CPC G01V 3/16 (2013.01) [B64C 39/024 (2013.01); E21B 7/046 (2013.01); E21B 47/024 (2013.01); E21B 47/092 (2020.05); G01V 3/165 (2013.01); B64U 2101/00 (2023.01)] | 20 Claims |
1. A method comprising:
providing an antenna assembly and a propulsion system on a frame;
transmitting a magnetic field from an underground field transmitter;
engaging the propulsion system to move the frame;
detecting the magnetic field using the antenna assembly;
determining an absolute position of the antenna assembly;
moving the frame with the propulsion system such that the antenna assembly is at a position within the magnetic field indicative of a null in the field;
measuring the signal strength of the magnetic field and the orientation of the magnetic field using the antenna assembly to determine a position of the underground field transmitter relative to the antenna assembly; and
with the position of the underground field transmitter relative to the antenna assembly and the absolute position of the antenna assembly, determining the absolute position of the underground field transmitter.
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