CN101793965A - Acoustic positioning system of shallow sea wave detector - Google Patents
Acoustic positioning system of shallow sea wave detector Download PDFInfo
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- CN101793965A CN101793965A CN201019006012A CN201019006012A CN101793965A CN 101793965 A CN101793965 A CN 101793965A CN 201019006012 A CN201019006012 A CN 201019006012A CN 201019006012 A CN201019006012 A CN 201019006012A CN 101793965 A CN101793965 A CN 101793965A
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Abstract
The invention relates to an acoustic positioning system, in particular to an acoustic positioning system of a shallow sea wave detector for secondary positioning of a seabed wave detector in shallow sea petroleum earthquake exploitation. The system mainly comprises a carrier-borne part and a seabed part, wherein the carrier-borne part consists of processing software, a host machine and a receiving and transmitting combined transducer; and the seabed part consists of a plurality of seabed transponders. Because the technology for manufacturing the receiving and transmitting combined transducer is adopted, the designed source level and the sensitivity meet the positioning requirement of a complex exploitation area of the shallow sea; and the underwater working posture of the transducer is kept and the turbulence and reverberation are reduced by designing streamline turning vanes. Therefore, the system meets the requirements of high recovery ratio and high positioning efficiency of secondary positioning of a secondary positioning earthquake exploitation water detector in the Bohai Bay area.
Description
One, technical field:
The present invention relates to a kind of acoustic positioning system, particularly a kind of acoustic positioning system of shallow sea wave detector that is used for shallow sea petroleum seismic prospecting ocean bottom seismometer second positioning.
Two, background technology:
At present, the acoustic positioning system that is used for shallow sea petroleum seismic prospecting wave detector second positioning, belong to blank field at home, have only the sonardyne company of Britain and two families of I/O company of the U.S. to produce abroad, the source class of external product, sensitivity, hardware indexs such as antijamming capability are suitable for the clear water zone in sandy seabed, be unwell to muddy waters, be not suitable for the mud district of the mouth of the river especially, the operator scheme that shows control software is not suitable for existing construction operation pattern, in shallow water seismic project application example, the ubiquity recovery ratio is on the low side, the outstanding problem that work efficiency is on the low side.
Three, summary of the invention:
Purpose of the present invention is exactly the above-mentioned defective that exists at prior art, a kind of acoustic positioning system of shallow sea wave detector is provided, can be used in the shallow water seismic production, efficient, the high-precision Underwater Acoustic Positioning System product of hundreds of roads ocean bottom seismometer real-time positioning.
Its technical scheme is: mainly be made of carrier-borne part and benthic division, described carrier-borne part is closed the transducer of putting by process software, main frame and transmitting-receiving and is constituted, and benthic division is a plurality of seabed transponders; D/A in the process software programming Control main frame partly generates the wake-up signal of FSK coded format, be transferred to transducer after wake-up signal amplifies via the power amplifier in the main frame and be converted to acoustic signals, acoustic signals propagates into seabed transponder through seawater, seabed transponder receives and decoded signal, seabed transponder is identified the identification code of waking back coding generation self up, the conversion identification sign indicating number is an acoustical signal, propagate to transducer by seawater, transducer conversion acoustic signals becomes electric signal, process software is partly gathered and be transferred to electric signal by the A/D in the main frame, and process software detects signal, decoding, finish identification range finding to seabed transponder.
Above-mentioned main frame adopts the NI hardware of control able to programme to realize digital-to-analog conversion, the amplification of wake-up signal, the collection of transponder answer signal and analog to digital conversion.
Above-mentioned transducer is made up of receiving hydrophone, transmitting transducer, entrant sound polyamine fat, prime amplifier and cable, wherein, transmitting transducer and answer nautical receiving set and coated by entrant sound polyamine fat sulfuration, transmitting transducer directly links to each other with main frame by the tension cable, answers to link to each other with main frame after nautical receiving set is connected in series prime amplifier by cable.
Above-mentioned transducer and flap flexibly connect, and flap is made up of inner inserts and external shell, and inner inserts is the stainless steel counterweight, and external shell is the fiberglass baffle.
Above-mentioned seabed transponder is by installing acoustic transducer in the fairshaped shell of cylindrical tube, the circuit cabin, battery flat and removable seal plug constitute, one end is installed acoustic transducer, the other end is installed the removable seal plug, the centre is provided with circuit cabin and battery flat, the sonar signal that receives is after the conversion of transducer acoustic-electric, pre-filtering through the battery flat circuit, AGC amplifies, narrow-band filtering, secondary amplifies, enter single-chip microcomputer after the detection shaping, detect the decoding judgement in the single-chip microcomputer sheet, after judgement was correct, single-chip microcomputer was through digital I emission self identification code, through overdrive circuit and push-pull amplifier circuit, enter transducer through the electroacoustic conversion, be converted to the emission sonar signal.
The invention has the beneficial effects as follows: adopt the detection and the decoding of a large amount of echo signals in adaptive algorithm realization seabed, improve the resolution of recovery ratio and collision distance; Adopt long baseline location technology, the space orientation calculation method, the least square constraint iteration is found the solution, and improves precision and efficient that software resolves; Adopt low code check time delay MFSK digital communication technology, effectively suppress shallow sea multipath and reverberation, improve recovery ratio, reduce false-alarm probability; Adopt transmitting-receiving to close the transducer manufacturing technology of putting, the complicated survey area positioning requirements in shallow sea is satisfied in the source class of design and sensitivity, and design flow line style flap keeps transducer underwater operation attitude, reduces turbulent flow and reverberation.Thereby satisfy the high recovery rate of marine site, Bohai Sea Gulf second positioning seismic prospecting detector second positioning and the requirement of high location efficiency.
Four, description of drawings:
Accompanying drawing 1 is a system of the present invention pie graph;
Accompanying drawing 2 is the theory diagram of carrier-borne part of the present invention;
Accompanying drawing 3 is the structural representation of transducer of the present invention;
Accompanying drawing 4 is the structural representation of transducer flap of the present invention;
Accompanying drawing 5 is the structural representation of seabed transponder of the present invention;
Accompanying drawing 6 is apparent control software workflow figure of the present invention;
Accompanying drawing 7 is the module structure drafting of localization process software of the present invention;
Among the last figure: transducer (3), the seabed transponder of putting (4) closed in carrier-borne part (A), benthic division (B), process software (1), main frame (2) and transmitting-receiving; Receiving hydrophone (3.1), transmitting transducer (3.2), entrant sound polyamine fat (3.3), prime amplifier (3.4), cable (3.5), flap (3.6), inner inserts (3.7) and external shell (3.8); Acoustic transducer (4.1), circuit cabin (4.2), battery flat (4.3), removable seal plug (4.4), shell (4.5).
Five, embodiment:
1-7 in conjunction with the accompanying drawings, the invention will be further described:
With reference to accompanying drawing 1, the present invention is made of carrier-borne part A and benthic division B, carrier-borne part is closed the transducer of putting 3 by process software 1, main frame 2 and transmitting-receiving and is constituted, benthic division is a large amount of seabed transponder 4, attachable peripherals comprises differential GPS and sounder etc., wherein, the technology that process software 1 is well known to those skilled in the art no longer describes in detail.
With reference to accompanying drawing 2, wherein emission/receiving transducer is finished the conversion between electric signal and the acoustical signal, and the emission interrogating signal receives answer signal; Flap is the carrier of emission/receiving transducer towing, realizes the stable towing of emission/receiving transducer; Put realization before the nautical receiving set feeble signal that nautical receiving set receives is amplified, be beneficial to the transmission of signal; Cable realizes that comprehensive extension set is to the transmission of the electric signal between the emission/receiving transducer; Comprehensive extension set comprises power module, acquisition module, power amplifier module, realizes that the power management of each module in the cabinet, digitizing, the notebook that nautical receiving set is uploaded signal generate the analog to digital conversion of interrogating signal, the power amplification of interrogating signal; Notebook is realized generating with peripherals communication, interrogating signal, the reception of answer signal is handled, under water transponder the location, rearmountedly handle, the generation of various chart report, the functions such as management of main frame.
With reference to accompanying drawing 3,4, emission/receiving transducer is generically and collectively referred to as transducer array, described transducer 3 is made up of receiving hydrophone 3.1, transmitting transducer 3.2, entrant sound polyamine fat 3.3, prime amplifier 3.4, cable 3.5 and flap, wherein, transmitting transducer 3.2 and answer nautical receiving set 3.1 and coated by 3.3 sulfurations of entrant sound polyamine fat, transmitting transducer 3.2 directly links to each other with main frame 2 by tension cable 3.5, answers nautical receiving set 3.1 and links to each other with main frame by cable 3.5 serial connection prime amplifiers 3.4 backs; According to the requirement of transducer directivity, transmit and receive the ceramic primitive formation of part in the underwater transducer array by the pipe form.In order to improve the sound source level of radiating portion, the emitting ceramic primitive applies prestress in advance.Consider the influence of potential occlusion effect, receiving unit is disposed in the integrally-built topmost of transducer, and the bulk shielding that can Gong select for use measure is provided.Shielding all is communicated with the metab of transducer and the mounting hole that passes through metab is communicated with outside aqueous medium between cable shield, each line.Take vibration reducing measure between transmitting transducer and receiving hydrophone, reduce the phase mutual interference between two transducers.
Transducer and flap are mounted to one by CARBURIZING FURNACE FOR STAINLESS FASTENER, and flap is made up of inner inserts and external shell.Inner inserts is a counterweight, and material is a stainless steel, and external shell plays water conservancy diversion and keeps the attitude effect, and material is a fiberglass, by the appropriate design of weight and center of gravity, makes transducer can stablize towing under water, keeps suitable attitude.
With reference to accompanying drawing 5, adopt the transponder design figure of hardware and scm software technical tie-up decoding.Described seabed transponder 4 is by installing acoustic transducer 4.1 in the fairshaped shell 4.5 of cylindrical tube, circuit cabin 4.2, battery flat 4.3 and removable seal plug 4.4 constitute, one end is installed acoustic transducer 4.1, the other end is installed removable seal plug 4.4, the centre is provided with circuit cabin 4.2 and battery flat 4.3, the sonar signal that receives is after the conversion of transducer acoustic-electric, pre-filtering through the battery flat circuit, AGC amplifies, narrow-band filtering, secondary amplifies, enter single-chip microcomputer after the detection shaping, detect the decoding judgement in the single-chip microcomputer sheet, after judgement was correct, single-chip microcomputer was through digital I emission self identification code, through overdrive circuit and push-pull amplifier circuit, enter transducer through the electroacoustic conversion, be converted to the emission sonar signal.
With reference to accompanying drawing 6, software comprises that wake-up signal generates, answer signal detects decoding and localization process three parts.Software is based on MFC, utilizing VC++6.0 to write finishes, complete object-oriented, binding data storehouse technology, computer drawing technology and NI acquisition hardware drive and combine, the wake-up signal of realizing seabed cooperation transponder generates, and the detection of transponder signal, decoding and real-time positioning are handled, the graphic presentation of positioning result, real-time update, monitoring management, by the graphic presentation of seismic observation system and the real-time graph of station keeping ship are shown, realize the precision navigation of station keeping ship.
With reference to accompanying drawing 7, localization process software is finished real-time positioning, graphic presentation and the management of transponder.
Claims (5)
1. acoustic positioning system of shallow sea wave detector, it is characterized in that: mainly constitute by carrier-borne part (A) and benthic division (B), described carrier-borne part is closed the transducer of putting (3) by process software (1), main frame (2) and transmitting-receiving and is constituted, and benthic division is a plurality of seabed transponders (4); D/A in process software (1) the programming Control main frame (2) partly generates the wake-up signal of FSK coded format, be transferred to transducer (3) after wake-up signal amplifies via the power amplifier in the main frame (2) and be converted to acoustic signals, acoustic signals propagates into seabed transponder (4) through seawater, seabed transponder (4) receives and decoded signal, seabed transponder (4) is identified the identification code of waking back coding generation self up, the conversion identification sign indicating number is an acoustical signal, propagate to transducer (3) by seawater, transducer (3) conversion acoustic signals becomes electric signal, process software (1) is partly gathered and be transferred to electric signal by the A/D in the main frame (2), and process software (1) detects signal, decoding, finish identification range finding to seabed transponder (4).
2. acoustic positioning system of shallow sea wave detector according to claim 1 is characterized in that: described main frame (2) adopts the NI hardware of control able to programme to realize digital-to-analog conversion, the amplification of wake-up signal, the collection of transponder answer signal and analog to digital conversion.
3. acoustic positioning system of shallow sea wave detector according to claim 1, it is characterized in that: described transducer (3) is made up of receiving hydrophone (3.1), transmitting transducer (3.2), entrant sound polyamine fat (3.3), prime amplifier (3.4) and cable (3.5), wherein, transmitting transducer (3.2) and answer nautical receiving set (3.1) and coated by entrant sound polyamine fat (3.3) sulfuration, transmitting transducer (3.2) directly links to each other with main frame (2) by tension cable (3.5), answers nautical receiving set (3.1) and links to each other with main frame by cable (3.5) serial connection prime amplifier (3.4) back.
4. acoustic positioning system of shallow sea wave detector according to claim 3, it is characterized in that: described transducer (3) and flap (3.6) flexibly connect, flap (3.6) is made up of inner inserts (3.7) and external shell (3.8), inner inserts is the stainless steel counterweight, and external shell is the fiberglass baffle.
5. acoustic positioning system of shallow sea wave detector according to claim 1, it is characterized in that: described seabed transponder (4) is by installing acoustic transducer (4.1) in the fairshaped shell of cylindrical tube (4.5), circuit cabin (4.2), battery flat (4.3) and removable seal plug (4.4) constitute, one end is installed acoustic transducer (4.1), the other end is installed removable seal plug (4.4), the centre is provided with circuit cabin (4.2) and battery flat (4.3), the sonar signal that receives is after the conversion of transducer acoustic-electric, pre-filtering through the battery flat circuit, AGC amplifies, narrow-band filtering, secondary amplifies, enter single-chip microcomputer after the detection shaping, detect the decoding judgement in the single-chip microcomputer sheet, after judgement was correct, single-chip microcomputer was through digital I emission self identification code, through overdrive circuit and push-pull amplifier circuit, enter transducer through the electroacoustic conversion, be converted to the emission sonar signal.
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| CN201019006012A CN101793965A (en) | 2010-02-08 | 2010-02-08 | Acoustic positioning system of shallow sea wave detector |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102998707A (en) * | 2012-12-17 | 2013-03-27 | 中国石油集团东方地球物理勘探有限责任公司 | Acoustic communication device fixed on armoured cable |
| CN103513238A (en) * | 2012-06-15 | 2014-01-15 | 中国科学院声学研究所 | A regularization least square subspace crossing target direction finding method |
| CN103760605A (en) * | 2014-01-16 | 2014-04-30 | 中国海洋石油总公司 | Acoustic receiving module of horizontal control device |
| CN103913743A (en) * | 2014-03-27 | 2014-07-09 | 中国石油集团川庆钻探工程有限公司工程技术研究院 | Device for tracking and positioning rubber plug through sonar |
| CN104237851A (en) * | 2014-09-28 | 2014-12-24 | 中国海洋石油总公司 | Method and device for secondarily positioning wave detectors |
| CN104821535A (en) * | 2015-05-05 | 2015-08-05 | 中国海洋石油总公司 | Cable laying control method and apparatus |
| CN104870718A (en) * | 2013-03-29 | 2015-08-26 | Aomi建设株式会社 | Method for submerging and guiding structures |
| CN105181795A (en) * | 2015-07-16 | 2015-12-23 | 无锡市崇安区科技创业服务中心 | Submarine pipeline safety monitoring device |
| CN105241459A (en) * | 2015-10-19 | 2016-01-13 | 东南大学 | Delay estimation method and device used for indoor underwater target positioning |
| CN105607050A (en) * | 2015-12-31 | 2016-05-25 | 中国海洋石油总公司 | Submarine cable positioning method and device |
| CN109347777A (en) * | 2018-08-29 | 2019-02-15 | 中国科学院声学研究所 | A kind of operating factor of highband MT-MFSK underwater acoustic communication method |
| CN109991590A (en) * | 2019-02-21 | 2019-07-09 | 中国船舶重工集团公司第七一五研究所 | A kind of System and method for of the testing transducer low frequencies characteristic in confined space pressurized tank |
| CN111812693A (en) * | 2020-06-28 | 2020-10-23 | 中国科学院地质与地球物理研究所 | Long-baseline time scale positioning array and control method thereof |
| CN113661414A (en) * | 2019-04-10 | 2021-11-16 | 赛赛尔 | Subsea node with removable acoustic wave transmitter |
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Cited By (20)
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| CN103513238A (en) * | 2012-06-15 | 2014-01-15 | 中国科学院声学研究所 | A regularization least square subspace crossing target direction finding method |
| CN103513238B (en) * | 2012-06-15 | 2015-11-18 | 中国科学院声学研究所 | A kind of target azimuth direction-finding method of Regularization least square subspace intersection |
| CN102998707A (en) * | 2012-12-17 | 2013-03-27 | 中国石油集团东方地球物理勘探有限责任公司 | Acoustic communication device fixed on armoured cable |
| CN104870718A (en) * | 2013-03-29 | 2015-08-26 | Aomi建设株式会社 | Method for submerging and guiding structures |
| CN103760605A (en) * | 2014-01-16 | 2014-04-30 | 中国海洋石油总公司 | Acoustic receiving module of horizontal control device |
| CN103760605B (en) * | 2014-01-16 | 2017-01-25 | 中国海洋石油总公司 | Acoustic receiving module of horizontal control device |
| CN103913743A (en) * | 2014-03-27 | 2014-07-09 | 中国石油集团川庆钻探工程有限公司工程技术研究院 | Device for tracking and positioning rubber plug through sonar |
| CN104237851A (en) * | 2014-09-28 | 2014-12-24 | 中国海洋石油总公司 | Method and device for secondarily positioning wave detectors |
| CN104821535A (en) * | 2015-05-05 | 2015-08-05 | 中国海洋石油总公司 | Cable laying control method and apparatus |
| CN104821535B (en) * | 2015-05-05 | 2017-06-30 | 中国海洋石油总公司 | A kind of cable lays control method and device |
| CN105181795A (en) * | 2015-07-16 | 2015-12-23 | 无锡市崇安区科技创业服务中心 | Submarine pipeline safety monitoring device |
| CN105241459A (en) * | 2015-10-19 | 2016-01-13 | 东南大学 | Delay estimation method and device used for indoor underwater target positioning |
| CN105241459B (en) * | 2015-10-19 | 2018-01-16 | 东南大学 | A kind of delay time estimation method and device for the positioning of indoor submarine target |
| CN105607050A (en) * | 2015-12-31 | 2016-05-25 | 中国海洋石油总公司 | Submarine cable positioning method and device |
| CN109347777A (en) * | 2018-08-29 | 2019-02-15 | 中国科学院声学研究所 | A kind of operating factor of highband MT-MFSK underwater acoustic communication method |
| CN109347777B (en) * | 2018-08-29 | 2020-04-24 | 中国科学院声学研究所 | High-frequency band utilization rate MT-MFSK underwater acoustic communication method |
| CN109991590A (en) * | 2019-02-21 | 2019-07-09 | 中国船舶重工集团公司第七一五研究所 | A kind of System and method for of the testing transducer low frequencies characteristic in confined space pressurized tank |
| CN113661414A (en) * | 2019-04-10 | 2021-11-16 | 赛赛尔 | Subsea node with removable acoustic wave transmitter |
| CN111812693A (en) * | 2020-06-28 | 2020-10-23 | 中国科学院地质与地球物理研究所 | Long-baseline time scale positioning array and control method thereof |
| CN111812693B (en) * | 2020-06-28 | 2021-04-20 | 中国科学院地质与地球物理研究所 | Long-baseline time scale positioning array and control method thereof |
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Application publication date: 20100804 |