CN105659112B - Accelerometer calibration on the spot - Google Patents

Abstract

The method and system calibrated while in water to it ought be deployed in by disclosing the accelerometer for being used in geophysical sensor.Embodiment may include to draw towing cable behind surveying vessel in water body, wherein, the towing cable includes accelerometer；Promote at least a portion twisting of the towing cable；During twisting data are received at selected multiple moment from accelerometer；And the data are based at least partially on to determine at least one calibration parameter of accelerometer.

Description

Accelerometer calibration on the spot

The cross reference of related application

The priority for the U.S. Provisional Application No. 61/844,650 submitted this application claims on July 10th, 2013, this application Entire disclosure by quote be incorporated into herein.

Background technology

Each embodiment is usually related to marine geophysicses exploration, and more specifically, each embodiment is related to accelerometer It is calibrated while being deployed in water.

Technology for geophysical reconnaissance is surveyed including marine geophysicses, such as seismic survey and electromagnetic surveying, its In geophysical data can be collected below earth's surface.Geophysical reconnaissance has in terms of mineral and energy exploration and production Using to help to identify the position of hydrocarbon-bearing formation.The certain form of ocean earth thing of such as earthquake or electromagnetic surveying etc Reason exploration may include selected depth in water body-generally more than seabed-haulage capacity source.Can also be by identical or different Ship in water-generally more than seabed-the one or more towing cables (streamer) of traction.The towing cable is typically cable, the electricity Cable includes the multiple geophysical sensors being disposed above along the length of cable in opening position spaced apart.Except towing cable it Outside or alternatively, some geophysical reconnaissances position sensor on cable on the ocean bottom or node.Geophysics senses Device can be configured to generation and the signal of the relating to parameters measured by geophysical sensor., can be to energy in the selected time Amount source is activated to generate the earthquake for example traveled down in subsurface rock or electromagnetic energy.Usually between rock stratum The energy that boundary interacts with interface can be returned towards surface and be detected by the geophysical sensor on towing cable.Inspection The energy measured can be used to infer some properties of subsurface rock, such as structure, mineral composition and fluid content, so as to provide pair The useful information of petroleum vapor recovery.

The geophysical sensor used on towing cable can be vector sensor.Can also be on towing cable by vector sensor Turn-sensitive device is deployed as, to determine towing cable position, speed or orientation.The example of appropriate vector sensor includes including acceleration Spend those vector sensors of meter.In some instances, accelerometer can be multi-axial accelerometer.In some instances, add Speedometer is using the structure for being based on micro electronmechanical (MEMS).Accelerometer it is generally exportable with put on the acceleration of equipment into than The DC coupled signals of example.However, there may be problem in the use of accelerometer, because can to undergo DC inclined for accelerometer (bias) and gain drift are put, this can negatively influence sensor performance.In some accelerometers, axial misalignment also may be used Can be misgivings.The improvement accelerometer for not showing these shortcomings may be with high costs.It is therefore desirable to be able to compensated acceleration The improvement calibration method of the imperfection of meter.

Brief description of the drawings

Those figures show some aspects of some embodiments of the present invention, and it should not be taken as limiting or limit this Invention.

Fig. 1 shows the exemplary embodiment of marine geophysicses survey system.

Fig. 2 shows the exemplary embodiment of the accelerometer in the towing cable installed therein locally rotated.

Fig. 3 shows the oval exemplary embodiment for being fit to the two-dimensional projection that analog acceleration counts.

Fig. 4 shows the sample portion of the towing cable with geophysical sensor and towing cable slewing.

Fig. 5, which is shown, is fit to the oval of two-dimensional projection for the measurement data from a pair of multi-axial accelerometers Exemplary embodiment.

Fig. 6, which is shown, to be fit to for the two-dimensional projection that counts of analog acceleration before calibration and after calibration Oval exemplary embodiment.

Fig. 7 shows the example for the computer system that can be used for realizing the method for the present invention.

Embodiment

It is appreciated that the disclosure is not limited to particular device or method, it is it is of course possible to changing.It is it is also understood that used herein Term is not intended to be restricted only merely for the purpose of description specific embodiment.Although discussing separate embodiments, The present invention covers all combinations of all that embodiment.As used herein singulative " one ", "one" and "the" meaning Figure includes odd number and plural referents, except non-content clearly dictates otherwise.In addition, word " can with " the application in the whole text in Used with the implication of license (that is, potentially have, can) rather than compulsory implication (i.e., it is necessary to).Term " comprising " and its Derivative means " to include but is not limited to ".Term " coupling " means either directly or indirectly to connect.

Each embodiment is related to accelerometer and it is calibrated while being deployed in water.Specifically, can be based on Mechanically twisting towing cable performs the calibration of accelerometer.From the school for the extracting data collected during the twisting of towing cable Quasi- parameter (for example, gain and biasing) can be used for accelerometer calibration.Advantageously, collimation technique can be disposed same in towing cable When be used, and it can also relatively quickly be performed (for example, about 1 minute or less).Except gain and the extraction of biasing Outside, each embodiment also can extract caused by one or more of the axle of accelerometer axle is not ideally orthogonal not Alignment.By the way that misalignment is taken into account, the error caused by lacking orthogonality can be reduced.In addition, it is also extractable on The information of towing cable twisting, it can increase virtual value to calibration method.

Referring now to Figure 1, marine geophysicses survey system 2 is illustrated according to exemplary embodiment.As indicated, ocean Ball physics survey system 2 may include the exploration vessel 4 along the surface movement of water body 6 (such as lake or ocean).Exploration vessel 4 can be Face includes usually showing at 8 and being referred to as the equipment of " record system " for convenience's sake thereon.Record system 8 can generally wrap Include for being navigated to exploration vessel 4 (such as global positioning system (" GPS ") receiver), at least one energy source 10 Activated, and/or for recording the equipment (not showing any one individually) of signal generated by sensor 12.

Marine geophysicses survey system 2 may also include at least one energy source 10.As indicated, exploration vessel 4 or different Ship (not shown) can draw the cable 13 including energy source 10 and pass through water body 6.In the embodiment shown, the surface of water body 6 with Lower haulage capacity source 10.As indicated, energy source 10 can below the surface of water body 6 and the bottom more than 14, wherein, can be by energy Source 10 disconnects from the bottom 14.Any selectivity that energy source 10 can be suitable for marine geophysicses exploration may be actuated Source, include the battle array of earthquake air gun, hydraulic giant, marine vibrator, electromagnetic field emissions machine or this kind equipment without limitation Row.In certain embodiments, seismic energy and/or electromagnetic energy may originate at energy source 10.Energy source 10 can be for ground Any appropriate pattern of ball physics exploration is drawn, including with parallel or orthogonal pattern or is probably circular or spiral shape figure Case.In the selected time, energy source 10 is can trigger to generate the energy of the rock stratum 16 downwardly through water body 6 and below the bottom 14 Amount.It should be noted that although this example illustrate only single energy source 10, it present invention can be suitably applied to by exploration vessel 4 or appoint Any number of energy source that what its ship is drawn.

Marine geophysicses survey system 2 may also include the one or more drawn by exploration vessel 4 (or another ship) and drag The longitudinally spaced opening position opened of cable 18, wherein towing cable 18 in the above has multiple sensors 12.In the embodiment shown, show Go out towing cable 18 to be drawn by the exploration vessel 4 moved on the surface of water body 6.Towing cable 18 can be (relative at its front end In the moving direction of exploration vessel 4) it is coupled to respective guide line 20.Although it is not shown, available such as capstan winch or other classes Like rope winding equipment (it can be used to the deployed length for controlling guide line 20) guide line 20 is disposed from exploration vessel 4.Alternative real Apply in example, towing cable 18 can alternatively be deployed in the bottom 14 and draw above or nearby or by another ship (not shown).As another One is alternative, and the additional towing cable (not shown) of one or more can be drawn behind exploration vessel 4, the quilt behind another ship (not shown) Draw or be deployed at or near the bottom 14.It should be noted that although this example illustrate only single towing cable 18, originally Invention is applicable to any number of towing cable 18 drawn by exploration vessel 4 or any other ship.For example, in some embodiments In, eight or more towing cables 18 can be drawn by exploration vessel 4, and in other embodiments, up to 26 or more towing cables 18 It can be drawn by exploration vessel 4.In the case where disposing multiple towing cables 18, towing cable 18 can be laterally, vertically or laterally and vertical Ground is spaced apart.In current context, " transverse direction " or " laterally " refer to the direction of motion transverse to exploration vessel 4.

Sensor 12 can be any kind of sensor as known in the art.In certain embodiments, sensor 12 At least a portion can be geophysical sensor.The non-limiting example of such geophysical sensor may include such as The electromagnetic field of the seismic sensor or such as electrode or magnetometer etc that shake wave detector, hydrophone or accelerometer etc passes Sensor.In certain embodiments, geophysical sensor can be the vector sensor of such as accelerometer or magnetometer etc. For example, examined after the interaction of rock stratum 16 that at least a portion of sensor 12 may be in response to below energy with the bottom 14 Measure from the energy that energy source 10 is sent and generate response signal, such as electric signal or optical signal.The letter generated by sensor 12 Number it may pass to record system 8.In addition to geophysical sensor, at least a portion of sensor 12 can also be that vector passes Sensor, it can provide the output that represents or can be processed to determine towing cable position, speed or orientation.Appropriate vector sensing The example of device may include 2 axles or 3 axial vector sensors, such as multi-axial accelerometer and multiaxis magnetometer.(one of sensor 12 Or it is multiple) type and (one or more) configuration be not limiting as the scope of the present invention.

According to an embodiment of the invention, geophysical data product can be produced.Geophysical data product may include from biography The geophysical data that one or more of sensor 12 obtains, and non-momentary tangible computer computer-readable recording medium can be stored in On.Geophysical data product can be in the U.S. or another country coastal waters (i.e. by the equipment on ship) or on the coast (i.e. At facility on land) caused by.If geophysical data product be coastal waters or it is another country in produce, it can It is directed on the coast in the facility in the U.S..Once in the U.S. on the bank, then the earth can be performed to geophysical data product Physical analysis, including further data processing.

Towing cable 18 may also include towing cable slewing 22.As indicated, towing cable slewing 22 can be in opening position spaced apart It is arranged on towing cable 18.In certain embodiments, towing cable slewing 22 can have about 200 meters to about 400 meters of spacing.Often Individual towing cable slewing 22 can provide rotation torque to cause it to rotate and similarly cause the towing cable that is adjacent to of towing cable 18 to revolve Turn the rotation of the part of equipment 22.Towing cable slewing 22 can be additionally used in regulation and the towing cable located lateral of such as streamer depth Regulation.In certain embodiments, existing cross force and depth (LFD) control device is used as towing cable slewing 22.LFD is controlled Control equipment can be suitable for changing any one in towing cable position, speed or the various distinct devices of orientation and/or position, Including " gondola (birds) " with the rotatable wing.In one example, towing cable slewing 22 may include the rotatable wing, its It is installed to towing cable 18 in the main body being coaxially disposed.

Fig. 2 illustrates the accelerometer 24 being arranged in towing cable 18 according to exemplary embodiment.As it was previously stated, it will can add Speedometer 24 is attached in sensor 12 (referring to Fig. 1).In the embodiment shown, accelerometer 24 by its local coordinate system (x, Y, z) represent.As indicated, external force can be acted on accelerometer 24, cause the rotation at accelerometer 24.In particular implementation In example, external force can be the result of mechanically twisting towing cable 18.Although being not shown in fig. 2, towing cable slewing 22 can It is used to rotation torque and causes towing cable twisting.As indicated,It is the accelerometer 24 between local z-axis and global Z axis Roll angle, andIt is the deflection angle of the accelerometer 24 between local x-axis and global X-axis.

Accelerometer 24 can be multi-axial accelerometer.Accelerometer 24 can be used to detecting one, two or three just Acceleration in quadrature axis.In certain embodiments, accelerometer 24 can be formed by multiple single-axis sensors.For example, accelerate Degree meter 24 can be configured to acceleration of the detection along local y-axis and z-axis.Appropriate accelerometer 24 can have analog or digital Output.In certain embodiments, the output of accelerometer 24 can be digitized then.In a particular embodiment, accelerometer 24 Can be the DC response accelerometers for exporting DC coupled signals.

According to the present embodiment, the calibration of accelerometer 24 can be performed based on mechanically twisting towing cable 18.In other words, towing cable 18 can be calibrated along selected length by intentionally twisting.While towing cable 18 is twisted, it can be surveyed by accelerometer 24 Measure signal.Then calibration parameter can be extracted based on measured signal.The calibration parameter may include gain, biasing and misalignment. The gain is alternatively referred to as " scale factor (scaling factor) ".Biasing is alternatively referred to as " skew (offset) ".Then, calibrate Parameter can be used to manufacture or other errors in compensated acceleration meter 24, to realize the more accurately output from accelerometer.

For along y₂Axle and z₂For the exemplary accelerometer 24 of repacking measuring acceleration, adding in its local coordinate system Speedometer 24 exports：

(equation 1)

(equation 2)

Wherein, Z be certain moment accelerometer output z-component, Y be accelerometer output y-component, b_zIt is to be used for z The channel offset of component, b_yIt is the channel offset for y-component, a_zIt is the passage scale factor for z-component, a_yIt is for y points The passage scale factor of amount,It is the vector alignment error of two deviation streamer axis (off-streamer-axis) passages,It is Roll angle between local z-axis and global Z axis, andIt is the deflection angle between local x-axis and global X-axis.

Can be by the way that above equation be resequenced and is as follows formed and forms it than determining roll angle：

(equation 3)

(equation 4)

(equation 5)

(equation 6)

(equation 7).

Many different technologies can be used for the extraction of calibration parameter.In certain embodiments, using ellipse in the above The two-dimensional projection of measured signal that circle is fitted estimates calibration parameter.The ellipse can be made to tilt and offset.Add for three axles For speedometer, can be achieved can fitted ellipse body in the above tripleplane.Calibration parameter may include gain, biasing and not Alignment.In order to estimate calibration parameter, data set can be obtained with fitted ellipse (or ellipsoid) and therefore estimate calibration parameter.Can be Roll angleThe data set is obtained in the case of change over time.In order to realize improved calibration and improved oval plan Close, can be in different roll anglesLower acquisition data.Data set may include x-component, y-component and/or the z-component of sensor output. In certain embodiments, the y-component and z-component that can be exported accelerometer 24 project on the y-z plane.In other embodiments In, x-component, y-component and the z-component that can export accelerometer 24 project to three-dimensional coordinate and fastened.Then it is appropriate to can be used Algorithm oval (or ellipsoid) is fitted on data for projection.Example for the proper technology of fitted ellipse (or ellipsoid) It may include non-boundary least square fitting, total least square method fitting and nonlinear optimization without limitation Fitting.The additional information on the technical elements for accelerometer calibration can be found in the following documents：Frederick Camps's et al.Numerical Calibration for 3-Axis Accelerometers and Magnetometers (《Calibrated for the numerical value of 3 axis accelerometers and magnetometer》), Electro/Information Technology (electronics/letter Breath technology), the 217-221 pages (in June, 2009).

Fig. 3 shows the acceleration being fit to for the random noise (normal distribution amplitude and phase noise) with addition Spend the oval exemplary embodiment of the two-dimensional projection of the analogue data of meter.In the embodiment shown, noise is continuously from left-hand Right and increase from top to bottom, minimum noise is in the upper left corner and maximum noise is in the lower right corner.Coordinate for two-dimensional projection be by The y-component and z-component of the analogue data projected on y-z plane.Analogue data is in the different of accelerometer 24 and assumes to roll AnglePlace.Analogue data includes 1001 data points being evenly distributed on 0 ° to 360 °.For fitted ellipse, non-boundary is performed Least square fitting.As indicated, the ellipse being fitted is to tilt and offset.Then biasing, ratio and misalignment parameter It can be determined and used in the calibration of accelerometer 24.

In a particular embodiment, misalignment error is also determined and used in exemplary calibration method.Misalignment can be missed Difference is shown as the rotation of oval (or ellipsoid).Utilization of the misalignment error in calibration can be favourable, especially add In the case that the nonorthogonality of the axle of speedometer 24 is probably appreciable error source.Further, it may not request the axle of accelerometer 24 Perfect orthogonality, as long as it is contemplated that misalignment error in calibration.For example, the axle of accelerometer 24 is at some Can have in embodimentOr following misalignment.

Fig. 4 shows the sample portion of the towing cable 18 with sensor 12 and towing cable slewing 22.In sensor 12 One or more can combine accelerometer 24 (see, for example, Fig. 2), its can be based on mechanically twisting towing cable 18 and be calibrated. As indicated, adjacent towing cable slewing 22 can D spaced apart₁.In the embodiment shown, towing cable slewing 22 is in towing cable 18 It is spaced above to open from about 100 meters to about 500 meters and alternatively about 200 meters to about 400 meters of distance D₁.In a specific embodiment In, towing cable slewing 22 can be spaced apart about 300 meters of distance D₁.As further shown, sensor 12 can also be along towing cable 18 A part distribution.

For mechanically twisting towing cable 18, rotation torque can be provided by one or more of towing cable slewing 22, So that towing cable 18 rotates around its longitudinal axis.The twisting can be considered as to single shaft twisting, because usually can surround towing cable 18 Its longitudinal axis is rotated to cause twisting.Rotation torque can cause the rotation of towing cable slewing and similarly cause the phase of towing cable 18 The rotation of adjacent part.The rotation of towing cable slewing 22 is shown with arrow 26 in Fig. 4.Mechanical twisting in towing cable 18 can be with Such as towing cable 18 only part rotate in the case of occur, rotated in each several part of towing cable 18 with different rates in the case of send out Give birth to, and/or occur in the case where each several part of towing cable 18 rotates in the opposite direction.If for example, towing cable slewing 22 In only one rotation, towing cable slewing 22 with different speed rotations or towing cable slewing 22 in the opposite direction Rotation, then it can make a part of (all parts as shown in Figure 4) twisting.After calibration is complete, can be by (or the one of towing cable 18 Section) untie.In certain embodiments, towing cable 18 can be moved down paragraph by paragraph along the whole length of towing cable 18 with twisting and by Twisting.In an alternative embodiment, towing cable 18 only can be twisted at specified towing cable slewing 22, for example, every one, every Two, every three etc., untill whole towing cable 18 can be twisted and untie.Can be from one in the twisted portion of towing cable 18 Individual or multiple sensors 12 collect data.In certain embodiments, can be with different twisting speed (for example, in towing cable 18 just While being twisted) or the collection data after towing cable 18 has been twisted.Towing cable 18 can be characterized with every meter of the anglec of rotation In twisting.For example, towing cable 18 or one section (for example, about 50 meters to about 200 meters length) can by mechanically twisting from Every meter about 1 ° to every meter about 15 °, and alternatively from every meter about 3 ° to every meter about 8 °.Therefore, for each on twisting towing cable 18 Data acquired in sensor 12 (and each corresponding accelerometer 24 thus) can have large-scale different roll anglesWith by This cover large-scale acceleration () input signal.

Therefore number (and can be collected from the sensor 12 on twisted portion by mechanically twisting towing cable 18 at least a portion According to) and the rotation of towing cable 18 is determined the relation between sensor 12.For example, it may be determined that the phase of sensor 12 To rotation.If making towing cable rotate together, more than any twisting in the towing cable 18 of sampling thheorem (for example, every 2 sensors 12 twisting more than 360 °) it may be not detected.By mechanically twisting towing cable 18, can detect more than sampling thheorem Any twisting (for example, up to each 12 1 twistings of sensor) because relation between adjacent sensors 12 may Seem to move in the opposite direction of applied twisting.

According to some embodiments, the controlled twisting of towing cable 18 is can perform, rolling rate and accelerometer 24 are sampled speed by it Both rates are taken into account so that can obtain desired one group of data point.One embodiment can be used in 20 °s/sec of rolling speed Three complete rotations of rate.In this embodiment, accelerometer can have the sampling rate of 500 samples e.g., from about per second.Can Rolling is performed for one section of towing cable 18, and is propagated downwards then along the continuous segment of towing cable 18.Can be by the rolling along dragging Cable 18 is propagated downwards, to produce twisting in the following manner：The twisting at a towing cable slewing 22, while dragged using adjacent Towing cable 18 is held in place by cable slewing 22.In an alternative embodiment, the speed of rotation can from about 10 °s/sec to about 90 °/ In the range of second.

Fig. 5 illustrate fitted ellipse 32,34 corresponding with its together be drawn be used for streamer section in a pair of accelerometers 24 y-z tracks.With the sampling rate of accelerometer 24 of 20 °s/sec of rolling rate and 500 samples per second the three of towing cable 18 Data are obtained in individual complete rotation.Coordinate for two-dimensional projection is that the y-component for the data being projected on y-z plane and z divide Amount.Respectively the two-dimensional projection of the initial data for two accelerometers 24 is represented with reference 28 and 30.Perform nothing Border least square fitting, by ellipse fitting to analogue data.Respectively represent to be used for reference 32 and 34 every The fitted ellipse of individual accelerometer 24.Then calibration parameter (or oval characterising parameter) can be extracted from fitted ellipse 32,34.

Fig. 6 illustrate calibration before and calibration after be used for streamer section in accelerometer 24 y-z tracks.With 20 °/ The rolling rate of second and the sampling rate of accelerometer 24 of 500 samples per second obtain mould in three complete rotations of towing cable 18 Intend data.Coordinate for two-dimensional projection is the y-component and z-component for the measured data being projected on y-z plane.With accompanying drawing mark 36 are remembered to represent the two-dimensional projection of the initial data for accelerometer 24 before calibration, and after the calibration with accompanying drawing mark 38 are remembered to represent.Non-boundary least square fitting is performed, by ellipse fitting to analogue data.Respectively with the ellipse of projection 40 and calibrated ellipse 42 come represent calibration before and calibration after the fitted ellipse for accelerometer 24.Calibration parameter Extracted in the fitted ellipse 40 of initial data before from calibration, and for accelerometer 24 calibration in, its by data from The calibrated ellipse 42 that the ellipse 40 of projection is moved to centered on the ellipse 40 of projection.

Fig. 7 illustrates the one embodiment for the computer system 44 that can be used according to an embodiment of the invention.At some In embodiment, computer system 44 can be the part of record system (for example, Fig. 1 record system 8).Computer system 44 can It is used for the embodiment for realizing accelerometer calibration technology as described herein.For example, computer system 44 is not limiting In the case of can receive the sensing data from accelerometer 24, rolling data etc. as input and to accelerometer 24 export school Calibration information.In certain embodiments, computer system 44 can for example receive from accelerometer 24 and show sensing signal.It will can use In receive input, data processing and send output signal special or unique software be stored in computer system 44 and/or It is stored on outer computer computer-readable recording medium.It would be recognized by those skilled in the art that computer system 44 may include to include circuit Hardware cell include the software unit or hardware cell and software of storage computer code on a machine-readable medium The combination of both units.In addition, each frame shown on Fig. 7 is only an example of achievable each frame.Such as centre Manage the overall operation of unit or CPU etc the controllable computer system 44 of processor 46.Processor 46 can be connected to storage Device controller 48, its can to read and write data from system storage 50.Memory Controller 48 can be non-easy with including The property lost memory areas and the memory in volatile memory area.As the skilled person will recognize, system stores Device 50 can be made up of multiple memory modules.In addition, system storage 50 may include non-volatile and volatile part.Can will be System basic input output system (BIOS) is stored in the non-volatile portion of system storage 50.System bios are suitable for controlling Start-up course or bootup process, and it is suitable for the low-level operation of control computer system 44.

Processor 46 can be connected at least one system bus 52, to allow between processor 46 and other system equipments Communication.System bus 52 can operate under the standard agreement of the variant of such as peripheral parts interconnected (PCI) bus or the like. In exemplary embodiment shown in Fig. 7, processor 46 can be connected to hard disk drive 54, graphics controller by system bus 52 56 and at least one input equipment 58.Hard disk drive 54 can be to can provide non-volatile deposit by data that computer 44 uses Storage.Graphics controller 56 and then display device 60 can be connected to, its can based on from the activity that computer system 44 performs to Family provides image.The memory devices (including system storage 50 and hard disk 54) of computer system 44 can be that tangible machine can Medium is read, it stores computer-readable instruction to promote processor 46 to perform the method for the embodiment according to this technology.

If the word in this specification and/or more patents that can be incorporated herein by reference or other documents Or there is conflict in the use of term, then should use the definition consistent with this specification for the purpose of the present invention is understood.

Although specific embodiment is described above, these embodiments are not limiting as the scope of the present disclosure, i.e., Make in the case where describing only single embodiment relative to special characteristic.The example of the feature provided in the disclosure is intended that Illustrative and not restrictive, unless otherwise indicated.Above description is intended to cover this area skill such as benefiting from the disclosure Such alternative, modification and equivalent are will become apparent to for art personnel.

The scope of the present disclosure be included herein any feature or the combination of feature disclosed in (explicitly or implicitly) or its Any summary, regardless of whether alleviating any problem solved herein or all problems.It is described herein The various advantages of the disclosure, but embodiment can provide in such advantage some, all or without providing any such advantage, Or further advantage can be provided.

Claims (21)

1. a kind of method for calibrating accolerometer, including：

Towing cable is drawn behind surveying vessel in water body, wherein, the towing cable includes accelerometer；

Promote length twisting of at least a portion of towing cable along selection so that the part of the towing cable has 1 ° every meter extremely 15 ° of twisting；

During twisting data are received at selected multiple moment from the accelerometer；And

The data are based at least partially on to determine at least one calibration parameter of the accelerometer.

2. the method for claim 1, wherein the accelerometer includes multi-axial accelerometer.

3. method as claimed in claim 1 or 2, wherein, the streamer sections for being prompted to carry out twisting have 100 meters or longer Length.

4. method as claimed in claim 1 or 2, wherein, the part of the towing cable has every meter 3 ° to 8 ° of twisting.

5. the first sensor in method as claimed in claim 1 or 2, in addition to the determination towing cable is relative to the towing cable On another sensor rotate against.

6. method as claimed in claim 5, in addition to：

Geophysical data is obtained from first sensor；And

Geophysical data product is produced from the geophysical data.

7. method as claimed in claim 6, it is additionally included in and imports the geophysical data product on the bank.

8. method as claimed in claim 1 or 2, in addition at least a portion data projection from the accelerometer is arrived Two dimension or three-dimensional coordinate are fastened；And geometry is fitted to the projection of the data.

9. method as claimed in claim 1 or 2, wherein, the calibration parameter is included from by gain, biasing and misalignment group Into group at least one parameter for selecting.

10. method as claimed in claim 1 or 2, in addition to calibrate the accelerometer in view of accelerometer misalignment.

11. method as claimed in claim 1 or 2, also calibrate the accelerometer including the use of at least described calibration parameter.

12. the method as described in preceding claims 1 or 2, wherein, the accelerometer includes multi-axial accelerometer, the multiaxis Accelerometer lacks the orthogonality of at least one axle in its axle.

13. a kind of method, including：

Towing cable is drawn behind surveying vessel in water body, wherein, the towing cable includes multi-axial accelerometer；

In the case of the rotation of no adjacent towing cable slewing, rotate the towing cable slewing on the towing cable, to promote Make length twisting of the streamer sections between the towing cable slewing and the adjacent towing cable slewing along selection so that The streamer sections have every meter 1 ° to 15 ° of twisting；

During twisting data are received at selected multiple moment from the multi-axial accelerometer；And

The data are based at least partially on to determine at least one calibration parameter of the accelerometer.

14. method as claimed in claim 13, in addition to untie the streamer sections and promote another part of the towing cable Twisting.

15. the first sensor in the method as described in claim 13 or 14, in addition to the determination towing cable is relative to described Another sensor on towing cable rotates against.

16. method as claimed in claim 15, in addition to：

Geophysical data is obtained from first sensor；And

Geophysical data product is produced from the geophysical data.

17. method as claimed in claim 16, it is additionally included in and imports the geophysical data product on the bank.

18. the method as described in claim 13 or 14, in addition at least a portion data from the accelerometer are thrown Shadow is fastened to two dimension or three-dimensional coordinate；And geometry is fitted to the projection of the data.

19. the method as described in claim 13 or 14, wherein, the calibration parameter is included from by gain, biasing and not right At least one parameter selected in the group of quasi- composition.

20. the method as described in claim 13 or 14, in addition to calibrate the acceleration in view of accelerometer misalignment Meter.

21. the method as described in claim 13 or 14, also calibrate the accelerometer including the use of at least described calibration parameter.