CN103197346B - A kind of processing method of towing cable exploration navigation positioning data - Google Patents

Abstract

The invention provides a kind of processing method of towing cable exploration navigation positioning data, the method comprises the data file of the P2/94 form collecting from boat-carrying navigation system and reads original locator data, and original locator data comprises DGPS (DGPS) data, RGPS data, acoustic data, cable compass data and boat-carrying gyro compass data; The original locator data reading is carried out to pretreatment, comprise Detection of Gross Errors, filtering and data normalization processing; Determine the coordinate of the location node in pretreated original locator data with node calculation method, and the navigation data that the exact position of location node converts P1/90 form to is stored. Method of the present invention can realize the navigation data that fast and efficiently the original navigation data of P2/94 form is processed into P1/90 form.

Description

A kind of processing method of towing cable exploration navigation positioning data

Technical field

The present invention relates to offshore oil seismic exploration technical field, more specifically, relate to a kind of marine cable-towing exploration navigationThe processing method of locator data.

Background technology

In marine seismic prospectiong, streamer seismic exploration is main exploitation method, seismic vessel towing one or moreCable, along with rifle battle array excites, trailing cable is seismic wave reflectance data locality, and boat-carrying positioning equipment gathers navigation positioning data. SeaUpper seismic prospecting is a kind of combination work compound pattern, is mainly located by integrated navigation system, system for acquiring seismic data, towing cableWith the composition such as control system, Seismic Source System, integrated navigation system is control and the command centre of offshore seismic exploration operation, controlsThe collaborative work of the each system of boat-carrying, Real-time Collection navigation positioning data simultaneously, its precision is directly connected to Seismic Operation construction effectRate and acquisition precision.

Boat-carrying positioning equipment mainly contains DPGS, RGPS, gyro compass, sounding instrument etc., and positioning equipment mainly contains rifle battle array sound under water, rifle battle array RGPS etc., trailing cable positioning equipment mainly contains leader, tail tag, cable compass, cable acoustics, depth transducer etc.The navigator fix original data record of each equipment is in original navigation data file, with the storage of UKOOAP2/94 form, UKOOAP2/94 is by U.K.OFFSHOREOPERATORSASSOCIATION (SURVEYINGANDPOSITIONINGThe original locator data DIF in a kind of ocean that COMMITTEE works out and issues, as professional standard, offshore oil is surveyed at presentIn spy, navigator fix initial data generally adopts P2/94 form. P2/94 form is a kind of original locator data storage format,The raw measurement data of the each equipment of main storage, can not serve as operation achievement and submit to, need to be processed into achievement data file, withThe storage of P1/90 form. P1/90 is a kind of achievement locator data DIF, processed by the original locator data of P2/94 formArrive. P1/90 data file is locator data file important in offshore oil drilling, has directly affected the work of offshore oil drillingIndustry precision, is positioned with important guiding effect to geological data processing and the drilling well in later stage.

Still do not exist at present for offshore oil drilling navigation positioning data by original navigation positioning data (P2/94Form) be processed into treatment technology and the processing method of achievement navigation data file (P1/90 form).

Summary of the invention

In order to solve above-described technological deficiency, the invention provides a kind of processing side of towing cable exploration navigation positioning dataMethod, by data read, data pretreatment, datum node calculating coordinate, adopt Kalman filtering, curvilinear integral, interpolation calculationRealize the navigation data that fast and efficiently the original navigation data of P2/94 form is processed into P1/90 form etc. mode.

For achieving the above object, the present invention takes following technical scheme:

A processing method for navigation positioning data, is applied to the processing of marine cable-towing exploration data, and the method comprises:

The data file of the P2/94 form collecting from boat-carrying navigation system, read original locator data, original locationData comprise DGPS (DGPS) data, RGPS data, acoustic data, cable compass data and boat-carrying gyro compassData;

The original locator data reading is carried out to pretreatment, comprise Detection of Gross Errors, filtering and data normalization processing;

Determine the coordinate of the location node in pretreated original locator data with node calculation method, and will determineThe exact position of position node converts the navigation data of P1/90 form to and stores.

Preferably, Detection of Gross Errors is for rejecting the locator data that original locator data contains rough error, and filtering is used for formerBeginning locator data is carried out level and smooth and interpolation, and data normalization is processed and is used for process Detection of Gross Errors and filtering location number after treatmentAccording to carrying out changing of orientation and time synchronized.

Preferably, adopt first-order lag filtering, establish last time filtering result and beThis measured value is x_k, first-order lagFiltering equations is:P_tFor time weight factor, P_wFor fluctuation weight factor, choose the average of N measured valueAs filtering initial value;

Time weight factorWherein filter factor a determined according to the time interval of measured value, t_iIt is this surveyThe amount time, t_i-1Be Measuring Time last time, N is positive integer.

Preferably, time synchronized is for will be through Detection of Gross Errors and filtering locator data after treatment by Extrapolation method togetherStep, to blowing out the moment, obtains blowing out the observation in moment for final compensating computation.

Preferably, determine the seat of the location node in pretreated original locator data with node calculation methodMark, comprising:

Datum node resolves, acoustics node resolves, geophone station position calculation and geophone station depth calculation.

Preferably, datum node resolves and specifically comprises that benchmark RGPS node coordinate calculates:

1) convert the geodetic coordinates of all DGPS nodes to rectangular space coordinate, computing formula is:E in formula is flattening of ellipsoid, and N is that a is semimajor axis of ellipsoid through this DGPS node prime vertical radius,B is the geodetic latitude of this DGPS node, and L is the geodetic longitude of this DGPS node, and H is geodetic height;

2) distance value returning by RGPS equipment and orientation values, the phase according to each DGPS node with benchmark RGPS nodePosition relationship is calculated to the rectangular space coordinate of benchmark RGPS node;

3) average coordinates of the rectangular space coordinate of the described benchmark RGPS node calculating according to each DGPS node is doneFor the rectangular space coordinate of benchmark RGPS node, by following formula, the rectangular space coordinate of described benchmark RGPS node is changedFor geodetic coordinates:

$\tan B=\frac{Z+{\mathrm{Ne}}^2\sin B}{\sqrt{X^2+Y^2}}$

$L=\arctan \frac{Y}{X}$

$H=\frac{Z}{\sin B}-N(1-e^2)$

Adopt the mode of iteration to try to achieve the value of final B, the initial value formula of BCalculateArrive.

Preferably, carrying out acoustics node while resolving, adopt Kalman filtering, the measurement model of Acoustic web comprises that distance surveysValue model and azimuthal measurement value model, wherein:

Range measurement value model comprises:

IfFor the distance measure between node i and j, its measurement equation is:

Wherein, (X_i,Y_i) and (X_i,Y_i) be respectively the coordinate of node i and j;

Corresponding error equation is:

$v_{S_{\mathrm{ij}}}=-\frac{\mathrm{\Δ}{X}_{\mathrm{ij}}^0}{S_{\mathrm{ij}}^0}{\hat{x}}_i-\frac{\mathrm{\Δ}{Y}_{\mathrm{ij}}^0}{S_{\mathrm{ij}}^0}{\hat{y}}_i+\frac{\mathrm{\Δ}{X}_{\mathrm{ij}}^0}{S_{\mathrm{ij}}^0}{\hat{x}}_j+\frac{\mathrm{\Δ}{Y}_{\mathrm{ij}}^0}{S_{\mathrm{ij}}^0}{\hat{y}}_j-l_{S_{\mathrm{ij}}}$

Wherein, $\mathrm{\Δ}{X}_{\mathrm{jk}}^0=X_k^0-X_j^0;$ $\mathrm{\Δ}{Y}_{\mathrm{jk}}^0=Y_k^0-Y_j^0;$ $l_{S_{\mathrm{ij}}}=L_{S_{\mathrm{ij}}}-S_{\mathrm{jk}}^0,$ $S_{\mathrm{jk}}^0=\sqrt{{(X_k^0-X_j^0)}^2+{(Y_k^0-Y_j^0)}^2};$ $(X_i^0,Y_i^0)$ With $(X_j^0,Y_j^0)$ For the approximate coordinate of node i and j.

Azimuthal measurement value model comprises:

IfFor node i is to the azimuthal measurement value between j, its measurement equation is:

$L_{A_{\mathrm{ij}}}=\arctan \frac{Y_j-Y_i}{X_j-X_i}$

Corresponding error equation is:

$v_{A_{\mathrm{ij}}}=\frac{\mathrm{\Δ}{Y}_{\mathrm{ij}}^0}{{\left(S_{\mathrm{ij}}^0\right)}^2}{\hat{x}}_i-\frac{\mathrm{\Δ}{X}_{\mathrm{ij}}^0}{{\left(S_{\mathrm{ij}}^0\right)}^2}{\hat{y}}_i-\frac{\mathrm{\Δ}{Y}_{\mathrm{ij}}^0}{{\left(S_{\mathrm{ij}}^0\right)}^2}{\hat{x}}_j+\frac{\mathrm{\Δ}{X}_{\mathrm{ij}}^0}{{\left(S_{\mathrm{ij}}^0\right)}^2}{\hat{y}}_j+l_{A_{\mathrm{ij}}}$

Wherein, $l_{{\mathrm{Ai}}_j}=L_{A_{\mathrm{ij}}}-A_{\mathrm{ij}}^0,$ $A_{\mathrm{ij}}^0=\arctan \frac{Y_j^0-Y_i^0}{X_j^0-X_i^0}.$

Preferably, geophone station position calculation comprises:

Calculate the coordinate difference between geophone station by the length S of RGPS baseline and the azimuth A of baseline, formula asUnder:

Δx＝S×cosA

Δy＝S×sinA

Adjust the deviation of curvilinear integral, adopt four parametric methods to carry out curve adjustment:

$\left[\begin{array}{c}X\\ Y\end{array}\right]=m\left[\begin{array}{cc}\cos \mathrm{\α}& \sin \mathrm{\α}\\ -\sin \mathrm{\α}& \cos \mathrm{\α}\end{array}\right]\left[\begin{array}{c}x\\ y\end{array}\right]+\left[\begin{array}{c}\mathrm{\ΔX}\\ \mathrm{\ΔY}\end{array}\right]$

In formula, (X, Y), for adjusting post-detection point coordinates, (x, y) is geophone station coordinate before adjusting; M, α is conversion parameter, ΔX, Δ Y is described coordinate difference;

Earth coordinates (B, L, H) are converted to rectangular coordinate system in space (X, Y, Z), obtain DGPS node under ground is admittedlyRectangular space coordinate, conversion formula is:

$\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]=\left[\begin{array}{c}(N+H)\cos B\cos L\\ (N+H)\cos B\sin L\\ (N(1-e^2)+H)\sin B\end{array}\right]$

Then according to the position relationship of DGPS node and benchmark RGPS node, by topocentric coordinate system (x, y, z) is changedFor geocentric coordinate system (X_R，Y_R，Z_R), the rectangular space coordinate of acquisition benchmark RGPS node, conversion formula is:

$\left[\begin{array}{c}{X}_R\\ Y_R\\ Z_R\end{array}\right]=\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]+\left[\begin{array}{ccc}-\sin B\cos L& -\sin L& \cos B\cos L\\ -\sin B\sin L& \cos L& \cos B\sin L\\ \cos B& 0& \sin B\end{array}\right]{\left[\begin{array}{c}x\\ y\\ z\end{array}\right]}_{\mathrm{PR}}$

Then transfer benchmark RGPS node space rectangular co-ordinate to geodetic coordinates, conversion formula is:

$\tan B_R=\frac{Z+{\mathrm{Ne}}^2\sin B}{\sqrt{X^2+Y^2}}$

$L_R=\arctan \frac{Y}{X}$

$H_R=\frac{Z}{\sin B}-N(1-e^2)$

Obtain, after the rectangular space coordinate and geodetic coordinates of benchmark RGPS node, calculating the rectangular space coordinate of each geophone station(X, Y, Z), then calculates each geophone station geodetic coordinates.

Preferably, geophone station depth calculation specifically comprises:

Calculating after the plane projection coordinate of geophone station, by all depth transducers and geophone station on cablePosition relationship, goes out the depth value of all geophone stations with respect to sea level by distance weighted interpolation.

The present invention is owing to taking above-described technical scheme, and it comprises following advantage:

Processing speed is fast, and processing accuracy is high, and result is sane, and manual intervention is few, easy to use. Both can independently be located inManage original locator data, can be integrated into again the real-time processing for navigation positioning data in integrated navigation system.

In to cable compass data and acoustic data Detection of Gross Errors process, employing be the mould that several different methods combinesFormula, so both can avoid, to the failing to judge of some rough errors, also can avoiding the misjudgement to some rough errors, ensured Detection of Gross ErrorsAccuracy.

Brief description of the drawings

Accompanying drawing described herein is used to provide a further understanding of the present invention, forms the application's a part, the present inventionExemplary embodiment and explanation thereof be used for explaining the present invention, be not construed as limiting the invention; In the accompanying drawings:

Fig. 1 is the FB(flow block) according to the navigation positioning data processing method of one embodiment of the present of invention;

Fig. 2 is the FB(flow block) according to datum node calculating coordinate of the present invention.

Detailed description of the invention

In order to make technical scheme of the present invention clearer, below in conjunction with the drawings and specific embodiments, the present invention is doneFurther elaborate. It should be noted that, in the situation that not conflicting, various in the embodiment in the application and embodimentMode can combine mutually.

A processing method for towing cable exploration navigation positioning data, can comprise that data read, data pretreatment and coordinateResolve three phases, wherein,

At data fetch phase, from the data file of P2/94 form, extract all kinds of locator datas, comprise DGPS data,RGPS data, acoustic data, cable compass data and boat-carrying gyro compass data. Original locating file is divided into data head and data volumeTwo parts, by the essential information of read head section acquisition project, work area and bond-allocating, by reading out data body, obtain eachThe locator data of positioning equipment.

In order to ensure the reliability of positioning result and to improve positioning precision, in the time carrying out data processing, need to be to measuring numberAccording to carrying out pretreatment. Mainly contain three large tasks at data preprocessing phase: Detection of Gross Errors, filtering, data normalization. FirstAll kinds of locator datas are carried out to Detection of Gross Errors, reject the locator data that contains rough error. Second adopts data filtering method to actual measurementLocator data and missing data (containing disallowable data) carry out level and smooth and interpolation. Finally, locator data is carried out to changing of orientationAnd time synchronized. Rough error and noise that the pretreated main purpose of data can be summarized as existing in original measurement value disappearRemove, and measurement data is carried out to standardization, for compensating computation is prepared. Data pretreatment work quality affects adjustment resultGreatly.

In the calculating coordinate stage, resolve and determine the coordinate of RGPS node by datum node, by curvilinear integral by compassObservation is converted into baseline vector observation, utilizes Acoustic observation value and the baseline vector observation being converted to carry out acoustics nodeResolve, finally determine geophone station coordinate by curvilinear integral, the adjustment of cable shape and Coordinate Conversion.

Describe data pretreatment and the processing in calculating coordinate stage below in detail

(1) Detection of Gross Errors: reject the rough error measured value existing in raw measurement data by preprocessing process, and will surveyAmount noise separation out, obtains cleaner measured value data. Mainly contain cable compass, cable acoustics Detection of Gross Errors and reparation.

Cable compass data snooping and restorative procedure:

Consider that cable compass measured value changes not quite in measuring intervals of TIME, calculate 4 epoch before current epochThe situation of change of compass bird measured value, and calculate mean value and the variance of data several epoch above, then by current epochChanging value compares with changing value before, exceedes 3.3 times and (can arrange doubly if changing value exceedes limit value and changing valueNumber) standard deviation thinks it may is rough error, then by current measurement value and mean value comparison, if still differ greatly and think thisMeasured value is rough error, then it is repaired. Algorithm based on this principle is widely used in generally having property association in timeThe Detection of Gross Errors of observation data and reparation, the gyro compass data in towing cable exploration navigation positioning data have above-mentioned characteristic, at thisIn invention, this technology can be applied to rough error processing.

Cable acoustics Detection of Gross Errors and restorative procedure:

Because towing cable can be subject to wave and the reason of sensor own, may there is larger change in acoustic measurement value in measuring processChange. Acoustic data rough error is various, need to combine to carry out with several method detection and the rejecting of rough error.

To the large rejecting of rough error continuously producing because of instrument failure, according to towing cable at marine wave characteristic, to front net,The measured value of middle net and rear net contrasts from the distance value of different approximate coordinate inverse respectively, carry out rough error detection andReject. For front net, because front net is near towboat, the fluctuation of cable shape is less, and the approximate coordinate of therefore getting is to calculate last epochThe topocentric coordinates of acoustics node. For rear net, the fluctuation of cable shape can be larger, and net has benchmark acoustics node afterwards, and that gets is approximateThe approximate coordinate that coordinate utilizes curvilinear integral to obtain for current epoch. For middle net, adopt two kinds of methods that combine. ?Get and determine after approximate coordinate, set a certain size threshold value, think rough error for the acoustic measurement value that exceedes this threshold value, pickedRemove.

Although being affected by wave, acoustic measurement value can produce certain fluctuation, in the situation that measuring intervals of TIME is not grownMeasurement variation is also little, can judge current epoch, whether measured value existed rough error according to the measured value information of epoch above.Detailed process is: according to the number of measured value, select the measured value of 2-3 epoch before current epoch, calculate epoch aboveThe variances sigma of the mean value of measured value and these measured value wave characteristics of sign²And standard deviation sigma, if the measured value of current epochThe difference that exceedes certain limit value and measured value and mean value with the difference of the measured value closing on most epoch is above greater than 3 σ and (can arranges doublyNumber), think that this measured value is rough error, is rejected. In the time that the acoustic measurement value to all is carried out Detection of Gross Errors, due to needsThe distance of using the coordinate inverse of curvilinear integral is used as reference, and therefore this step is after the step of curvilinear integral. Based onThe algorithm of this principle is widely used in Detection of Gross Errors and the reparation of observation data, this technology can be applied to slightly in the present inventionPoor processing.

(2) filtering: data filtering adopts first-order lag filtering method, establishes last time filtering result and isThis measured valueFor x_k, by first-order lag filtering equations be:

Wherein,For this filtering result, a is filter factor, and span is 0～1, in the time of a=0, is exactly currentCollection value, and filter factor is larger, filter action is stronger. In filtering, introduce time weight factor P_tWith fluctuation weight factor P_w,First-order lag filtering equations becomes:Filtering initial value is chosen the average of N measured value as filtering initial value.

Time weight factor is mainly to consider the impact of the time interval on filter value, and the time interval is longer, and it is to filtering resultImpact should be less, weigh also less.Wherein coefficient a determined according to the time interval of measured value, t_iThisMeasuring Time, t_i-1It is Measuring Time last time. Comparatively intensive for RGPS measurement data, above the data of measured value to filteringThe impact of result is larger, and therefore the value of a should be larger, and acoustic data measuring intervals of TIME is large, is 10～13 substantiallySecond, therefore a can be got to smaller value, reduce the impact of earlier data on filtering result.

Fluctuation weight factor is mainly the fluctuation situation of considering measurement data, and traction body is subject to the factor impacts such as wave and can occursCertain motion, causes measured value data that certain fluctuation situation can occur, can not be by this in the process of carrying out data processingKind of normal motion conditions be used as noise and filtered fall, fluctuation weight factor can meet in filtering in order to ensure justActual measurement situationWherein, the middle error that σ is measured value.

(3) measured value standardization: measured value standardization is divided into time synchronized and changing of orientation. Initial data is measured the moment oneAs with to blow out the moment not identical, and the object of towing cable navigator fix is will calculate to blow out the position coordinates of moment geophone station, timeBetween synchronously will (comprise DGPS, RGPS, gyro compass, acoustic data and electricity through Detection of Gross Errors and filtered measurement data exactlyCable compass data etc.) be synchronized to and blow out the moment by the method for extrapolation, obtain blowing out the measured value in moment, for final flatPoor calculating. Extrapolation method is the common method in prevailing value analyzing and processing, and it is fixed that the present invention is applied to towing cable exploration navigationThe standardization of bit data.

The measurement data that cable compass provides is the tangent line magnetic north azimuth of its present position towing cable, the order of changing of orientationBe that this magnetic north azimuth is changed and turns to true north azimuth.

DGPS sample of measured value is spaced apart 1s, may not have measured value in the shot point moment, therefore needs to utilize this shot point momentDGPS measured value of extrapolated shot point moment of measured value before. Calculate the change of DGPS coordinate figure according to front several DGPS measured valuesChange speed v, then obtain shot point moment and the time difference Δ t in DGPS measured value moment recently, obtain coordinate according to v × Δ tChanging value, finally tries to achieve the DGPS coordinate figure in this shot point moment.

RGPS measured value processing procedure: the side that utilizes shot point moment several RGPS sample of measured value fitting of a polynomials beforeFormula is tried to achieve the measured value in shot point moment. In the time of extrapolation RGPS measured value, adopt 2 rank fitting of a polynomials, 2 rank fitting of a polynomials needCalculate three parameters, therefore need to use and exceed 3 above RGPS measured values, choose here and nearest 6 of shot point momentRGPS measured value carries out matching.

Acoustic measurement value processing procedure: store the acoustic data in three moment epoch before current shot point, to have enoughData calculate the measured value in current shot point moment, standardized algorithm is the same with RGPS, specific implementation process is with reference to RGPSAlgorithm.

Calculating coordinate

Calculating coordinate is the key component of navigation data processing, is divided into following four major parts: datum node resolves, acoustics savesPoint resolves, geophone station position calculation, geophone station depth calculation etc.

(1) datum node resolves: seismic vessel is in exploration process, and its absolute position is obtained by GPS receiverThe geodetic coordinates that DGPS is ordered, and the benchmark of Acoustic web is provided by RGPS node coordinate, RGPS node coordinate is by dragging againOn ship, benchmark RGPS node transmits. Relative position relation between DGPS node and benchmark RGPS node is known, thereforeNeed to be by a series of Coordinate Conversion and calculating, obtain benchmark RGPS node coordinate, then according to the coordinate of benchmark RGPS nodeTry to achieve the coordinate of RGPS node.

Benchmark RGPS node coordinate computational methods: first, by the absolute coordinate of DGPS node, close according to their relative positionThe absolute coordinate of benchmark RGPS node is tried to achieve by system. Concrete steps can comprise:

1) geodetic coordinates of all DGPS nodes is converted to rectangular space coordinate. Computing formula is:E in formula is flattening of ellipsoid, and N is through this prime vertical radius, and a is semimajor axis of ellipsoid; B is thisThe geodetic latitude of point; L is the geodetic longitude of changing the time; H is geodetic height.

2) distance value returning by RGPS equipment and orientation values, the phase according to each DGPS node with benchmark RGPS nodePosition relationship is calculated to the rectangular space coordinate of benchmark RGPS node;

3) average coordinates of the rectangular space coordinate of the described benchmark RGPS node calculating according to each DGPS node is doneFor the rectangular space coordinate of benchmark RGPS node, by following formula, the rectangular space coordinate of described benchmark RGPS node is changedFor geodetic coordinates:

$\tan B=\frac{Z+{\mathrm{Ne}}^2\sin B}{\sqrt{X^2+Y^2}}$

$L=\arctan \frac{Y}{X}$

$H=\frac{Z}{\sin B}-N(1-e^2)$

Rectangular space coordinate is converted to geodetic coordinates. Need again to use geodetic latitude in geodetic latitude calculatingValue, therefore needs to adopt the mode of iteration to try to achieve the value of final B. The initial value of B can be used formula

$B=\arctan \left(\frac{Z}{\sqrt{X^2+Y^2}}\right)$ Try to achieve.

RGPS node coordinate calculates: each RGPS baseline has two measured values, comprises length S and the baseline of RGPS baselineAzimuth A, just can try to achieve the topocentric coordinates of each RGPS node according to the discrepancy in elevation of measured value and baseline two-end-point.

Benchmark acoustics node coordinate calculates: for coordinate basis being delivered to acoustic measurement net, each RGPS node has individualAcoustics node is connected with it, can calculate the coordinate that obtains benchmark acoustics node according to RGPS node coordinate.

(2) acoustics node resolves: carrying out acoustics node coordinate while resolving, adopt the method for Kalman filtering, at towing cableIn navigation system, the measurement model of Acoustic web has two kinds: range measurement value model, azimuthal measurement model.

Range measurement value model:

IfFor the distance measure between node i and j, its measurement equation is:

Wherein, (X_i,Y_i) and (X_i,Y_i) be respectively the coordinate of node i and j.

Corresponding error equation is:

$v_{S_{\mathrm{ij}}}=-\frac{\mathrm{\Δ}{X}_{\mathrm{ij}}^0}{S_{\mathrm{ij}}^0}{\hat{x}}_i-\frac{\mathrm{\Δ}{Y}_{\mathrm{ij}}^0}{S_{\mathrm{ij}}^0}{\hat{y}}_i+\frac{\mathrm{\Δ}{X}_{\mathrm{ij}}^0}{S_{\mathrm{ij}}^0}{\hat{x}}_j+\frac{\mathrm{\Δ}{Y}_{\mathrm{ij}}^0}{S_{\mathrm{ij}}^0}{\hat{y}}_j-l_{S_{\mathrm{ij}}}$

Wherein, $\mathrm{\Δ}{X}_{\mathrm{jk}}^0=X_k^0-X_j^0;$ $\mathrm{\Δ}{Y}_{\mathrm{jk}}^0=Y_k^0-Y_j^0;$ $l_{S_{\mathrm{ij}}}=L_{S_{\mathrm{ij}}}-S_{\mathrm{jk}}^0,$ $S_{\mathrm{jk}}^0=\sqrt{{(X_k^0-X_j^0)}^2+{(Y_k^0-Y_j^0)}^2};$ $(X_i^0,Y_i^0)$ With $(X_j^0,Y_j^0)$ For the approximate coordinate of node i and j.

Azimuthal measurement value model:

IfFor node i is to the azimuthal measurement value between j, its measurement equation is:

$L_{A_{\mathrm{ij}}}=\arctan \frac{Y_j-Y_i}{X_j-X_i}$

Corresponding error equation is:

$v_{A_{\mathrm{ij}}}=\frac{\mathrm{\Δ}{Y}_{\mathrm{ij}}^0}{{\left(S_{\mathrm{ij}}^0\right)}^2}{\hat{x}}_i-\frac{\mathrm{\Δ}{X}_{\mathrm{ij}}^0}{{\left(S_{\mathrm{ij}}^0\right)}^2}{\hat{y}}_i-\frac{\mathrm{\Δ}{Y}_{\mathrm{ij}}^0}{{\left(S_{\mathrm{ij}}^0\right)}^2}{\hat{x}}_j+\frac{\mathrm{\Δ}{X}_{\mathrm{ij}}^0}{{\left(S_{\mathrm{ij}}^0\right)}^2}{\hat{y}}_j+l_{A_{\mathrm{ij}}}$

Wherein, $l_{{\mathrm{Ai}}_j}=L_{A_{\mathrm{ij}}}-A_{\mathrm{ij}}^0,$ $A_{\mathrm{ij}}^0=\arctan \frac{Y_j^0-Y_i^0}{X_j^0-X_i^0}.$

(3) geophone station position calculation:

Geophone station and the acoustics node station rational horizon Coordinate calculation method under benchmark RGPS node: the seat between geophone stationMark difference can be calculated by the azimuth A of the length S of RGPS baseline and baseline, and formula is as follows:

Δx＝S×cosA

Δy＝S×sinA

Last geophone station can adopt said method to calculate according to the benchmark acoustics node of cable trailer, each pointBird interpolation is out per compass in tangent line orientation.

Adjust the deviation of curvilinear integral, adopt four parametric methods to carry out curve adjustment:

$\left[\begin{array}{c}X\\ Y\end{array}\right]=m\left[\begin{array}{cc}\cos \mathrm{\α}& \sin \mathrm{\α}\\ -\sin \mathrm{\α}& \cos \mathrm{\α}\end{array}\right]\left[\begin{array}{c}x\\ y\end{array}\right]+\left[\begin{array}{c}\mathrm{\ΔX}\\ \mathrm{\ΔY}\end{array}\right]$

In formula, (X, Y) is coordinate after adjusting, and (x, y) is coordinate before adjusting; M, α, Δ X, Δ Y is conversion parameter. By adjustmentBring into the acoustics node coordinate that curvilinear integral obtains, adjustment can be determined parameter value, carries out the adjustment of cable curve.

Coordinate Conversion: earth coordinates (B, L, H) transfer rectangular coordinate system in space (X, Y, Z) to, obtains DGPS point solid on groundRectangular space coordinate under system, conversion formula is:

$\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]=\left[\begin{array}{c}(N+H)\cos B\cos L\\ (N+H)\cos B\sin L\\ (N(1-e^2)+H)\sin B\end{array}\right]$

Then, the position relationship of ordering by DGPS point and benchmark RGPS, by by topocentric coordinate system (x, y, z), transfers ground toHeart coordinate system (X_R，Y_R，Z_R), obtain the rectangular space coordinate of benchmark RGPS node, conversion formula is:

$\left[\begin{array}{c}{X}_R\\ Y_R\\ Z_R\end{array}\right]=\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]+\left[\begin{array}{ccc}-\sin B\cos L& -\sin L& \cos B\cos L\\ -\sin B\sin L& \cos L& \cos B\sin L\\ \cos B& 0& \sin B\end{array}\right]{\left[\begin{array}{c}x\\ y\\ z\end{array}\right]}_{\mathrm{PR}}$

Then, transfer benchmark RGPS node space rectangular co-ordinate to geodetic coordinates, conversion formula is:

$\tan B_R=\frac{Z+{\mathrm{Ne}}^2\sin B}{\sqrt{X^2+Y^2}}$

$L_R=\arctan \frac{Y}{X}$

$H_R=\frac{Z}{\sin B}-N(1-e^2)$

Obtain after the rectangular space coordinate and geodetic coordinates of benchmark RGPS node, the space that just can calculate each geophone station is straightAngular coordinate (X, Y, Z), then calculates each geophone station geodetic coordinates.

(4) geophone station depth calculation:

Calculating after the plane projection coordinate of geophone station, also needing to calculate the depth value h of geophone station with respect to sea level,Jointly form the stereo omnibearing of geophone station with depth value h. Can pass through all depth transducers and the position of geophone station on cableRelation, goes out the degree of depth of all geophone stations by distance weighted interpolation.

Weighted Interpolation is conventional interpolation algorithm during numerical analysis is processed, and this technology can be applied to the degree of depth and pass in the present inventionThe interpolation of sensor and geophone station position.

The above embodiment is only preferred embodiment of the present invention, is not intended to limit protection scope of the present invention, thisThe technical staff in field can deliberately carry out various modifications and variations to the present invention and without departing from the spirit and scope of the present invention. ThisSample, if these amendments of the present invention and within modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, thisBright also intention comprise these amendment and modification interior.

Claims (4)

1. a processing method for navigation positioning data, is applied to the processing of marine cable-towing exploration data, and described method comprises:

The data file of the P2/94 form collecting from boat-carrying navigation system, read original locator data, described original locationData comprise DGPS DGPS data, RGPS data, acoustic data, cable compass data and boat-carrying gyro compass numberAccording to;

The original locator data reading is carried out to pretreatment, comprise Detection of Gross Errors, filtering and data normalization processing; Described rough errorSurvey for rejecting the locator data that described original locator data contains rough error, described filtering is used for described original location numberAccording to carrying out level and smooth and interpolation, described data normalization is processed for process Detection of Gross Errors and filtering locator data after treatment are enteredRow changing of orientation and time synchronized;

Determine the coordinate of the location node in pretreated original locator data with node calculation method, and will locate jointThe exact position of point converts the navigation data of P1/90 form to and stores; Described node calculation method comprises: datum node solutionCalculate, acoustics node resolves, geophone station position calculation and geophone station depth calculation;

In described filtering, adopt first-order lag filtering, establish last time filtering result and beThis measured value is z_k, first-order lagFiltering equations is:Wherein,For this filtering result, P_tFor time weight factor, P_wFor fluctuation power because ofSon, chooses the average of M measured value as filtering initial value, and M is positive integer;

Time weight factorWherein filter factor a determined according to the time interval of measured value, t_iWhile being this measurementBetween, t_i-1It is Measuring Time last time;

Carrying out described acoustics node while resolving, adopt Kalman filtering, the measurement model of Acoustic web comprises distance measure mouldType and azimuthal measurement value model, wherein:

Range measurement value model comprises:

IfFor the distance measure between node i and j, its measurement equation is:

Wherein, (X_i,Y_i) and (X_j,Y_j) be respectively the coordinate of node i and j;

Corresponding error equation is:

$v_{S_{ij}}=-\frac{{\mathrm{\ΔX}}_{ij}^0}{S_{ij}^0}{\hat{x}}_i-\frac{{\mathrm{\ΔY}}_{ij}^0}{S_{ij}^0}{\hat{y}}_i+\frac{{\mathrm{\ΔX}}_{ij}^0}{S_{ij}^0}{\hat{x}}_j+\frac{{\mathrm{\ΔY}}_{ij}^0}{S_{ij}^0}{\hat{y}}_j-l_{S_{ij}}$

Wherein, WithFor the approximate coordinate of node i and j;

Azimuthal measurement value model comprises:

IfFor node i is to the azimuthal measurement value between j, its measurement equation is:

$L_{A_{ij}}=\arctan \frac{Y_j-Y_i}{X_j-X_i}$

Corresponding error equation is:

$v_{A_{ij}}=\frac{{\mathrm{\ΔY}}_{ij}^0}{{\left(S_{ij}^0\right)}^2}{\hat{x}}_i-\frac{{\mathrm{\ΔX}}_{ij}^0}{{\left(S_{ij}^0\right)}^2}{\hat{y}}_i-\frac{{\mathrm{\ΔY}}_{ij}^0}{{\left(S_{ij}^0\right)}^2}{\hat{x}}_j+\frac{{\mathrm{\ΔX}}_{ij}^0}{{\left(S_{ij}^0\right)}^2}{\hat{y}}_j+l_{A_{ij}}$

Wherein,

2. method according to claim 1, wherein,

Described time synchronized will be for being synchronized to and being put by Extrapolation method through Detection of Gross Errors and filtering locator data after treatmentIn the big gun moment, obtain blowing out the observation in moment for final compensating computation.

3. method according to claim 1, wherein, described datum node resolves and specifically comprises benchmark RGPS node coordinate meterCalculate:

1) convert the geodetic coordinates of all DGPS nodes to rectangular space coordinate;

2) distance value returning by RGPS equipment and orientation values, the phase contraposition according to each DGPS node with benchmark RGPS nodePut the rectangular space coordinate that relation is calculated benchmark RGPS node;

3) average coordinates of the rectangular space coordinate of the described benchmark RGPS node calculating according to each DGPS node is as baseThe rectangular space coordinate of accurate RGPS node, is converted to the rectangular space coordinate of described benchmark RGPS node greatly by following formulaGround coordinate:

$\tan B=\frac{Z+{\mathrm{Ne}}^2\sin B}{\sqrt{X^2+Y^2}}$

$L=\arctan \frac{Y}{X}$

$H=\frac{Z}{\sin B}-N(1-e^2)$

In formula, e is flattening of ellipsoid, N is through benchmark RGPS node prime vertical radius, and X, Y, Z are respectively benchmark RGPS nodeThe coordinate of rectangular coordinate system in space, B, L, H are respectively the geodetic coordinates of benchmark RGPS node, and B is the large of benchmark RGPS nodeGround latitude, L is the geodetic longitude of benchmark RGPS node, H is geodetic height;

Adopt the mode of iteration to try to achieve the value of final B, the initial value formula of BCalculate.

4. method according to claim 1, wherein, described geophone station depth calculation specifically comprises:

Calculating after the plane projection coordinate of geophone station the position on cable according to all depth transducers and geophone stationRelation, goes out the depth value of all geophone stations with respect to sea level by distance weighted interpolation.