. B-1 is
LD=JLy+Lx-r2, ................. (A-15)
horizontal distance (2 to 3)
Ly = Y2' .......................... (A-16) -J 2 2 18000
- x4- x I) +(Y4-YI) - - - .
7r
and
(
COS ¢I -cos ¢c _ cos ¢2 -cos ¢c). . . (B-2)
Lx=lx21-r . ....................... (A-17) T' Til
The denominator of Eq. B-1 is verticar distance (2 to
3)= (Z4 -zl)-(18000l7r)·
The minimum curvature condition is
(Y2)2 + (X2)2 sin ¢c - sin ¢I _ sin ¢c - sin ¢2 ).
r= .................... (A-18) ( T' Til ... (B-3)
2x2
Points along the two-dimensional path can be Combining Eqs. B-1, B-2, and B-3 gives
transformed back into the three-dimensional system
by the inverse of matrix A-I:
tan ¢c =J (x4 -XI)2 + (Y4 - YI)2 _ 18000

g~ ~~ ). ........ (A-19)
7r

.(COS ¢l -cos ¢c _ cos ¢2 -cos ¢c)/

b3 c3 T' Til
18000
For example, the point at the intersection of sand (Z4- Z I)- - -
LDis 7r

Sin ¢c-sin ¢) _ sin ¢c-sin ¢2).

x' = r (1 - cos 8 2), .................. (A-20) ( T' T i l · . (B-4)

Y' =r sin 8 2 . . ..................... (A-21) In the general case where changes in azimuth are
required after the inclination is increased to 8 c' Eq.
In the three-dimensional system, this point is B-4 becomes more complicated since the 8 c segment
JUNE 1981 961
of the well path no longer lies in a vertical plane. 18000
Since the numerator of Eq. B-4 is the length of the r= . ........................ (B-8)
1fT '
projection of the well path (from 2 to 3) on the
horizontal plane, it can be written as

horizontal distance (2 to 3) and

18000
=s+L D - - - (cos ¢2 -cos ¢c), ..... (B-5)
1fT"
where sand L D must be obtained by solving a two- Combining Eq. B-1 and B-5 through B-1O gives the
dimensional turn from (x2' Y2) to (x4' y 4) such as ¢c equation which is solved by trial and error in the
described in Appendix A. Eqs. A-25 through A-27 case where changes in azimuth are required in the S-
are used to give the following. well configuration.
s=(rtan
-I
r/LD+tan
_llxzl
-----r), ..... (B-6)
yz JPT
Original manuscript received in Society of Petroleum Engineers office July
16, 1979. Paper accepted for publication April 3, 1980. Revised manuscript
received April 27, 1981. Paper (SPE 8337) first presented at the 54th Annual
Technical Conference and Exhibition, held in Las Vegas, Sept. 23·26,1979.

962 JOURNAL OF PETROLEUM TECHNOLOGY