{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T17:24:20Z","timestamp":1777656260963,"version":"3.51.4"},"reference-count":31,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2018,9,4]],"date-time":"2018-09-04T00:00:00Z","timestamp":1536019200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002855","name":"Ministry of Science and Technology of the People's Republic of China","doi-asserted-by":"publisher","award":["2016YFC0302800"],"award-info":[{"award-number":["2016YFC0302800"]}],"id":[{"id":"10.13039\/501100002855","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002338","name":"Ministry of Education of the People's Republic of China","doi-asserted-by":"publisher","award":["15CX06065A"],"award-info":[{"award-number":["15CX06065A"]}],"id":[{"id":"10.13039\/501100002338","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002338","name":"Ministry of Education of the People's Republic of China","doi-asserted-by":"publisher","award":["15CX08014A"],"award-info":[{"award-number":["15CX08014A"]}],"id":[{"id":"10.13039\/501100002338","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In drilling engineering, Toolface is an angle used to describe bit direction. It is a challenging task to accurately estimate Toolface while drilling because of the downhole harsh conditions, but it is a primary step for the dynamic point-the-bit rotary steerable system (DPRSS). A new dynamic Toolface estimator is present, which fuses measurements from two accelerometers and one gyro. A dual-accelerometer Toolface measuring method is designed to compensate the circumferential acceleration of DPRSS. A nonlinear Complementary Filter (CF) is used to suppress the effect of vibration and axial acceleration. The frequency-domain characteristics of nonlinear CF are analyzed and its natural frequency is determined adaptively based on real time drilling conditions. This new estimator is validated on a DPRSS prototype under typical drilling modes; it is demonstrated with high robustness and follows the references satisfactorily.<\/jats:p>","DOI":"10.3390\/s18092944","type":"journal-article","created":{"date-parts":[[2018,9,5]],"date-time":"2018-09-05T03:08:55Z","timestamp":1536116935000},"page":"2944","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["Dynamic Toolface Estimation for Rotary Steerable Drilling System"],"prefix":"10.3390","volume":"18","author":[{"given":"Weiliang","family":"Wang","sequence":"first","affiliation":[{"name":"College of Information and Control Engineering, China University of Petroleum, Qingdao 266580, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yanfeng","family":"Geng","sequence":"additional","affiliation":[{"name":"College of Information and Control Engineering, China University of Petroleum, Qingdao 266580, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kai","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Information and Control Engineering, China University of Petroleum, Qingdao 266580, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jieru","family":"Si","sequence":"additional","affiliation":[{"name":"College of Information and Control Engineering, China University of Petroleum, Qingdao 266580, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joice","family":"Fiaux","sequence":"additional","affiliation":[{"name":"School of Petroleum Engineering, China University of Petroleum, Qingdao 266580, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,9,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Schaaf, S., Mallary, C., and Pafitis, D. 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