CN103197346A - Processing method of towrope exploration navigational positioning data - Google Patents

Abstract

The invention provides a processing method of towrope exploration navigational positioning data. The method includes the steps of reading original positioning data from a P2/94 format data file collected by an onboard positioning system, wherein the original positioning data comprise differential global positioning system (DGPS) data, RGPS data, acoustic data, cable compass data and onboard gyrocompass data, carrying out preprocessing which comprises gross error detecting, filtering and data standardization processing on the read original positioning data, using a node calculating method to confirm coordinates of positioning nodes in the preprocessed original positioning data, converting accurate positions of the positioning nodes into navigation data of a P1/90 format, and storing the navigation data. The method can process the original navigation data of the P2/94 format into the navigation data of the P1/90 format fast and efficiently.

Description

A kind of disposal route of towing cable exploration navigation positioning data

Technical field

The present invention relates to offshore oil seismic exploration technique field, more specifically, relate to a kind of disposal route of marine streamer exploration navigation positioning data.

Background technology

In the offshore shooting, the streamer seismic exploration is main method of exploration, and seismic vessel pulls one or more cable, and along with the rifle battle array excites, trailing cable is gathered the seismic reflection data, and the boat-carrying positioning equipment is gathered navigation positioning data.Offshore seismic exploration is a kind of combination work compound pattern, mainly formed by integrated navigation system, system for acquiring seismic data, towing cable location and control system, Seismic Source System etc., integrated navigation system is control and the command centre of offshore seismic exploration operation, the collaborative work of each system of control boat-carrying, gather navigation positioning data simultaneously in real time, its precision is directly connected to Seismic Operation operating efficiency and acquisition precision.

The boat-carrying positioning equipment mainly contains DPGS, RGPS, gyro compass, sounder etc., and positioning equipment mainly contains rifle battle array acoustics, rifle battle array RGPS etc. under water, and the trailing cable positioning equipment mainly contains leader, tail tag, cable compass, cable acoustics, depth transducer etc.The navigator fix original data record of each equipment is in original navigation data file, store with UKOOA P2/94 form, UKOOA P2/94 is by U.K.OFFSHORE OPERATORS ASSOCIATION (the original locator data Interchange Format in a kind of ocean that SURVEYING AND POSITIONING COMMITTEE works out and issues, as industry standard, the navigator fix raw data generally adopts the P2/94 form in the offshore oil drilling at present.The P2/94 form is a kind of original locator data storage format, mainly stores the raw measurement data of each equipment, can not submit to as the operation achievement, need be processed into the achievement data file, stores with the P1/90 form.P1/90 is a kind of achievement locator data Interchange Format, is handled obtaining by the original locator data of P2/94 form.The P1/90 data file is locator data file important in the offshore oil drilling, has directly influenced the homework precision of offshore oil drilling, and the geological data in later stage is handled and drilling well is positioned with important directive function.

Still there are not at present the treatment technology and the disposal route that original navigation positioning data (P2/94 form) are processed into achievement navigation data file (P1/90 form) at the offshore oil drilling navigation positioning data.

Summary of the invention

In order to solve above-described technological deficiency, the invention provides a kind of disposal route of towing cable exploration navigation positioning data, resolve by data read, data pre-service, datum node coordinate, adopt modes such as Kalman filtering, curvilinear integral, interpolation calculation to realize fast and efficiently the original navigation data of P2/94 form being processed into the navigation data of P1/90 form.

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

A kind of disposal route of navigation positioning data is applied to the processing of marine streamer survey data, and this method comprises:

Read original locator data the data file of the P2/94 form that collects from the boat-carrying positioning system, original locator data comprises differential Global Positioning System (DGPS) data, RGPS data, acoustic data, cable compass data and boat-carrying gyro compass data;

The original locator data that reads is carried out pre-service, comprise rough error detection, filtering and data normalization processing;

Use the node calculation method to determine the coordinate of the location node in the pretreated original locator data, and the navigation data that the exact position of location node converts the P1/90 form to is stored.

Preferably, rough error is surveyed and is used for rejecting the locator data that original locator data contains rough error, filtering is used for original locator data is carried out level and smooth and interpolation, data normalization handle be used for to survey through rough error and the filtering processing after locator data carry out changing of orientation and time synchronized.

Preferably, adopt first-order lag filtering, establish last time filtering result and be

This measured value is x _k, the first-order lag filtering equations is: P _tBe time weight factor, P _wFor the fluctuation weight factor, choose the average of N measured value as the filtering initial value;

The time weight factor Wherein filter factor a determines t according to the time interval of measured value _iBe this Measuring Time, t _I-1Be Measuring Time last time, N is positive integer.

Preferably, time synchronized is used for being synchronized to by Extrapolation method through the locator data after rough error detection and the filtering processing blows out constantly, obtains blowing out observed reading constantly and is used for final compensating computation.

Preferably, use the node calculation method to determine the coordinate of the location node in the pretreated original locator data, comprising:

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

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

1) terrestrial coordinate with all DGPS nodes converts rectangular space coordinate to, and computing formula is:

E in the formula is flattening of ellipsoid, and N is that a is semimajor axis of ellipsoid through this DGPS node prime vertical radius, and B is the geodetic latitude of this DGPS node, and L is the geodetic longitude of this DGPS node, and H is geodetic height;

2) distance value and the orientation values of returning by RGPS equipment calculated the rectangular space coordinate of benchmark RGPS node according to the relative position relation of each DGPS node and benchmark RGPS node;

3) average coordinates of the rectangular space coordinate of the described benchmark RGPS node that calculates according to each DGPS node is as the rectangular space coordinate of benchmark RGPS node, by following formula the rectangular space coordinate of described benchmark RGPS node is converted to terrestrial coordinate:

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

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

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

The mode of employing iteration is tried to achieve the value of final B, the initial value formula of B

Calculate.

Preferably, carrying out the acoustics node when resolving, adopting Kalman filtering, the measurement model of Acoustic web comprises range observation value model and measurement of bearing value model, wherein:

The range observation value model comprises:

If

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

Wherein, (X _i, Y _i) and (X _i, Y _i) be respectively the coordinate of node i and j;

Corresponding error equation is:

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

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

The measurement of bearing value model comprises:

If For node i to the measurement of bearing value between j, it is measured equation and is:

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

Corresponding error equation is:

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

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

Preferably, the geophone station position calculation comprises:

The coordinate that length S by the RGPS baseline and the position angle A of baseline calculate between the geophone station is poor, and formula is as follows:

Δx＝S×cosA

Δy＝S×sinA

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

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

In the formula, (X, Y) for adjusting the post-detection point coordinate, (x y) is geophone station coordinate before adjusting; M, α are conversion parameter, and Δ X, Δ Y are that described coordinate is poor;

With earth coordinates (B, L, H) be converted to rectangular coordinate system in space (X, Y Z), obtain the rectangular space coordinate of DGPS node under ground is admittedly, and conversion formula is:

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

Position according to DGPS node and benchmark RGPS node concerns then, by (x, y z) are converted to geocentric coordinate system (X with topocentric coordinate system _R, Y _R, Z _R), the rectangular space coordinate of acquisition benchmark RGPS node, conversion formula is:

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

Transfer benchmark RGPS node space rectangular coordinate to terrestrial coordinate then, conversion formula is:

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

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

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

After obtaining the rectangular space coordinate and terrestrial coordinate of benchmark RGPS node, (X, Y Z), calculate each geophone station terrestrial coordinate then to calculate the rectangular space coordinate of each geophone station.

Preferably, the geophone station depth calculation specifically comprises:

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

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

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

In to cable compass data and acoustic data rough error detection process, employing be the pattern that several different methods combines, so both can avoid also can avoiding the misjudgement to some rough errors to the failing to judge of some rough errors, guaranteed the accuracy that rough error is surveyed.

Description of drawings

Accompanying drawing in this explanation is used to provide further understanding of the present invention, constitutes the application's a part, and exemplary embodiment of the present invention and explanation thereof are used for explaining the present invention, are not construed as limiting the invention; In the accompanying drawings:

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

The FB(flow block) of Fig. 2 for resolving according to datum node coordinate of the present invention.

Embodiment

In order to make technical scheme of the present invention clearer, below in conjunction with the drawings and specific embodiments the present invention is done further to elaborate.Need to prove that under the situation of not conflicting, embodiment and the variety of way among the embodiment among the application can make up mutually.

A kind of disposal route of towing cable exploration navigation positioning data can comprise that data read, data pre-service and coordinate resolve three phases, wherein,

In the data read stage, from the data file of P2/94 form, extract all kinds of locator datas, comprise DGPS data, RGPS data, acoustic data, cable compass data and boat-carrying gyro compass data.Original locating file is divided into data head and data volume two parts, obtains the essential information that project, work area and location dispose by the read head section, by reading data volume, obtains the locator data of each positioning equipment.

For reliability and the raising bearing accuracy that guarantees positioning result, when carrying out the data processing, need carry out pre-service to measurement data.Mainly contain three big tasks at the data pretreatment stage: rough error is surveyed, filtering is level and smooth, data normalization.First pair of all kinds of locator data carried out the rough error detection, rejects the locator data that contains rough error.Second adopts the data filtering method that actual measurement locator data and missing data (containing disallowable data) are carried out level and smooth and interpolation.At last, locator data is carried out changing of orientation and time synchronized.The pretreated fundamental purpose of data can be summarized as to be eliminated the rough error and the noise that exist in the original measurement value, and measurement data is carried out standardization, for compensating computation is prepared.Data pre-service work quality is bigger to the adjustment result influence.

Resolve the stage at coordinate, resolve the coordinate of determining the RGPS node by datum node, by curvilinear integral the compass observed reading is converted into the baseline vector observation, the baseline vector observation that utilizes the acoustics observed reading and be converted carries out the acoustics node and resolves, and determines the geophone station coordinate by curvilinear integral, the adjustment of cable shape and coordinate conversion at last.

Describe the processing that data pre-service and coordinate resolve the stage below in detail

(1) rough error is surveyed: reject the rough error measured value that exists in the raw measurement data by preprocessing process, and will measure noise separation and come out, obtain cleaner measured value data.Mainly contain cable compass, the detection of cable acoustics rough error and reparation.

Cable compass data snooping and restorative procedure:

Consider that cable compass measured value changes not quite in measuring intervals of TIME, calculate before current epoch 4 epoch compass bird measured value situation of change, and mean value and the variance of calculating front several epoch of data, then the changing value of current epoch and changing value are before compared, if changing value surpasses limit value and changing value and surpasses 3.3 times of (multiple can be set) standard differences then think it may is rough error, again current measured value and mean value are compared, think that this measured value is rough error, repairs it then if still differ greatly.The rough error that is widely used in generally having the observation data of property time correlation based on the algorithm of this principle is surveyed and is repaired, and the gyro compass data in the towing cable exploration navigation positioning data have above-mentioned characteristic, this technology can be applied to rough error in the present invention and handle.

Cable acoustics rough error is surveyed and restorative procedure:

Owing to towing cable can be subjected to wave and the reason of sensor own, bigger variation may take place in the acoustic measurement value in measuring process.The acoustic data rough error is various, need combine to carry out gross Error Detection and rejecting with several method.

To the big rejecting of rough error continuously that produces because of instrument failure,, at marine wave characteristic the measured value of preceding net, middle net and back net is compared with the distance value of different approximate coordinates inverse respectively according to towing cable, carry out gross Error Detection and rejecting.For preceding net, because the close towboat of preceding net, the fluctuation of cable shape is less, and therefore the approximate coordinates of getting is the topocentric coordinates of the acoustics node of last calculating epoch.For back net, the fluctuation of cable shape can be bigger, and afterwards net has benchmark acoustics node, and the approximate coordinates of getting is to utilize the resulting approximate coordinates of curvilinear integral current epoch.For middle net, then adopt two kinds of methods that combine.Get decide approximate coordinates after, set a certain size threshold value, think rough error for the acoustic measurement value that surpasses this threshold value, rejected.

Can produce certain fluctuation though the acoustic measurement value is influenced by wave, measurement variation is also little under the long situation of measuring intervals of TIME, can judge current epoch, whether measured value existed rough error according to the measured value information of front epoch.Detailed process is: according to the number of measured value, select the measured value of 2-3 epoch before current epoch, calculate the variances sigma of mean value and these measured value wave characteristics of sign of front measured value epoch ²And standard deviation sigma, if the difference of the measured value that the measured value of current epoch and front are closed on epoch most above the difference of certain limit value and measured value and mean value greater than 3 σ (multiple can be set), think that then this measured value is rough error, is rejected.When all acoustic measurement values being carried out the rough error detection, be used as reference owing to need use the distance of the coordinate inverse of curvilinear integral, so this step is after the step of curvilinear integral.The rough error that is widely used in observation data based on the algorithm of this principle is surveyed and is repaired, and this technology can be applied to rough error in the present invention and handle.

(2) filtering: the first-order lag filtering method is adopted in data filtering, establishes last time filtering result and is

This measured value is x _k, then by the first-order lag filtering equations be:

Wherein,

Be this filtering result, a is filter factor, and span is 0～1, when a=0, be exactly current collection value, and filter factor is more big, and filter action is more strong.Introduce time weight factor P in the filtering _tWith fluctuation weight factor P _w, then the first-order lag filtering equations becomes:

The filtering initial value is chosen the average of N measured value as the filtering initial value.

The time weight factor mainly is to consider the time interval to the influence of filter value, and the time interval is more long, and its influence to the filtering result should be more little, weighs also more little.

Wherein coefficient a decided according to the time interval of measured value, t _iBe this Measuring Time, t _I-1It is Measuring Time last time.Comparatively intensive for the RGPS measurement data, then the data of front measured value are bigger to filtering result's influence, so the value of a should want big, and the acoustic data measuring intervals of TIME is big, substantially be 10～13 seconds, therefore a can be got smaller value, reduce earlier data to filtering result's influence.

The fluctuation weight factor mainly is the fluctuation situation of considering measurement data, the traction body is subjected to factor affecting such as wave, and certain motion can take place, cause the measured value data that certain fluctuation situation can take place, this normal motion conditions can not be used as noise and filteredly fall in carrying out the process that data handle, the weight factor that fluctuates is just for guarantee can realistic measurement situation in filtering

Wherein, σ is the middle error of measured value.

(3) measured value standardization: the measured value standardization is divided into time synchronized and changing of orientation.Raw data is measured the moment generally and is blown out constantly inequality, and the purpose of towing cable navigator fix is will calculate to blow out the position coordinates of geophone station constantly, time synchronized will be surveyed and the method for filtered measurement data (comprising DGPS, RGPS, gyro compass, acoustic data and cable compass data etc.) by extrapolation is synchronized to and blows out the moment through rough error exactly, obtain blowing out measured value constantly, to be used for final compensating computation.Extrapolation method is the common method in the prevailing value analyzing and processing, and the present invention is applied to the standardization of towing cable exploration navigation positioning data.

The measurement data that the cable compass provides is the tangent line magnetic north position angle of its present position towing cable, and the purpose of changing of orientation is this magnetic north position angle to be changed turn to true north azimuth.

The DGPS sample of measured value is spaced apart 1s, constantly measured value may not be arranged at shot point, therefore need utilize the measured value extrapolated shot point of this shot point before moment DGPS measured value constantly.Calculate the rate of change v of DGPS coordinate figure according to preceding several DGPS measured values, obtain shot point then constantly and nearest DGPS measured value mistiming Δ t constantly, obtain the changing value of coordinate according to v * Δ t, try to achieve this shot point DGPS coordinate figure constantly at last.

RGPS measured value processing procedure: utilize the mode of the several RGPS sample of measured value fitting of a polynomials of shot point before the moment to try to achieve shot point measured value constantly.Adopt 2 rank fitting of a polynomials when extrapolation RGPS measured value, 2 rank fitting of a polynomials need calculate three parameters, therefore need use the RGPS measured value that surpasses more than 3, choose here with constantly nearest 6 the RGPS measured values of shot point and carry out match.

Acoustic measurement value processing procedure: store before the current shot point three epoch of acoustic data constantly, in order to there are enough data to calculate current shot point measured value constantly, standardized algorithm is the same with RGPS, and the specific implementation process is with reference to the algorithm of RGPS.

Coordinate resolves

It is the key component that navigation data is handled that coordinate resolves, and is divided into following four major parts: datum node resolves, the acoustics node resolves, geophone station position calculation, geophone station depth calculation etc.

(1) datum node resolves: seismic vessel is in exploration process, its absolute position is the terrestrial coordinate of being ordered by the DGPS that the GPS receiver obtains, and the benchmark of Acoustic web is provided by the RGPS node coordinate, and the RGPS node coordinate transmits by benchmark RGPS node on the towboat again.Relative position relation between DGPS node and the benchmark RGPS node is known, therefore needs by a series of coordinate conversion and calculating, obtains benchmark RGPS node coordinate, tries to achieve the coordinate of RGPS node again according to the coordinate of benchmark RGPS node.

Benchmark RGPS node coordinate computing method: earlier by the absolute coordinates of DGPS node, try to achieve the absolute coordinates of benchmark RGPS node according to their relative position relation.Concrete steps can comprise:

1) terrestrial coordinate of all DGPS nodes is converted to rectangular space coordinate.Computing formula is:

E in the formula is flattening of ellipsoid, and N is through this prime vertical radius, and a is semimajor axis of ellipsoid; B is the geodetic latitude of this point; L is the geodetic longitude of changing the time; H is geodetic height.

2) distance value and the orientation values of returning by RGPS equipment calculated the rectangular space coordinate of benchmark RGPS node according to the relative position relation of each DGPS node and benchmark RGPS node;

3) average coordinates of the rectangular space coordinate of the described benchmark RGPS node that calculates according to each DGPS node is as the rectangular space coordinate of benchmark RGPS node, by following formula the rectangular space coordinate of described benchmark RGPS node is converted to terrestrial coordinate:

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

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

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

Rectangular space coordinate is converted to terrestrial coordinate.The value that needs to use geodetic latitude when calculating geodetic latitude again, therefore needs adopt the mode of iteration to try to achieve the value of final B.The initial value of B can be used formula

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

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

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

(2) the acoustics node resolves: carrying out the acoustics node coordinate when resolving, adopting the method for Kalman filtering, in the towing cable navigational system, the measurement model of Acoustic web has two kinds: range observation value model, measurement of bearing model.

The range observation value model:

If

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

Wherein, (X _i, Y _i) and (X _i, Y _i) be respectively the coordinate of node i and j.

Corresponding error equation is:

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

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

The measurement of bearing value model:

If

For node i to the measurement of bearing value between j, it is measured equation and is:

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

Corresponding error equation is:

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

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

(3) geophone station position calculation:

Geophone station and the acoustics node station rational horizon coordinate Calculation method under benchmark RGPS node: the coordinate difference between the geophone station can be calculated by the length S of RGPS baseline and the position angle A of baseline, and formula is as follows:

Δx＝S×cosA

Δy＝S×sinA

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

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

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

In the formula, (X, Y) for adjusting the back coordinate, (x y) is coordinate before adjusting; M, α, Δ X, Δ Y are conversion parameter.The acoustics node coordinate that adjustment and curvilinear integral obtain is brought into, and adjustment can be determined parameter value, carries out the adjustment of cable curve.

Coordinate conversion: earth coordinates (B, L, H) transfer to rectangular coordinate system in space (X, Y Z), obtain the rectangular space coordinate of DGPS point under ground is admittedly, and conversion formula is:

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

Then, the position of ordering by DGPS point and benchmark RGPS concerns, by (x, y z), transfer geocentric coordinate system (X to topocentric coordinate system _R, Y _R, Z _R), obtain the rectangular space coordinate of benchmark RGPS node, conversion formula is:

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

Then, transfer benchmark RGPS node space rectangular coordinate to terrestrial coordinate, conversion formula is:

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

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

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

After obtaining the rectangular space coordinate and terrestrial coordinate of benchmark RGPS node, (X, Y Z), calculate each geophone station terrestrial coordinate then just can to calculate the rectangular space coordinate of each geophone station.

(4) geophone station depth calculation:

After calculating the plane projection coordinate of geophone station, also need calculate the stereo omnibearing that geophone station is formed geophone station jointly with respect to depth value h and the depth value h on sea level.Can concern the position on cable by all depth transducers and geophone station, go out the degree of depth of all geophone stations by distance weighted interpolation.

The weighting interpolation is interpolation algorithm commonly used during numerical analysis is handled, and this technology can be applied to the interpolation of depth transducer and geophone station position among the present invention.

The above embodiment is preferred embodiment of the present invention only, is not for limiting protection scope of the present invention, and those skilled in the art can painstakingly carry out various modifications and variations to the present invention and without departing from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these modifications and modification interior.

Claims (9)

1. the disposal route of a navigation positioning data is applied to the processing of marine streamer survey data, and described method comprises:

Read original locator data the data file of the P2/94 form that collects from the boat-carrying positioning system, described original locator data comprises differential Global Positioning System (DGPS) data, RGPS data, acoustic data, cable compass data and boat-carrying gyro compass data;

The original locator data that reads is carried out pre-service, comprise rough error detection, filtering and data normalization processing;

Use the node calculation method to determine the coordinate of the location node in the pretreated original locator data, and the navigation data that the exact position of location node converts the P1/90 form to is stored.

2. method according to claim 1, wherein,

Described rough error is surveyed and is used for rejecting the locator data that described original locator data contains rough error, described filtering is used for described original locator data is carried out level and smooth and interpolation, described data normalization handle be used for to survey through rough error and the filtering processing after locator data carry out changing of orientation and time synchronized.

3. method according to claim 2, wherein,

Adopt first-order lag filtering, establish last time filtering result and be

This measured value is x _k, the first-order lag filtering equations is:

P _tBe time weight factor, P _wFor the fluctuation weight factor, choose the average of N measured value as the filtering initial value;

The time weight factor

Wherein filter factor a determines t according to the time interval of measured value _iBe this Measuring Time, t _I-1Be Measuring Time last time, N is positive integer.

4. method according to claim 2, wherein,

Described time synchronized is used for being synchronized to by Extrapolation method through the locator data after rough error detection and the filtering processing blows out constantly, obtains blowing out observed reading constantly and is used for final compensating computation.

5. according to claim 1 or 2 or 3 or 4 described methods, wherein, described use node calculation method is determined the coordinate of the location node in the pretreated original locator data, comprising:

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

6. method according to claim 5, wherein, described datum node resolves and comprises that specifically benchmark RGPS node coordinate calculates:

1) terrestrial coordinate with all DGPS nodes converts rectangular space coordinate to, and computing formula is:

E in the formula is flattening of ellipsoid, and N is that a is semimajor axis of ellipsoid through this DGPS node prime vertical radius, and B is the geodetic latitude of this DGPS node, and L is the geodetic longitude of this DGPS node, and H is geodetic height;

2) distance value and the orientation values of returning by RGPS equipment calculated the rectangular space coordinate of benchmark RGPS node according to the relative position relation of each DGPS node and benchmark RGPS node;

3) average coordinates of the rectangular space coordinate of the described benchmark RGPS node that calculates according to each DGPS node is as the rectangular space coordinate of benchmark RGPS node, by following formula the rectangular space coordinate of described benchmark RGPS node is converted to terrestrial coordinate:

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

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

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

The mode of employing iteration is tried to achieve the value of final B, the initial value formula of B

Calculate.

7. method according to claim 5 wherein, carrying out described acoustics node when resolving, adopts Kalman filtering, and the measurement model of Acoustic web comprises range observation value model and measurement of bearing value model, wherein:

The range observation value model comprises:

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

Wherein, (X _i, Y _i) and (X _i, Y _i) be respectively the coordinate of node i and j;

Corresponding error equation is:

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

Wherein, $\mathrm{\Δ}{X}_{\mathrm{jk}}^0=X_k^0-X_j^0;$ $\mathrm{\Δ}{Y}_{\mathrm{jk}}^0=Y_k^0-Y_j^0;$ ${l_S}_{\mathrm{ij}}={L_S}_{\mathrm{ij}}-S_{\mathrm{jk}}^0,$ $S_{\mathrm{jk}}^0=\sqrt{{(X_k^0-X_j^0)}^2+{(Y_k^0-Y_j^0)}^2};$

With Approximate coordinates for node i and j.

The measurement of bearing value model comprises:

If

For node i to the measurement of bearing value between j, it is measured equation and is:

${L_A}_{\mathrm{ij}}=\arctan \frac{Y_j-Y_i}{X_j-X_i}$

Corresponding error equation is:

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

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

8. method according to claim 5, wherein, described geophone station position calculation comprises:

The coordinate that length S by the RGPS baseline and the position angle A of baseline calculate between the geophone station is poor, and formula is as follows:

Δx＝S×cosA

Δy＝S×sinA

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

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

In the formula, (X, Y) for adjusting the post-detection point coordinate, (x y) is geophone station coordinate before adjusting; M, α are conversion parameter, and Δ X, Δ Y are that described coordinate is poor;

With earth coordinates (B, L, H) be converted to rectangular coordinate system in space (X, Y Z), obtain the rectangular space coordinate of DGPS node under ground is admittedly, and conversion formula is:

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

Position according to DGPS node and benchmark RGPS node concerns then, by (x, y z) are converted to geocentric coordinate system (X with topocentric coordinate system _R, Y _R, Z _R), the rectangular space coordinate of acquisition benchmark RGPS node, conversion formula is:

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

Transfer benchmark RGPS node space rectangular coordinate to terrestrial coordinate then, conversion formula is:

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

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

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

After obtaining the rectangular space coordinate and terrestrial coordinate of benchmark RGPS node, (X, Y Z), calculate each geophone station terrestrial coordinate then to calculate the rectangular space coordinate of each geophone station.

9. method according to claim 5, wherein, described geophone station depth calculation specifically comprises:

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

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