CN101762824B - Method for measuring position of marine seismic streamer based on one-way hydroacoustic ranging - Google Patents
Method for measuring position of marine seismic streamer based on one-way hydroacoustic ranging Download PDFInfo
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- CN101762824B CN101762824B CN2010103004824A CN201010300482A CN101762824B CN 101762824 B CN101762824 B CN 101762824B CN 2010103004824 A CN2010103004824 A CN 2010103004824A CN 201010300482 A CN201010300482 A CN 201010300482A CN 101762824 B CN101762824 B CN 101762824B
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- 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
- G01V1/3817—Positioning of seismic devices
- G01V1/3835—Positioning of seismic devices measuring position, e.g. by GPS or acoustically
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Abstract
The invention discloses a method for measuring position of a marine seismic streamer based on one-way hydroacoustic ranging and belongs to the technical field of marine seismic survey. The method adopts a marine seismic streamer position measuring system based on one-way hydroacoustic ranging to measure the position data of any three water surface units, vertical position data of an underwater unit to be measured and the distances between the three water surface units and the underwater unit to be measured, and the position data of the underwater unit to be measured is calculated; and the positions of points of the marine seismic streamer are obtained by interpolation calculation by using the position data of the underwater units. The method adopts the one-way hydroacoustic ranging, the measuring system which is provided with acoustic wave launchers at the water surface units and provided with acoustic wave receivers at the underwater units is only needed, thus reducing the interference of the acoustic wave launchers in a hydrophone group at the same time of increasing the operating range of the hydroacoustic ranging; and by adopting ranging acoustic wave signals of characteristic spectra, the recognition method of the ranging acoustic wave signals by the underwater units is simplified, and the complexity of the measuring system and measuring method is reduced.
Description
Technical field
The present invention relates to a kind of method for measuring position of marine seismic streamer, especially a kind of method for measuring position of marine seismic streamer based on one-way hydroacoustic ranging belongs to the offshore shooting technical field.
Background technology
The offshore shooting system is made up of offshore shooting ship, the seismic origin, marine seismic streamer and towing cable control device usually.The offshore shooting ship is generally one or several above water crafts.The seismic origin is generally air gun or array air gun.Marine seismic streamer is called for short towing cable, is generally one or several underwater cable that is about thousands of meters, and its inside is equipped with hydrophone array, is used to receive earthquake reflected wave.The towing cable control device is used to control the position of marine seismic streamer, and according to the installation site, it can be divided into the first guides of cable, towing cable controller and cable tail buoy, is respectively applied for the control to towing cable stem, middle part and tail position.
In the offshore shooting process, the seismic origin and marine seismic streamer are by the towing of offshore shooting ship, with the speed of a ship or plane navigation of 3-5 joint.The seismic origin is launched at interval with certain hour, and the seismic event of generation is transmitted in the submarine geology structure by seawater, reflects on the interphase on two kinds of stratum, and earthquake reflected wave is received by the hydrophone array that is installed in the towing cable, forms geological data.In the position data input marine seismic data interpre(ta)tive system of above-mentioned geological data, just can obtain the submarine geology structure in target marine site together with towing cable.
The position data of marine seismic streamer is recorded by system for measuring position of marine seismic streamer.But, marine seismic streamer is about thousands of rice, any towing cable position measuring system and method all can not be implemented to measure to each point on the towing cable, and can only some point of interest on the towing cable be implemented to measure, and use the position of the method estimation marine seismic streamer each point of interpolation.
In the prior art, the patent No. be 6839302B2 U.S. Patent Publication a kind of system for measuring position of marine seismic streamer, and a kind of method for measuring position of marine seismic streamer that is applied in this system is disclosed.This patent has designed a kind of subaqueous sound ranging segmentation.This subaqueous sound ranging segmentation is inlaid in the towing cable at certain intervals along the towing cable length direction, and each subaqueous sound ranging divides intersegmental part that a pinger and an acoustic receiver are installed.The location measurement method that this patent adopts is as follows: the pinger in each subaqueous sound ranging segmentation in other subaqueous sound ranging segmentation acoustic receiver emission characteristic acoustic signals and write down launch time, acoustic receiver in each subaqueous sound ranging segmentation receives the feature acoustic signals of the pinger emission in other subaqueous sound ranging segmentation, writes down the time of reception of each feature acoustic signals after the identification respectively; According to the velocity of sound in emission, time of reception difference and the water of each feature acoustic signals, can draw the distance between each subaqueous sound ranging segmentation; Distance between above-mentioned each subaqueous sound ranging segmentation is carried out COMPREHENSIVE CALCULATING, can draw the relative position between each subaqueous sound ranging segmentation; If the absolute position of known any one or several subaqueous sound ranging segmentations then can draw the absolute position of each subaqueous sound ranging segmentation, and calculate the position of towing cable each point thus.This towing cable location measurement method needs the towing cable position measuring system in each subaqueous sound ranging segmentation pinger to be installed, but the subaqueous sound ranging segmentation is inlaid in the towing cable, its volume inside is limited, high-power pinger can't be installed, cause subaqueous sound ranging operating distance shorter, need to install a lot of subaqueous sound ranging segmentations; Need the towing cable position measuring system in each subaqueous sound ranging segmentation pinger to be installed, pinger can disturb the hydrophone array that closes on when work.
The patent No. is that 03811783.5 Chinese patent discloses a kind of system for measuring position of marine seismic streamer, and discloses a kind of method for measuring position of marine seismic streamer that is applied in this system.This patent has designed a kind of surface apparatus.This surface apparatus is by offshore shooting ship towing navigation, and its inside is equipped with a GPS receiver and a pinger.This patent has also designed a kind of sound wave receiving equipment.This sound wave receiving equipment is fixedly mounted on the towing cable outside at certain intervals along the towing cable length direction, and its inside is equipped with an acoustic receiver.The location measurement method that this patent adopts is as follows: each surface apparatus receives gps signal to determine the position of self, and by acoustic message signal the positional information of himself is launched in water, each sound wave receiving equipment receives each surface apparatus emitting sound wave information signal; Each sound wave receiving equipment only need receive three different surface apparatus emitting sound wave information signals, just can draw the position of himself, and calculate the position of towing cable each point thus by decoding, calculating.This towing cable location measurement method needs the towing cable position measuring system to use acoustic message signal, when improving measuring accuracy, has greatly increased measuring system, measuring method complexity, and equipment cost is sharply raise; Need the towing cable position measuring system at the outside sound wave receiving equipment of installing of towing cable, the sound wave receiving equipment can cause the flow noise, disturbs the hydrophone array that closes on.
Summary of the invention
For deficiency and the defective that overcomes prior art, the invention provides a kind of method for measuring position of marine seismic streamer based on one-way hydroacoustic ranging.This measuring method is chosen each the towing cable controller that is installed in the marine seismic streamer middle part at certain intervals and is implemented to measure as point of interest, and the method for use interpolation is calculated the position of marine seismic streamer each point.
The present invention is achieved through the following technical solutions.Measuring method of the present invention is the system for measuring position of marine seismic streamer that adopts based on one-way hydroacoustic ranging, and this measuring system comprises offshore shooting ship shipborne system, water surface unit, unit, data cable and service cable under water.Shipborne system is installed on the offshore shooting ship, is made up of computer hardware, Control Software and data processing software.Several water surface unit are installed in respectively on the first guides of cable, cable tail buoy and the floating drum by the towing of offshore shooting ship of offshore shooting ship, each marine seismic streamer, and with ship at surface navigation.GPS receiving trap, water surface unit single-chip microcomputer and water surface unit electric supply installation that each water surface unit comprises the acoustic emission apparatus be made up of water surface unit transducer and pinger, is made up of gps antenna and GPS receiver.Water surface unit can receive gps signal to determine the position data of himself; Water surface unit further is with its band transmit ranging acoustic wave signals of characteristic spectra of monopolizing, and record launch time.Several are installed in respectively in the towing cable controller of each marine seismic streamer the unit under water, and navigate by water under water with marine seismic streamer.Each comprises sound wave receiving trap that unit transducer and acoustic receiver under water form, prime amplifier, bandpass filter, unit single-chip microcomputer, depth transducer and unit electric supply installation under water under water in the unit under water.The unit can receive the ranging acoustic wave signals of characteristic spectra of each water surface unit emission under water, and above-mentioned ranging acoustic wave signals of characteristic spectra is handled, discerned, and writes down the time of reception of each ranging acoustic wave signals of characteristic spectra then respectively; Unit further is measured the upright position data of himself under water.Shipborne system is by data cable and each water surface unit, unit communication under water, by service cable to each water surface unit, unit power supply under water.
The present invention uses the upright position data of the position data of any three water surface unit, unit under water to be measured and the distance of above-mentioned three water surface unit to unit under water to be measured, utilizes formula (1) to calculate the position data of unit under water to be measured.
(x-x
i)
2+(y-y
i)
2+(z-z
i)
2＝r
i 2，i＝1，2，3，4 (1)
In the formula
(x, y z) are the coordinate of unit under water to be measured;
(x
i, y
i, z
i) be the coordinate of water surface unit;
r
iDistance for water surface unit to unit under water to be measured.
The step of one-shot measurement method of the present invention is as follows.
(1) Control Software in the shipborne system sends the instruction of calibration clock by data cable, and each water surface unit single-chip microcomputer receives instruction, the calibration clock; Each instruction of unit single-chip microcomputer reception under water, the calibration clock.
(2) Control Software in the shipborne system send to be prepared distance measuring instruction by data cable, and each water surface unit single-chip microcomputer receives instruction, beginning with certain hour write down at interval by the GPS receiving trap calculate the GPS position data; Each instruction of unit single-chip microcomputer reception under water, beginning is write down the upright position data that recorded by depth transducer at interval with certain hour.
(3) Control Software in the shipborne system sends the beginning distance measuring instruction by data cable, and each water surface unit single-chip microcomputer receives instruction, opens acoustic emission apparatus, at predetermined instant with its frequency range of monopolizing emission characteristic frequency range range finding acoustic signals in water; The sound wave receiving trap is opened in each instruction of unit single-chip microcomputer reception under water.
(4) each under water the sound wave receiving trap of unit receive the ranging acoustic wave signals of characteristic spectra of each water surface unit emission in succession, prime amplifier, bandpass filter and under water the unit single-chip microcomputer ranging acoustic wave signals of characteristic spectra that receives is handled in real time, is discerned, and write down the time of reception of each ranging acoustic wave signals of characteristic spectra.
(5) Control Software in the shipborne system sends the range finding END instruction by data cable, each water surface unit single-chip microcomputer receives instruction, stop to write down above-mentioned GPS position data, and store transferring in the shipborne system launch time of above-mentioned GPS position data, ranging acoustic wave signals of characteristic spectra by data cable; Each under water the unit single-chip microcomputer receive instruction, close the sound wave receiving trap, stop to write down above-mentioned upright position data, and the time of reception of above-mentioned upright position data and each ranging acoustic wave signals of characteristic spectra transferred in the shipborne system store.
(6) data processing software in the shipborne system calls the GPS position data of above-mentioned each water surface unit, the launch time of ranging acoustic wave signals of characteristic spectra, each is the upright position data, the time of reception of each ranging acoustic wave signals of characteristic spectra of unit under water, carry out overall treatment, calculating, just can draw each position of unit under water.
(7) data processing software in the shipborne system calls above-mentioned each position of unit under water, use the method for interpolation calculate this time measure in the position of marine seismic streamer each point.
According to the measuring intervals of TIME that sets in advance, Control Software control towing cable position measuring system in the shipborne system carries out work according to above-mentioned measuring method, just can draw each position of unit under water continuously, thereby realize continuous coverage marine seismic streamer each point position.
Though the present invention only uses the upright position data of the position data of three water surface unit, unit under water to be measured and the distance of above-mentioned three water surface unit to unit under water to be measured, just can calculate the position data of this unit under water to be measured.If unit under water to be measured receives and identifies out the ranging acoustic wave signals of characteristic spectra that surpasses three water surface unit emissions, then in the ranging acoustic wave signals of characteristic spectra that receives, choose three arbitrarily, according to the method described above, can calculate one group of this position data of unit under water.Again to drawn this under water many groups position data of unit carry out match, just can accurately draw this position data of unit under water.
Use characteristic frequency range range finding acoustic signals of the present invention, promptly the range finding acoustic signals is launched with its frequency range of monopolizing in each water surface unit in water, to distinguish the range finding acoustic signals of other water surface unit emission; Have certain interval between the adjacent feature frequency range that the present invention uses, purpose is to avoid the adjacent feature frequency range range finding acoustic signals phase mutual interference of a plurality of waters surface unit emission; Of the present invention each in one-shot measurement, only write down the time of reception first time of each ranging acoustic wave signals of characteristic spectra in the unit under water, purpose be avoid same water surface unit emission through the repeatedly interference of reflectance signature frequency range range finding acoustic signals; The measuring intervals of TIME that the present invention is provided with greater than ranging acoustic wave signals of characteristic spectra by each water surface unit to the distal-most end passing time of unit under water, and leaving certain surplus, purpose is to prevent the ranging acoustic wave signals of characteristic spectra phase mutual interference of launching in twice measurement same water surface unit.
Beneficial effect of the present invention: the present invention is by adopting one-way hydroacoustic ranging, only need measuring system that acoustic emission apparatus, the sound wave of unit installation under water receiving trap are installed in each water surface unit, when increasing subaqueous sound ranging operating distance, reduce the interference of pinger to hydrophone, group; By adopting ranging acoustic wave signals of characteristic spectra, promptly each water surface unit has been simplified each and the unit recognition methods of range finding acoustic signals has been reduced measuring system and measuring method complexity under water with its band transmit ranging acoustic wave signals of characteristic spectra of monopolizing.
Description of drawings
Fig. 1 is the system for measuring position of marine seismic streamer synoptic diagram that the present invention adopts;
Fig. 2 is a measuring method synoptic diagram of the present invention.
Among the figure, the 1st, offshore shooting ship, the 2nd, the first guides of cable, the 3rd, the seismic origin, the 4th, towing cable controller, the 5th, cable tail buoy, the 6th, marine seismic streamer, the 7th, floating drum, O
1, O
2And O
3Be respectively three water surface unit, O is unit under water to be measured.
Embodiment
Below in conjunction with accompanying drawing concrete enforcement of the present invention is further described.
As shown in Figure 1, the measuring system that method for measuring position of marine seismic streamer adopted that the present invention is based on one-way hydroacoustic ranging comprises offshore shooting ship shipborne system, water surface unit, unit, data cable and service cable under water.Shipborne system is installed on the offshore shooting ship 1, is made up of computer hardware, Control Software and data processing software.Several water surface unit are installed in respectively on the first guides 2 of cable, cable tail buoy 5 and the floating drum 7 by the towing of offshore shooting ship of offshore shooting ship 1, each marine seismic streamer 6, and with offshore shooting ship 1 at surface navigation.GPS receiving trap, water surface unit single-chip microcomputer and water surface unit electric supply installation that each water surface unit comprises the acoustic emission apparatus be made up of water surface unit transducer and pinger, is made up of gps antenna and GPS receiver.Water surface unit can receive gps signal to determine the position data of himself; Water surface unit further is with its band transmit ranging acoustic wave signals of characteristic spectra of monopolizing, and record launch time.Several are installed in respectively in the towing cable controller 4 of each marine seismic streamer 6 unit under water, and navigate by water under water with marine seismic streamer 6.Each comprises the sound wave receiving trap be made up of unit transducer and acoustic receiver under water, prime amplifier, bandpass filter, unit single-chip microcomputer, depth transducer and unit electric supply installation under water under water in the unit under water.The unit can receive the ranging acoustic wave signals of characteristic spectra of each water surface unit emission under water, and above-mentioned ranging acoustic wave signals of characteristic spectra is handled, discerned, and writes down the time of reception of each ranging acoustic wave signals of characteristic spectra then respectively; Unit further is measured the upright position data of himself under water.Shipborne system is by data cable and each water surface unit, unit communication under water, by service cable to each water surface unit, unit power supply under water.
The present invention uses the upright position data of the position data of any three water surface unit, unit under water to be measured and the distance of above-mentioned three water surface unit to unit under water to be measured, utilizes formula (1) to calculate the position data of unit under water to be measured.
(x-x
i)
2+(y-y
i)
2+(z-z
i)
2＝r
i 2，i＝1，2，3，4 (1)
In the formula
(x, y z) are the coordinate of unit under water to be measured;
(x
i, y
i, z
i) be the coordinate of water surface unit;
r
iDistance for water surface unit to unit under water to be measured.
As shown in Figure 2, be example to be installed in three water surface unit on the first guides 2 of offshore shooting ship 1 and two cables and the unit under water to be measured that is installed on the towing cable controller 4, the step of one-shot measurement method of the present invention is as follows.
(1) Control Software in the shipborne system sends the instruction of calibration clock, water surface unit O by data cable
1, O
2And O
3, the single-chip microcomputer of the O of unit under water to be measured receives instruction, the calibration clock.
(2) Control Software in the shipborne system sends by data cable and prepares distance measuring instruction, water surface unit O
1, O
2And O
3Single-chip microcomputer receive instruction, beginning with certain hour write down at interval by the GPS receiving trap calculate the GPS position data; The single-chip microcomputer of the O of unit under water to be measured receives instruction, and beginning is write down the upright position data that recorded by depth transducer at interval with certain hour.
(3) Control Software in the shipborne system sends beginning distance measuring instruction, water surface unit O by data cable
1, O
2And O
3Single-chip microcomputer receive instruction, open acoustic emission apparatus, at predetermined t=t
0Constantly launch f respectively
1, f
2, f
3Ranging acoustic wave signals of characteristic spectra, water surface unit O at this moment
1, O
2, O
3Lay respectively at A, B, C point; The single-chip microcomputer of the O of unit under water to be measured receives instruction, at predetermined t=t
0Constantly open the sound wave receiving trap, this moment, the O of unit under water to be measured was positioned at the P point.
(4) the sound wave receiving trap of the O of unit under water to be measured is handled in real time, is discerned the acoustic signals that receives: t=t
1Constantly, receive and identify out ranging acoustic wave signals of characteristic spectra f
1, write down its time of reception t
1, this moment, the O of unit under water to be measured advanced to the Q point with towing cable; T=t
2Constantly, receive and identify out ranging acoustic wave signals of characteristic spectra f
2, write down its time of reception t
2, this moment, the O of unit under water to be measured advanced to the R point with towing cable; T=t
3Constantly, receive and identify out ranging acoustic wave signals of characteristic spectra f
3, write down its time of reception t
3, this moment, the O of unit under water to be measured advanced to the S point with towing cable.Unit under water to be measured is as follows to the acoustic signals processing, the recognition methods that receive.
1) the unit transducer is the continued time domain voltage signal with the continuous sound wave conversion of signals that receives under water.
2) prime amplifier, bandpass filter to above-mentioned continued time domain voltage signal amplify, filtering.
3) the unit single-chip microcomputer carries out analog to digital conversion to above-mentioned through amplification, filtered continued time domain voltage signal under water, and the continued time domain voltage signal is converted to the continued time domain digital signal.
4) the unit single-chip microcomputer disperses along time shaft through analog-to-digital continued time domain digital signal above-mentioned under water, and the continued time domain digital signal is converted to the discrete time-domain digital signal.
5) the unit single-chip microcomputer carries out fast fourier transform to above-mentioned discrete time-domain digital signal under water, and the discrete time-domain digital signal is converted to the discrete frequency domain digital signal.
6) the unit single-chip microcomputer is searched for each characteristic spectra in each discrete frequency domain digital signal according to the discrete time order under water.If the amplitude of certain characteristic spectra surpasses predefined trigger value, then think in this discrete frequency domain digital signal moment corresponding, receive the range finding acoustic signals that uses this characteristic spectra.
(5) Control Software in the shipborne system sends range finding END instruction, water surface unit O by data cable
1, O
2And O
3Single-chip microcomputer receive instruction, stop to write down above-mentioned GPS position data, and above-mentioned GPS position data, sound wave emissions time transferred in the shipborne system and stores by data cable; The single-chip microcomputer of the O of unit under water to be measured receives instruction, closes the sound wave receiving trap, stops to write down above-mentioned upright position data, and time of above-mentioned upright position data, each ranging acoustic wave signals of characteristic spectra transferred in the shipborne system stores.
(6) data processing software in the shipborne system calls above-mentioned water surface unit O
1, O
2And O
3GPS position data, the launch time of ranging acoustic wave signals of characteristic spectra, the upright position data of the O of unit under water to be measured, the time of reception of each ranging acoustic wave signals of characteristic spectra carry out overall treatment, are calculated as follows.
1) calls t
0, t
1, t
2, t
3, according to formula (2) calculate between AQ, BR, the CS point apart from r
1, r
2, r
3
r
i＝v(t
i-t
0)，i＝1，2，3 (2)
In the formula
V is the velocity of sound in the water.
2) be positioned at the moment that Q, R, S order at the O of unit under water to be measured respectively and receive ranging acoustic wave signals of characteristic spectra f because be installed in sound wave receiving trap on the O of unit under water to be measured
1, f
2, f
3So, need handle data.Because the velocity of sound is much larger than ship's speed in the water, can suppose to receive in the time period of above-mentioned three ranging acoustic wave signals of characteristic spectra water surface unit O at the sound wave receiving trap of the O of unit under water to be measured
1, O
2, O
3Constant with the relative position of the O of unit under water to be measured.By above-mentioned hypothesis, employing " translation method " will be apart from r
1, r
2Coastal foreign seismic vessel 1 working direction translation, as shown in phantom in Figure 2.After the translation, be equivalent to t=t
0Constantly, be positioned at the water surface unit O that C is ordered
3Acoustic emission apparatus emission characteristic frequency range range finding acoustic signals f
3T=t
0+ (t
3-t
2) constantly, be positioned at B
1The water surface unit O of point
2Acoustic emission apparatus emission characteristic frequency range range finding acoustic signals f
2T=t
0+ (t
3-t
1) constantly, be positioned at A
1The water surface unit O of point
1Acoustic emission apparatus emission characteristic frequency range range finding acoustic signals f
1T=t
3Constantly, the sound wave receiving trap that is positioned at the O of unit under water to be measured that S orders receives ranging acoustic wave signals of characteristic spectra f simultaneously
1, f
2, f
3
3) call A
1Point, B
1GPS position data (the x that point, C are ordered
A1, y
A1, z
A1), (x
B1, y
B1, z
B1), (x
C, y
C, z
C) and t=t
3The upright position data z of the moment O of unit under water to be measured
S,, just can calculate t=t according to formula (3)
3Position data (the x that moment unit under water to be measured O place S is ordered
S, y
S, z
S).
(7) each unit under water to be measured all adopts above-mentioned (1)---the step of (6), just can obtain the position data of each unit under water to be measured.Data processing software in the shipborne system calls above-mentioned each position data of unit under water, use the method for interpolation calculate this time measure in the position of marine seismic streamer each point.
According to the measuring intervals of TIME that sets in advance, Control Software control towing cable position measuring system in the shipborne system carries out work according to above-mentioned measuring method, just can draw each position of unit under water continuously, thereby realize continuous coverage marine seismic streamer each point position.
Though the present invention only uses the upright position data of the position data of three water surface unit, unit under water to be measured and the distance of above-mentioned three water surface unit to unit under water to be measured, just can calculate the position data of this unit under water to be measured.If unit under water to be measured receives and identifies out the ranging acoustic wave signals of characteristic spectra that surpasses three water surface unit emissions, then in the ranging acoustic wave signals of characteristic spectra that receives, choose three arbitrarily, according to the method described above, can calculate one group of this position data of unit under water.Again to drawn this under water many groups position data of unit carry out match, just can accurately draw this position data of unit under water.
Use characteristic frequency range range finding acoustic signals of the present invention, promptly the range finding acoustic signals is launched with its frequency range of monopolizing in each water surface unit in water, to distinguish the range finding acoustic signals of other water surface unit emission; Have certain interval between the adjacent feature frequency range that the present invention uses, purpose is to avoid the adjacent feature frequency range range finding acoustic signals phase mutual interference of a plurality of waters surface unit emission; Of the present invention each in one-shot measurement, only write down the time of reception first time of each ranging acoustic wave signals of characteristic spectra in the unit under water, purpose be avoid same water surface unit emission through the repeatedly interference of reflectance signature frequency range range finding acoustic signals; The measuring intervals of TIME that the present invention is provided with greater than ranging acoustic wave signals of characteristic spectra by each water surface unit to the distal-most end passing time of unit under water, and leaving certain surplus, purpose is to prevent the ranging acoustic wave signals of characteristic spectra phase mutual interference of launching in twice measurement same water surface unit.
Claims (2)
1. method for measuring position of marine seismic streamer based on one-way hydroacoustic ranging, it is characterized in that this method comprises the steps: that the Control Software in (1) shipborne system sends the instruction of calibration clock by data cable, each water surface unit single-chip microcomputer receives instruction, the calibration clock, each instruction of unit single-chip microcomputer reception under water, the calibration clock; (2) Control Software in the shipborne system sends by data cable and prepares distance measuring instruction, each water surface unit single-chip microcomputer receives instruction, beginning with certain hour write down at interval by the GPS receiving trap calculate the GPS position data, each instruction of unit single-chip microcomputer reception under water, beginning is write down the upright position data that recorded by depth transducer at interval with certain hour; (3) Control Software in the shipborne system sends the beginning distance measuring instruction by data cable, each water surface unit single-chip microcomputer receives instruction, open acoustic emission apparatus, at predetermined instant with its frequency range of monopolizing emission characteristic frequency range range finding acoustic signals in water, the sound wave receiving trap is opened in each instruction of unit single-chip microcomputer reception under water; (4) each under water the sound wave receiving trap of unit receive the ranging acoustic wave signals of characteristic spectra of each water surface unit emission in succession, prime amplifier, bandpass filter and under water the unit single-chip microcomputer ranging acoustic wave signals of characteristic spectra that receives is handled in real time, is discerned, and write down the time of reception of each ranging acoustic wave signals of characteristic spectra; (5) Control Software in the shipborne system sends the range finding END instruction by data cable, each water surface unit single-chip microcomputer receives instruction, stop to write down above-mentioned GPS position data, and store transferring in the shipborne system launch time of above-mentioned GPS position data, ranging acoustic wave signals of characteristic spectra by data cable, each instruction of unit single-chip microcomputer reception under water, close the sound wave receiving trap, stop to write down above-mentioned upright position data, and the time of reception of above-mentioned upright position data and each ranging acoustic wave signals of characteristic spectra transferred in the shipborne system store; (6) data processing software in the shipborne system calls the GPS position data of above-mentioned each water surface unit, the launch time of ranging acoustic wave signals of characteristic spectra, each is the upright position data, the time of reception of each ranging acoustic wave signals of characteristic spectra of unit under water, carry out overall treatment, calculating, just can draw each position of unit under water; (7) data processing software in the shipborne system calls above-mentioned each position of unit under water, use the method for interpolation calculate this time measure in the position of marine seismic streamer each point;
In the described step (4) under water the unit to processing, the recognition methods of ranging acoustic wave signals of characteristic spectra be: 1) the unit transducer is the continued time domain voltage signal with the continuous sound wave conversion of signals that receives under water; 2) prime amplifier, bandpass filter to above-mentioned continued time domain voltage signal amplify, filtering; 3) the unit single-chip microcomputer carries out analog-to-digital conversion to above-mentioned through amplification, filtered continued time domain voltage signal under water, and the continued time domain voltage signal is converted to the continued time domain digital signal; 4) the unit single-chip microcomputer disperses above-mentioned continued time domain digital signal through analog-to-digital conversion along time shaft under water, and the continued time domain digital signal is converted to the discrete time-domain digital signal; 5) the unit single-chip microcomputer carries out fast fourier transform to above-mentioned discrete time-domain digital signal under water, and the discrete time-domain digital signal is converted to the discrete frequency domain digital signal; 6) under water the unit single-chip microcomputer according to the discrete time order, in each discrete frequency domain digital signal, each characteristic spectra is searched for, if the amplitude of certain characteristic spectra surpasses predefined trigger value, then think in this discrete frequency domain digital signal moment corresponding, receive the range finding acoustic signals that uses this characteristic spectra.
2. the method for measuring position of marine seismic streamer based on one-way hydroacoustic ranging according to claim 1, it is characterized in that the data processing software in the shipborne system is to use " translation method " to the GPS position data of each water surface unit, the launch time of ranging acoustic wave signals of characteristic spectra in the described step (6), respectively the upright position data of unit, the time of reception of each ranging acoustic wave signals of characteristic spectra are handled under water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010103004824A CN101762824B (en) | 2010-01-20 | 2010-01-20 | Method for measuring position of marine seismic streamer based on one-way hydroacoustic ranging |
Applications Claiming Priority (1)
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| CN109900256B (en) * | 2019-03-27 | 2023-10-20 | 清华大学深圳研究生院 | Self-adaptive ocean mobile acoustic tomography system and method |
| CN112180449A (en) * | 2020-09-29 | 2021-01-05 | 上海交通大学 | Underwater sound wave mapping method and system |
| CN114018396A (en) * | 2021-10-22 | 2022-02-08 | 中国舰船研究设计中心 | Low-frequency underwater sound measurement system and layout method |
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| CN1656390A (en) * | 2002-05-23 | 2005-08-17 | 输入/输出公司 | Gps-based underwater cable positioning system |
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