US Patent 11920459 Estimating rate of penetration using pad displacement measurements

A method for drilling a subterranean wellbore includes rotating a drill string in the subterranean wellbore to drill the wellbore. The drill string includes a rotary steerable tool or a steerable drill bit including at least first and second axially spaced pads configured to extend radially outward from a tool body and engage a wall of the wellbore. Radial displacements of each of the first and second axially spaced pads are measured while drilling. The measured radial displacements are processed to compute a rate of penetration of drilling.