Drilling dynamics data visualization in real time

Disclosed is an apparatus for displaying three-dimensional motion of a drill string in a borehole penetrating the earth to a user in real time. The apparatus includes: an accelerometer configured to measure acceleration in at least three directions; a strain sensor configured to measure strain or a bending moment at the drill string in two directions; a magnetometer and configured to measure an earths magnetic field to determine rotational velocity of the drill string; a processor disposed at a surface of the earth and configured to receive the measurements from the accelerometer, the strain sensor, and the magnetometer and to process these measurements to estimate the three-dimensional motion of the drill string; a display configured to display the motion of the drill string to the user; and a highspeed telemetry system configured to transmit measurements from the accelerometer, the strain sensor, and the magnetometer to the processor in real time.