CN115032695B - Submarine cable tracking type detection method based on acoustic side reflection - Google Patents

Submarine cable tracking type detection method based on acoustic side reflection Download PDF

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CN115032695B
CN115032695B CN202210405913.6A CN202210405913A CN115032695B CN 115032695 B CN115032695 B CN 115032695B CN 202210405913 A CN202210405913 A CN 202210405913A CN 115032695 B CN115032695 B CN 115032695B
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submarine cable
submarine
acoustic
stratum
method based
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CN115032695A (en
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安永宁
刘红军
刘俊涛
李晶
龙成
孙辉
田春和
季祥坤
杨柳
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Ocean University of China
Tianjin Research Institute for Water Transport Engineering MOT
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Tianjin Research Institute for Water Transport Engineering MOT
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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    • Y02A90/30—Assessment of water resources

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Abstract

The invention discloses a submarine cable tracking type detection method based on acoustic side reflection, which belongs to the technical field of ocean mapping and comprises the following steps: step 1, measuring the on-line of a ship from one side of a submarine pipeline route, and if an inclined distance reflection signal of the submarine pipeline is positioned below an acoustic profile signal of a stratum where the submarine pipeline is positioned, starting to acquire data, and synchronously marking by a global satellite navigation system; step 2, wiring the measuring ship from the other side of the submarine pipeline route, and executing the step 1 again; step 3, drawing the plane position and the elevation of the same phase shaft according to a stratum pickup method; step 4, interpolating and encrypting the picked-up data to pulse points one by one; step 5, constructing a linear equation set of pulse points one by one to obtain a final result diagram of submarine cable detection; according to the submarine cable tracking type detection method based on acoustic side reflection, the real position and the burial depth of the submarine cable are obtained through the space three-dimensional oblique distance information of the submarine cable, and therefore the operation efficiency is remarkably improved.

Description

Submarine cable tracking type detection method based on acoustic side reflection
Technical Field
The invention belongs to the technical field of ocean mapping, and particularly relates to a submarine cable tracking type detection method based on acoustic side reflection.
Background
The submarine cable is a life line of the offshore oil and gas field, the operation condition of the submarine cable is directly related to the safety of the offshore oil and gas field, along with the development and utilization of offshore oil resources, the construction quantity of the submarine cable is increased, a huge effect is exerted on the transportation of the offshore oil and gas resources, in addition, the submarine cable is widely applied to sea-related projects such as sewage discharge in coastal industrial areas, island water supply and power supply and communication, and the like, at present, submarine cable detection and identification mainly depend on acoustic means, a shallow stratum profile detection method is most commonly used, compared with other auxiliary detection means such as side scan sonar detection and ocean magnetic force detection, the accurate position and the buried depth of the submarine cable can be measured simultaneously by the shallow stratum profile detection, the acoustic side reflection phenomenon is caused by the sidelobe effect of a transducer of the shallow stratum profile instrument, and when the transducer has poorer directivity, the side reflection appears on the reflection record, the side reflection is easily interpreted as the reflection signal of a lower stratum; in shallow stratum profile detection, when a landform type such as an underwater abrupt bank, a bank slope and the like or a small and prominent underwater object exists in a beam angle irradiation range, the position of the underwater object is not directly under a transducer, but the underwater object is still recorded in acoustic reflection data in a sideways reflection characteristic in the beam angle irradiation range, the reflection time course is longer than that in the detection directly above, a landform sideways reflection signal is easily mistaken as a lower stratum reflection signal, the sideways reflection characteristic of the object such as a submarine cable and the like can be distinguished through the intensity change of a reflection wave, if the reflection signal comes from a lower stratum, a considerable part of energy in a frequency band is absorbed by sediment, obvious attenuation exists, and the sideways reflection signal is clear in a wave impedance interface due to the fact that the reflection signal comes from the surface of the object, the intensity is higher, and tracking and identification are easy.
The acoustic side reflection phenomenon is always regarded as measurement noise, is not utilized positively, and in the irradiation range of the beam angle of the transducer according to the side reflection principle in the acoustic shallow stratum profile detection, if a small and convex target object exists, the target object is reflected in the stratum profile data record in the form of an oblique reflection signal, and the oblique reflection time course is closely related to the real position and the buried depth information of the submarine cable, so that the conventional submarine cable acoustic profile detection is used for measuring operation from trend to sea pipeline and navigation to submarine cable, the operation efficiency is low, the measured position and the buried depth are only a series of discrete nodes, and the characteristic that the submarine cable continuously extends is difficult to reflect, so that a detection method is required to be developed to solve the existing problem.
Disclosure of Invention
The invention aims to provide a submarine cable tracking type detection method based on acoustic side reflection, which aims to solve the problem of low operation efficiency of acoustic profile detection and measurement of a traditional submarine cable.
In order to achieve the above purpose, the present invention provides the following technical solutions: the submarine cable tracking type detection method based on acoustic side reflection comprises the following steps:
step 1, measuring the on-line of a ship from one side of a submarine pipeline route, sailing along the planned survey line of the same side in parallel with the trend of the submarine pipeline route, and starting to acquire data if a slant-range reflection signal of the submarine pipeline is positioned below an acoustic profile signal of a stratum where the submarine pipeline is positioned, so that a global satellite navigation system marks synchronously;
step 2, wiring the measuring ship from the other side of the submarine pipeline route, and executing the step 1 again;
step 3, when the acoustic reflection image of the acquired data is an isolated continuous strong energy phase axis, drawing the plane position and the elevation of the phase axis according to a stratum pickup method;
step 4, interpolating and encrypting the picked-up data to pulse points one by one;
and 5, constructing a linear equation set of pulse points by utilizing a time-course reflection curve of signal round trip, a geometric relation between a flight path and the submarine cable, and obtaining a final result diagram of submarine cable detection.
Preferably, the detector for acoustic profile signals of the stratum is a shallow stratum profiler.
Preferably, the method further comprises the step of commissioning the shallow profiler and in situ operations prior to step 1.
Preferably, the step of adjusting the shallow profiler includes:
installing a shallow stratum profiler on a measurement ship, and recording the water depth of the shallow stratum profiler and the offset distance between the shallow stratum profiler and a navigation positioning GNSS antenna on board the ship;
setting a beam angle of the shallow stratum profiler to be not less than 20 degrees, a working main frequency to be not less than 12kHz, and a vertical stratum resolution to be not less than 10cm;
the distance between the planned measuring line and the routing central line meets the relation 0.ltoreq.l.ltoreq.h.tgα, and is respectively arranged at two sides of the submarine pipeline routing central line, wherein l is an offset distance, h is water depth, and α is a beam angle.
Preferably, the field operation step includes:
the on-site operation sea condition is not more than level 4, the navigational speed of the measured ship is not more than 5 knots, the acoustic pulse transmitting frequency of the shallow stratum profiler is 1Hz, and the track deviation error is not more than 5m;
the dynamic plane positioning precision of the global satellite navigation system after the differential correction of the beacons or the satellites is less than 1.5m.
Preferably, the step of constructing the system of linear equations for each pulse point in step 5 includes:
step 51, setting the position of the shallow stratum profiler of the measuring ship as O at any measuring position 1 (x 1i ,y 1i ) The plane point detected directly below the sensor is O 1 '(x 1i ,y 1i ) Submarine pipeline is located at P (x i ,y i ) The point is set to be D in the water depth right below the shallow stratum profiler 0 The water depth above the submarine cable is D p The distance between the P point where the pipe cable is positioned and O' is deltaxy, the burial depth of the pipe cable is deltaz, and the sound velocity in the sea water is c 1 Sound velocity in the stratum is c 2 The total time of sound ray propagation in double passes is t, wherein the total time in seawater is t 1 T is in stratum 2 ，θ i Is the included angle between the course line and the weft line;
step 52, collecting x 1 、y 1 、D 0 、t、t 2 Is substituted into the formula of the formula,
Figure BDA0003602148350000031
Figure BDA0003602148350000032
Figure BDA0003602148350000033
Figure BDA0003602148350000034
t＝t 1 +t 2 (5)
is provided with
D 0 ＝D p (6)
c 1 ＝c 2 (7)；
Step 53, solving the formulas (1), (3), (4), (5), (6) and (7) by using a mathematical function to solve x i ,y i ,Δz i Three variables are plotted and displayed to form a three-dimensional space curved surface;
step 54, solving the formula (2), (3), (4), (5), (6), (7) by using a mathematical function to solve x i ,y i ,Δz i Three variables are plotted and displayed to form another three-dimensional space curved surface;
step 55, intersecting the two curved surfaces in step 53 and step 54, and applying a contourslice function of MATLAB software to calculate the point-by-point coordinates of the intersecting line below the curved surfaces to obtain a real plane coordinate set x of the submarine pipeline i ,y i Wherein Δz i The real burial depth of the submarine cable is provided;
step 56, solving the above step 53 and step 54 to obtain x i ,y i ,Δz i And spreading the images point by point into a computer aided drawing system to obtain a final result diagram of submarine pipeline detection.
Preferably, the computer-aided drawing system is AutoCAD software.
Preferably, the mathematical function is a solve function of MATLAB software.
Preferably, in step 4, the method for obtaining the interpolation of the picked-up data includes: lagrangian interpolation or Newton interpolation.
The invention has the technical effects and advantages that: according to the submarine cable tracking detection method based on acoustic side reflection, the irradiation range of the beam angle of the shallow stratum profiler is controlled, detection is carried out along the trend of the submarine cable, the space three-dimensional oblique distance information of the submarine cable is obtained, inversion is carried out through a mathematical method, the real position and the buried depth of the submarine cable are obtained, and therefore the operation efficiency is remarkably improved;
the invention can realize the purpose of detecting the submarine cable along the pipeline and efficiently without purchasing new equipment on the basis of the existing instrument and equipment, has extremely great economic benefit and popularization value, reduces the workload by 4-10 times when the invention is applied to detecting the submarine cable position and the buried depth, greatly enhances the identification capability of submarine cable signals under the geological condition of complex surface layer, and can identify the submarine cable which is difficult to distinguish by the traditional method.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic representation of the morphology of the beam angle of the transducer of the shallow profiler according to the present invention;
FIG. 3a is a schematic diagram of a conventional method of the present invention;
FIG. 3b is a schematic diagram of a side-reflection planning line layout according to the present invention;
FIG. 4 is a diagram illustrating an example of the detection of an imaging of a subsea pipeline in an acoustic profile image according to the present invention;
FIG. 5 is a graph of the geometric relationship of the detection time course curve according to the present invention;
FIG. 6 is a graph of the geometrical relationship of the spatial geographic information during detection according to the present invention;
FIG. 7 is a plot of the present invention for a cross-line inversion i 、y i 、Δz i A three-dimensional space surface equation graph;
FIG. 8 is a plot of the present invention for a two-line inversion i 、y i 、Δz i A three-dimensional space surface equation graph;
fig. 9 is a diagram of the final result of submarine cable detection formed by the present invention.
In the figure: 1. a sea floor; 2. submarine cables; 3. elevation; 4. mileage stake marks of submarine cables; 5. measuring a ship; 6. actual track.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a submarine cable tracking detection method based on acoustic side reflection as shown in fig. 1, which comprises the following steps:
firstly, debugging a shallow stratum profiler and performing on-site operation;
the step of debugging the shallow stratum profiler comprises the following steps:
installing a shallow stratum profiler on a measurement ship, and recording the water depth of the shallow stratum profiler and the offset distance between the shallow stratum profiler and a navigation positioning GNSS antenna on board the ship;
setting a beam angle of the shallow stratum profiler to be not less than 20 degrees, a working main frequency to be not less than 12kHz, and a vertical stratum resolution to be not less than 10cm;
the distance between the planned measuring line and the routing central line meets the relation 0.ltoreq.l.ltoreq.h.tgα, and is respectively arranged at two sides of the submarine pipeline routing central line, wherein l is an offset distance, h is water depth, and α is a beam angle.
The field operation steps comprise:
the on-site operation sea condition is not more than level 4, the navigational speed of the measured ship is not more than 5 knots, the acoustic pulse transmitting frequency of the shallow stratum profiler is 1Hz, and the track deviation error is not more than 5m;
the dynamic plane positioning precision of the global satellite navigation system after the beacon difference or satellite difference correction is less than 1.5m, and after the installation and the debugging are finished, the global satellite navigation system is connected into acquisition software or navigation positioning software of a shallow stratum profiler in communication modes such as RS232 or RS485 and the like;
step 1, measuring the on-line of a ship from one side of a submarine pipeline route, sailing along the planned survey line of the same side in parallel with the trend of the submarine pipeline route, and starting to collect data and synchronously marking by a global satellite navigation system if an inclined distance reflection signal of the submarine pipeline 2 is positioned below an acoustic profile signal of a stratum where the submarine pipeline is positioned;
step 2, wiring the measuring ship from the other side of the submarine pipeline route, and executing the step 1 again; the field operation is finished, the whole workload is about 1/10 of the workload of the traditional 1:2000 investigation scale, and is about 1/4 of the workload of the traditional 1:5000 investigation scale;
step 3, when the acoustic reflection image of the acquired data is an isolated continuous strong energy phase axis, in the embodiment, the acoustic reflection image is represented as a black line on a gray level image, and the plane position and the elevation of the phase axis are depicted according to a stratum pickup method;
step 4, interpolating and encrypting the picked-up data to pulse points one by one; in the embodiment, according to the signal emission setting of the shallow stratum profiler, the picked-up data is interpolated and encrypted to pulse points one by one;
step 5, constructing a linear equation set of pulse points by utilizing the geometric relation between a time-course reflection curve, a flight path and the submarine cable 2 of the signal round trip, and obtaining a final result diagram of submarine cable 2 detection; in this embodiment, in the acoustic profile detection interpretation software, after extracting the position and elevation information of the inclined distance reflection signal of the submarine cable 2, according to the geometric relationship of the acoustic time-course reflection curve, the step of back calculating the real position and burial depth of the submarine cable 2 and constructing a linear equation set of pulse points comprises:
step 51, setting the position of the shallow stratum profiler of the measuring ship as O at any measuring position 1 (x 1i ,y 1i ) The plane point detected directly below the sensor is O 1 '(x 1i ,y 1i ) Submarine umbilical 2 is located at P (x i ,y i ) The point is set to be D in the water depth right below the shallow stratum profiler 0 The water depth above the submarine cable 2 is D p The distance between the P point where the pipe cable is positioned and O' is deltaxy, the burial depth of the pipe cable is deltaz, and the sound velocity in the sea water is c 1 Sound velocity in the stratum is c 2 The total time of sound ray propagation in double passes is t, wherein the total time in seawater is t 1 T is in stratum 2 ，θ i Is the included angle between the course line and the weft line;
step 52, collecting x 1 、y 1 、D 0 、t、t 2 Is substituted into the formula of the formula,
Figure BDA0003602148350000071
/>
Figure BDA0003602148350000072
Figure BDA0003602148350000073
Figure BDA0003602148350000074
t＝t 1 +t 2 (5)
is provided with
D 0 ＝D p (6)
c 1 ＝c 2 (7)；
Step 53, solving the formulas (1), (3), (4), (5), (6) and (7) by using a mathematical function to solve x i ,y i ,Δz i Three variables are plotted and displayed to form a three-dimensional space curved surface;
step 54, solving the formula (2), (3), (4), (5), (6), (7) by using a mathematical function to solve x i ,y i ,Δz i Three variables are plotted and displayed to form another three-dimensional space curved surface;
step 55, intersecting the two curved surfaces in step 53 and step 54, applying a contourslice function of MATLAB software, and solving the point-by-point coordinates of the intersecting line below the curved surfaces to obtain a real plane coordinate set x of the submarine cable 2 i ,y i Wherein Δz i The real burial depth of the submarine cable 2;
step 56, solving the above step 53 and step 54 to obtain x i ,y i ,Δz i The final result map of the submarine cable 2 detection is obtained by spreading the points to a computer-aided drawing system;
in this embodiment, the computer-aided drawing system is AutoCAD software; the mathematical function is the solve function of MATLAB software.
In this embodiment, the detecting instrument of the acoustic profile signal of the stratum is a shallow stratum profiler; the shallow stratum profiler, namely the transducer, is selected, the seismic source is acoustic pulse (acoustic pin), the functions of a transmitter and a receiver are integrated, in parameters, the beam angle is the most important consideration factor, as shown in figure 2, the larger the beam angle is, the better the beam angle is, the larger the beam angle is, the better the working main frequency is, the 14kHz is, the smaller the vertical stratum resolution is, in the embodiment, the model of the shallow stratum profiler is EdgeTech 3200XS 216 and Geoacoustic T14K, the beam angles of the shallow stratum profiler are respectively 24 degrees and 40 degrees, and the shorter axis direction of the elliptical irradiation range of the beam angle is parallel to the trend of the submarine cable 2 during installation;
the method comprises the steps that a shallow stratum profiler is fixedly installed on a measuring ship, the beam angle is elliptical, the long axis direction is perpendicular to the sea pipeline from trend, when the measuring ship is in measuring operation, a planned measuring line is arranged parallel to the sea pipeline 2 trend by taking the sea pipeline 2 route central line as a reference, and the distance between the planned measuring line and the route central line is more than or equal to 0 and less than or equal to h and tg alpha; as shown in fig. 3b, 2 planned survey lines are arranged and respectively positioned at two sides of the submarine cable 2 and parallel to the trend of the submarine cable 2, the survey line length is equal to the submarine cable 2, a global satellite navigation system (GNSS terminal) is installed above or at other positions of the survey line length, and the draft of the transducer and the plane offset distance between the GNSS antenna and the transducer are measured;
setting related parameters of a shallow stratum profiler and a GNSS terminal in acquisition software or navigation positioning software, and ensuring normal connection and smooth data communication;
starting a shallow stratum profiler, triggering a transducer switch, confirming that an oblique distance reflection signal of the submarine pipeline cable 2 appears in a lower stratum as shown in fig. 4, measuring that a ship starts to get on line from one side of the submarine pipeline cable route, and sailing along the planned survey line on the same side in parallel with the trend of the submarine pipeline cable route;
starting data record setting of acquisition software before online, enabling GNSS to mark synchronously, and stopping data record of the acquisition software after offline;
when the acoustic reflectometry is applied to the submarine cable 2 detection, mirror image measuring lines are arranged on the other side of the submarine pipeline, another group of corresponding detection information is provided, and final inversion of the position and the burial depth is completed together;
the target reflection signal detected by the acoustic side reflection method is a record of oblique reflection time, and is not a record of vertical reflection time under the target, so that the plane position and the buried depth information of the target are directly extracted, deviation exists, and mathematical correction is needed to obtain the real submarine cable 2 position and the buried depth information:
at any measuring position, the position of the shallow stratum profiler is set as O 1 (x 1i ,y 1i ) The plane point detected directly below the sensor is O 1 '(x 1i ,y 1i ) The submarine cable 2 is positioned at the point P (xi, yi) and is arranged at the depth D of water right below the shallow stratum profiler 0 The water depth above the submarine cable 2 is D p The distance between the P point where the pipe cable is positioned and O' is deltaxy, the burial depth of the pipe cable is deltaz, and the sound velocity in the sea water is c 1 Sound velocity in the stratum is c 2 The total time of sound ray propagation in double passes is t, wherein the total time in seawater is t 1 T is in stratum 2 ，θ i Is the included angle between the course line and the weft line;
of the parameters, x 1 、y 1 、D 0 、t、t 2 Acquired, x i 、y i 、Δz i Is a result parameter to be inverted, and after the detection of one measuring line is completed, the following equation set or equation can be constructed by the geometric relationship:
at any point on the survey line, the space geographic geometrical relationship between the upper coordinate of the shallow stratum profiler and the real coordinate of the submarine cable 2 is:
Figure BDA0003602148350000091
the geometrical relationship that the reflection time interval of the acoustic pulse emitted by the shallow stratum profiler reaching the submarine cable 2 satisfies in the water body and the stratum is:
Figure BDA0003602148350000092
the distance between the submarine cable 2 and the shallow stratum profiler at the submarine surface projection point satisfies the relation:
Figure BDA0003602148350000093
the total reflection time of the acoustic pulse emitted by the shallow profiler to reach the submarine cable 2 satisfies the relationship: t=t 1 +t 2 ；
The water depth at the location of the shallow profiler is assumed to be equal to the water depth at the location of the subsea umbilical 2: d0 =dp;
compared with the water depth, the submarine cable 2 is generally shallow, and the sound velocity of the sound pulse in the water body is assumed to be equal to the sound velocity in the stratum in which the submarine cable 2 is buried: c 1 ＝c 2 ；
According to the relation, a solve function of MATLAB software is applied to solve x i 、y i 、Δz i A group of three-dimensional space curved surface equations are obtained;
after the detection of another measuring line is completed, O on the measuring line is utilized 2 (x 2j ,y 2j ) Is substituted into the above equation to solve x j 、y j 、Δz j The other group of three-dimensional space curved surface equation can be obtained;
solving the intersection of two three-dimensional space curved surface equations by applying a contourslice function of MATLAB software, wherein the intersection below the two curved surfaces is the solved submarine cable 2 position and burial depth;
drawing the obtained submarine cable 2 position and burial depth information on an AutoCAD drawing to form a submarine cable 2 detection result diagram;
by adopting a side reflection method to detect, due to the increase of reflection time, the reflection signals of the submarine pipeline are more in deeper reflection layers, and the acoustic reflection energy of the deep layers is weak and uniform due to the attenuation of stratum signals and the like, so that even if the target reflection of the submarine pipeline is weaker in the acoustic image background, the target reflection of the submarine pipeline can be easily identified;
the invention expands the application range of acoustic profile detection of submarine targets, the detected pipe diameter is further reduced, the detected material is further enriched, and the side reflection method can provide better detection effect than the traditional method when the pipeline is buried in dense coarse-grained soil or coarse-fine mixed soil;
repeating the previous step on the other side of the submarine cable 2 to finish the data acquisition of the other measuring line and finish the field operation;
extracting the position and elevation information of the submarine cable 2 oblique distance reflection signals in each measuring line from acoustic profile detection interpretation software;
interpolation is carried out on all picked data by using a Lagrangian interpolation method or a Newton interpolation method, and the data are encrypted until plane position and vertical elevation information exist on pulse points one by one;
the plane position and vertical elevation information of all pulse points on one measuring line are stored as text files, and the text files comprise three columns of parameters x 1i ,y 1i ,Δz 1i The plane position and vertical elevation information of all pulse points on the other measuring line are stored as text files, and the text files comprise three columns of parameters x 2j ,y 2j ,Δz 2j As a known quantity of mathematical inversion;
according to the geometrical relationship between the time-course curve shown in fig. 5 and the geographic position shown in fig. 6, opening MATLAB software and calling the parameters including the parameter x 2j ,y 2j ,Δz 2j The linear equation system and the equation constructed according to one measuring line are solved by using a solve function, and the target is obtained by inversionParameter x i 、y i 、Δz i Drawing a three-dimensional space curved surface diagram as shown in fig. 7;
solving the linear equation set and equation constructed according to the other measuring line, and inverting to obtain a target parameter x j 、y j 、Δz j Intersecting the three-dimensional space curved surface in the previous step, and drawing a three-dimensional space curved surface intersecting diagram shown in fig. 8;
solving the intersection of two three-dimensional space curved surfaces by applying a contourslice function of MATLAB software, and storing plane coordinates and burial depth information of the intersection below as a result file, namely the true position and burial depth of the calculated submarine pipeline 2;
performing median filtering treatment on the required points in the result file, and then spreading the points on an AutoCAD drawing according to a suggested scale of 1:500, finishing the drawing to form a submarine cable 2 plane position diagram and a submarine cable 2 embedded state diagram shown in fig. 9, so as to form a final detection result;
the invention is applied to the conventional submarine pipeline detection service, does not need additional acquisition equipment, adopts the existing acoustic shallow stratum profiler, adopts the side reflection principle to track and detect the position and the buried depth of the submarine pipeline along the pipeline, can obtain the effect superior to the traditional transverse pipeline detection, not only has more continuous measured result data, but also can save the total survey line length and the ship running time in multiple times, obviously improves the target recognition effect, and enhances the detection effect under the conditions of small pipe diameter, light materials, hard stratum and the like.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.

Claims (8)

1. The submarine cable tracking type detection method based on acoustic side reflection is characterized by comprising the following steps of: the method comprises the following steps:
step 1, measuring the line on one side of a submarine pipeline route of a ship, sailing along the planned survey line on the same side in parallel with the trend of the submarine pipeline route, and starting to acquire data if a slant-range reflection signal of the submarine pipeline is positioned below an acoustic profile signal of a stratum where the submarine pipeline is positioned, and synchronously marking by a navigation positioning GNSS system on the ship;
step 2, wiring the measuring ship from the other side of the submarine pipeline route, and executing the step 1 again;
step 3, when the acoustic reflection image of the acquired data is an isolated continuous phase shaft with strong energy, drawing the plane position and the elevation of the phase shaft according to a stratum pickup method;
step 4, interpolating and encrypting the picked-up data to pulse points one by one;
step 5, constructing a linear equation set of pulse points by utilizing a time-course reflection curve of signal round trip, a geometric relation between a flight path and the submarine cable, and obtaining a final result diagram of submarine cable detection;
the step of constructing the system of linear equations for each pulse point in step 5 includes:
step 51, setting the position of the shallow stratum profiler of the measuring ship as the position of any measuring position
Figure QLYQS_1
The plane point detected directly below it is +.>
Figure QLYQS_2
Submarine pipeline is located at P (x i ,y i ) The point is set to be the water depth right below the shallow stratum profilerD 0 The water depth above the submarine cable isD p The distance between the P point where the pipe cable is located and O' isΔxyThe burial depth of the pipe cable isΔzSound velocity in sea water isc 1 The sound velocity in the stratum isc 2 The total time of sound ray propagation in double passes istWherein the seawater ist 1 In the stratum oft 2 ，θ i Is the included angle between the course line and the weft line;
step 52, collectingx 1 、y 1 、D 0 、t、t 2 Is substituted into the formula of the formula,
Figure QLYQS_3
(1)
Figure QLYQS_4
(2)
Figure QLYQS_5
(3)
Figure QLYQS_6
(4)
Figure QLYQS_7
(5)
is provided with
Figure QLYQS_8
(6)
Figure QLYQS_9
(7)；
Step 53, solving the formulas (1), (3), (4), (5), (6) and (7) by using a mathematical functionx i ,y i ,Δz i Three variables and drawing and displaying to form a three-dimensional spaceA curved surface;
step 54, solving the formulas (2), (3), (4), (5), (6) and (7) by using a mathematical functionx i ,y i ,Δz i Three variables are plotted and displayed to form another three-dimensional space curved surface;
step 55, intersecting the two curved surfaces in step 53 and step 54, and applying a contourslice function of MATLAB software to calculate the point-by-point coordinates of the intersecting line below the curved surfaces to obtain a real plane coordinate set of the submarine pipelinex i ,y i WhereinΔz i The real burial depth of the submarine cable is provided;
step 56, solving the above steps 53 and 54x i ,y i ,Δz i And spreading the images point by point into a computer aided drawing system to obtain a final result diagram of submarine pipeline detection.
2. The submarine cable tracking detection method based on acoustic side reflection according to claim 1, wherein: the detector for the acoustic profile signal of the stratum is a shallow stratum profiler.
3. The submarine cable tracking detection method based on acoustic side reflection according to claim 2, wherein: the method further includes the steps of commissioning the shallow profiler and field operations prior to step 1.
4. A submarine cable tracking detection method based on acoustic side reflection according to claim 3, wherein: the step of debugging the shallow stratum profiler comprises the following steps:
installing a shallow stratum profiler on a measurement ship, and recording the water depth of the shallow stratum profiler and the offset distance between the shallow stratum profiler and a navigation positioning GNSS antenna on board the ship;
setting a beam angle of the shallow stratum profiler to be not less than 20 degrees, a working main frequency to be not less than 12kHz, and a vertical stratum resolution to be not less than 10cm;
making the planned line of surveyThe distance between the routing central line and the routing central line satisfies the relation of 0-0l≤h·tgαAnd are respectively arranged at two sides of the routing center line of the submarine pipeline cable, wherein, lin order for the offset to be a distance,his the depth of water, the water is in the water,αis the beam angle.
5. The submarine cable tracking detection method based on acoustic side reflection according to claim 4, wherein: the field operation steps comprise:
the on-site operation sea condition is not more than level 4, the navigational speed of the measured ship is not more than 5 knots, the acoustic pulse transmitting frequency of the shallow stratum profiler is 1Hz, and the track deviation error is not more than 5m;
the dynamic plane positioning precision of the global satellite navigation system after the differential correction of the beacons or the satellites is less than 1.5m.
6. The submarine cable tracking detection method based on acoustic side reflection according to claim 1, wherein: the computer aided drawing system is AutoCAD software.
7. The submarine cable tracking detection method based on acoustic side reflection according to claim 1, wherein: the mathematical function is the solve function of MATLAB software.
8. The submarine cable tracking detection method based on acoustic side reflection according to claim 1, wherein: in step 4, the method for obtaining the interpolation of the picked-up data includes: lagrangian interpolation or Newton interpolation.
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