CN111538089B - Marine node exploration multi-ship multi-source seismic source array synchronous control method and device - Google Patents
Marine node exploration multi-ship multi-source seismic source array synchronous control method and device Download PDFInfo
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Abstract
The invention provides a method and a device for synchronously controlling a multi-ship multi-source seismic source array for marine node exploration, wherein the method comprises the following steps: acquiring spatial position data of a reference center of an operation ship; determining the spatial position and the navigation speed of the operation ship according to the spatial position data of the reference center of the operation ship; acquiring distance and azimuth observation value data of a seismic source ship; determining the space position and the navigation speed of a seismic source array according to the distance and azimuth observed value data of the seismic source ship; generating a random delay excitation time file; determining the actual predicted shot firing time to a point according to the space position and the navigation speed of the operating ship, the space position and the navigation speed of the seismic source array and the randomness delay excitation time file; and exciting the seismic source array according to the actual predicted point blasting time and the set limit blasting safety distance. The invention realizes multi-ship multi-source synchronous operation, and realizes an efficient mixed mining construction mode for marine node exploration on the basis of ensuring the basic data of multi-ship operation seismic data separation.
Description
Technical Field
The invention relates to the technical field of petroleum and natural gas seismic exploration in the field of environmental resources, in particular to a method and a device for synchronously controlling a multi-ship multi-source seismic source array for marine node exploration.
Background
With the continuous development and application of petroleum seismic exploration technologies such as two-wide-one-high (wide azimuth, wide frequency and high density) technology, seismic source high-efficiency acquisition technology and the like, geophysical exploration is shifted to the direction of small surface element, large channel number, large area and high efficiency.
The efficient multi-ship mixed mining technology is a main technical means for marine seabed seismic exploration in future. The high-efficiency marine multi-ship mixed mining technology needs to be realized by providing a synchronous excitation control technology of multiple ships and multiple arrays by an integrated navigation system. The prior art has no technical scheme about synchronous control of a multi-ship multi-source seismic source array.
Disclosure of Invention
The embodiment of the invention provides a multi-ship multi-source seismic source array synchronous control method for marine node exploration, which realizes multi-ship multi-source synchronous operation and comprises the following steps:
acquiring spatial position data of a reference center of an operation ship;
determining the spatial position and the navigation speed of the operation ship according to the spatial position data of the reference center of the operation ship;
acquiring distance and azimuth observation value data of a seismic source ship and a seismic source array;
determining the spatial position and the navigation speed of the seismic source array according to the distance between the seismic source ship and the seismic source array and the azimuth observation value data;
generating a random delay excitation time file;
determining the actual predicted shot firing time to a point according to the space position and the navigation speed of the operating ship, the space position and the navigation speed of the seismic source array and the randomness delay excitation time file;
and exciting the seismic source array according to the actual predicted point blasting time and the set limit blasting safety distance.
The embodiment of the invention also provides a marine node exploration multi-ship multi-source seismic source array synchronous control device, which comprises:
the working ship reference center spatial position data acquisition module is used for acquiring the working ship reference center spatial position data;
the working ship spatial position and navigation speed determining module is used for determining the working ship spatial position and navigation speed according to the working ship reference center spatial position data;
the distance and azimuth observation value data acquisition module is used for acquiring distance and azimuth observation value data of the seismic source ship and the seismic source array;
the seismic source array spatial position and navigation speed determining module is used for determining the seismic source array spatial position and navigation speed according to the distance and direction observed value data between the seismic source ship and the seismic source array;
the random delay excitation time file generation module is used for generating a random delay excitation time file;
the actual predicted point-to-point blasting moment determining module is used for determining actual predicted point-to-point blasting moment according to the space position and navigation speed of the operating ship, the space position and navigation speed of the seismic source array and the randomness delay excitation time file;
and the seismic source array excitation module is used for exciting the seismic source array according to the actual predicted point blasting time and the set limit blasting safety distance.
The embodiment of the invention also provides computer equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the marine node exploration multi-vessel multi-source array synchronous control method.
The embodiment of the invention also provides a computer readable storage medium, which stores a computer program for implementing the synchronous control method for the marine node exploration multi-vessel multi-source seismic source array.
The method and the device for synchronously controlling the multi-ship multi-source seismic source array for marine node exploration, provided by the embodiment of the invention, are characterized in that the spatial position and the navigation speed of an operation ship and the spatial position and the navigation speed of the seismic source array are obtained by acquiring the spatial position data of a reference center of the operation ship and the distance and direction observation data of the seismic source ship and the seismic source array, the actual predicted moment of firing to a point is determined by combining a generated random delay excitation time file, and then the seismic source array is excited under the set safety distance for limiting firing to realize multi-ship multi-source synchronous operation; the invention realizes the high-efficiency mixed mining construction mode of marine node exploration on the basis of ensuring the basic data of multi-ship operation seismic data separation, plays an important technical support role for the high-efficiency mixed mining technology of marine node seismic exploration, and plays a leading role in the subsequent high-efficiency acquisition of marine seismic exploration.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:
FIG. 1 is a schematic diagram of a multi-vessel multi-source seismic source array synchronous control method for marine node exploration according to an embodiment of the invention.
FIG. 2 is a flow chart of a method for synchronously controlling a multi-source seismic source array of a marine node exploration multi-vessel according to an embodiment of the invention.
FIG. 3 is a schematic diagram of single-vessel double-source alternate excitation synchronous control of a marine node exploration multi-vessel multi-source seismic source array synchronous control method according to an embodiment of the invention.
FIG. 4 is a schematic diagram of a computer device for operating a multi-source seismic source array synchronous control method for a marine node exploration multi-vessel according to an embodiment of the invention.
FIG. 5 is a schematic diagram of a marine node exploration multi-vessel multi-source seismic source array synchronous control device according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
The embodiment of the invention provides a multi-ship multi-source seismic source array synchronous control method for marine node exploration, which realizes multi-ship multi-source synchronous operation and comprises the following steps:
step 101: acquiring spatial position data of a reference center of an operation ship;
step 102: determining the space position and the navigation speed of the operation ship according to the reference center space position data of the operation ship;
step 103: acquiring distance and azimuth observation value data of a seismic source ship and a seismic source array;
step 104: determining the space position and the navigation speed of the seismic source array according to the distance between the seismic source ship and the seismic source array and the azimuth observation value data;
step 105: generating a random delay excitation time file;
step 106: determining the actual predicted shot firing time to a point according to the space position and the navigation speed of the operating ship, the space position and the navigation speed of the seismic source array and the randomness delay excitation time file;
step 107: and exciting the seismic source array according to the actual predicted point blasting time and the set limit blasting safety distance.
The embodiment of the invention provides a multi-ship multi-source seismic source array synchronous control method for marine node exploration, which comprises the steps of obtaining the spatial position and navigation speed of an operation ship and the spatial position and navigation speed of a seismic source array by obtaining the spatial position data of a reference center of the operation ship and the distance and direction observation value data between the seismic source ship and the seismic source array, determining the actual predicted moment of firing to a point by combining a generated randomness delay excitation time file, and then exciting the seismic source array under the set safety distance for limiting firing to realize multi-ship multi-source synchronous operation; the method realizes the high-efficiency mixed mining construction mode of marine node seismic exploration on the basis of ensuring the basic data of multi-ship operation seismic data separation, plays an important technical support role in the high-efficiency mixed mining technology of marine node seismic exploration, and plays a leading role in the high-efficiency acquisition of the subsequent marine seismic exploration.
As shown in fig. 1 and fig. 2, which are a schematic diagram of a method for synchronously controlling a multi-source array for marine node exploration and a flowchart of a method for synchronously controlling a multi-source array for marine node exploration, in an embodiment of the present invention, when the method for synchronously controlling a multi-source array for marine node exploration and a multi-source array for marine node exploration is specifically implemented, the method may include:
acquiring spatial position data of a reference center of an operation ship; determining the space position and the navigation speed of the operation ship according to the reference center space position data of the operation ship; acquiring distance and azimuth observation value data of a seismic source ship and a seismic source array; determining the space position and the navigation speed of the seismic source array according to the distance between the seismic source ship and the seismic source array and the azimuth observation value data; generating a random delay excitation time file; determining the actual predicted shot firing moment to a point according to the space position and the navigation speed of the operating ship, the space position and the navigation speed of the seismic source array and the randomness delay excitation time file; and exciting the seismic source array according to the actual predicted point blasting time and the set limit blasting safety distance.
In order to realize the multi-ship multi-source seismic source array synchronous control method for marine node exploration, the embodiment of the invention needs to be composed of a set of global satellite positioning receiver, a set of marine node exploration integrated navigation software, a plurality of sets of RGPS (relative positioning GPS) systems, a plurality of signal trigger synchronous controllers and a plurality of navigation workstations.
Wherein, a set of global satellite positioning receivers: the satellite positioning receiver comprises a satellite receiving antenna, a satellite positioning receiver host and a power supply system. For obtaining a vessel reference center spatial position of the vessel in the work area.
A set of ocean node exploration integrated navigation software comprises: and obtaining the spatial position and the navigation speed of the reference center position of the operating ship through the calculation of a Kalman filter according to the geodetic coordinates provided by the global satellite positioning receiver.
Multiple sets of RGPS systems: an RGPS positioning system is deployed on each source vessel to provide range and azimuth observations at a set frequency (e.g., 1 Hz) output. For calculating the spatial position and velocity of the seismic source array on each work vessel, wherein each set of RGPS systems includes a plurality of base stations.
A plurality of signals trigger the synchronization controller: and a signal synchronous controller is configured on each operation ship and used for providing signal triggering for the operation ship to predict the shot point time according to the real-time spatial position and the speed of the seismic source array calculated by navigation software. In order to ensure simultaneous excitation blasting construction of a plurality of seismic source ships and a plurality of seismic source arrays and separation of seismic data after mixed mining, a shaking random number is artificially introduced and the safety distance of blasting is limited when the point excitation blasting time is predicted.
A plurality of navigation workstations: and each operation ship is provided with a navigation workstation to run navigation software, displays the navigation state of the operation ship and records the coordinate information of synchronous triggering blasting into a file.
In a specific implementation of the method for synchronously controlling a multi-source seismic source array of a marine node exploration multi-vessel according to the embodiment of the present invention, in an embodiment, the determining a spatial position and a navigation speed of an operating vessel according to spatial position data of a reference center of the operating vessel includes:
and inputting the spatial position data of the reference center of the operation ship into a Kalman filter, and determining the spatial position and the navigation speed of the operation ship.
In the embodiment, the working ship reference central space position data acquired by the global satellite positioning receiver is input into a Kalman filter, and the working ship space position and the navigation speed are determined through calculation.
Space position coordinate A of satellite antenna installation position output by satellite positioning receiver 0 ＝(B 0 ，L 0 ，H 0 ) To a workstation installed with integrated navigation software; range and azimuth observations O of RGPS positioning system satellite antenna installation locations for seismic source array positioning i ＝(Bear i ，S i ) To a workstation installed with integrated navigation software; and transmitting the coordinate information and the observed value data to a database for recording and navigation software for calculation and display.
In a specific implementation of the method for synchronously controlling a multi-source seismic source array of a marine node exploration multi-vessel according to the embodiment of the present invention, in an embodiment, the acquiring distance and azimuth observation data of a seismic source vessel includes: and an RGPS positioning system is configured on the seismic source ship, and the distance and azimuth observation value data from a base station of the RGPS positioning system on the seismic source ship to a seismic source array tail marker are output through the RGPS positioning system according to the set frequency.
In an embodiment, an RGPS positioning system is deployed on each seismic vessel to provide a set frequency (e.g., 1 Hz) output of range and azimuth observations from the base station of the RGPS positioning system on the seismic vessel to the source array footer. For calculating the spatial position and velocity of the seismic source array on each work vessel.
In a specific implementation of the method for synchronously controlling a multi-source seismic source array of a marine node exploration multi-vessel according to the embodiment of the present invention, in an embodiment, the determining the spatial position and the navigation speed of the seismic source array according to the observed value data of the distance and the azimuth of the seismic source vessel includes:
and inputting the distance and azimuth observation value data of the seismic source ship and the seismic source array into a Kalman filter, and determining the spatial position and the navigation speed of the seismic source array.
In the implementation, the RGPS positioning system is adopted to acquire the acquired distance and azimuth observation value data between the base station of the RGPS positioning system on the seismic source ship and the tail mark of the seismic source array, the acquired distance and azimuth observation value data are input into a Kalman filter, and the spatial position and the navigation speed of the seismic source array are determined through calculation.
The satellite positioning receiver outputs the space position coordinates of the satellite antenna installation position to be input into a Kalman filter to obtain the space position (x) of the operation ship by calculation 0 ,y 0 ) And the speed of travel (v) x0 ,v y0 ). Calculating the real-time space position (x) of the seismic source array on each operating ship according to the distance and azimuth observation value and Kalman filtering algorithm of 1Hz frequency output provided by the RGPS positioning system arranged on each seismic source ship Gi ,y Gi ) Sum velocity (Vx) Gi ,Vy Gi )。
In a specific implementation of the method for synchronously controlling a multi-source seismic source array of a marine node exploration multi-vessel according to an embodiment of the present invention, in an embodiment, the generating a stochastic delay excitation time file includes:
generating a dithering random number;
setting a jitter random number range, and determining a jitter random number sequence;
and storing the jitter random number sequence as a random delay excitation time file according to the sequence order.
In the embodiment, in order to ensure the aliasing acquisition of a plurality of seismic source arrays of a plurality of seismic source ships and consider the non-correlation of the separation of subsequent seismic acquisition signal data, besides the randomness of operation ships caused by uncontrollable factors such as wave, wind and the like at the moment, artificially generated jitter random numbers are additionally added, and the randomness delay excitation blasting of each seismic source array on each operation ship is improved.
In a specific implementation of the method for synchronously controlling the marine node exploration multi-vessel multi-source seismic source array according to the embodiment of the present invention, in an embodiment, the dither random number may be generated as follows:
R i ＝MOD(a×R i-1 +b,c)
P i ＝R i /c
wherein i is the sequence order, i =1,2, 3. a. b, c are constants, a =18, b =139, c =256.0; p i Is a dithering random number; MOD () is a remainder function.
The above mentioned expression for generating the dithering random number is an example, and those skilled in the art can understand that, in implementation, the above formula may be modified in some forms and other parameters or data may be added as needed, or other specific formulas may be provided, and these modifications all fall into the scope of the present invention.
In specific implementation of the method for synchronously controlling the marine node exploration multi-vessel multi-source seismic source array, in one embodiment, the range of the dithering random number can be set and the dithering random number sequence can be determined as follows:
wherein, P i(k，l) Is a sequence of jittered random numbers; (k, l) is the jitter random number range, and the time unit is millisecond; p i Is a jittered random number.
The above mentioned expression for generating the dithering random number is an example, and those skilled in the art will understand that, in implementation, the above formula may be modified in some forms and other parameters or data may be added as needed, or other specific formulas may be provided, and these modifications are all within the scope of the present invention.
In one example of the embodiment of the present invention, the dithering random number range is set to be (1, 250) ms, and the above formula for determining the dithering random number sequence is:
the dithering random number sequence P obtained by the formula i(1，250) And storing the file as a random delayed excitation time file according to the sequence order.
In a specific implementation of the method for synchronously controlling a multi-source seismic source array of a marine node exploration multi-vessel according to the embodiment of the present invention, in an embodiment, the determining the actual predicted time to point blasting according to the spatial position and the navigation speed of the operating vessel, the spatial position and the navigation speed of the seismic source array, and the randomness delay excitation time file includes:
determining theoretically predicted blasting time according to the spatial position and the navigation speed of the operating ship and the spatial position and the navigation speed of the seismic source array;
and adding the jitter random number sequence in the random delay excitation time file and the theoretical predicted blasting time according to the sequence to determine the final actual predicted point blasting time.
The theoretical prediction of the blasting time refers to the calculation of the relative relationship between the space position and the navigation speed of an operation ship of a navigation system configured by a seismic source ship, the space position and the navigation speed of a seismic source array and the space position of a seismic exploration shot point design survey line point in the seismic exploration process of the marine node.
The actual predicted point blasting time is the blasting time after adding the jitter random number sequence and the time adjustment on the earthquake acquisition sampling point on the basis of the theoretical predicted blasting time. The time adjustment on the seismic acquisition sampling point comprises the following steps: and (4) adding a jitter random number sequence to the shot firing time according to theoretical prediction calculated by theoretical coordinates, and then converting the shot firing time to the time adjustment on the node acquisition sampling point.
In the embodiment, the theoretically predicted blasting time is calculated according to theoretical coordinates to obtain the theoretically predicted blasting time; in an embodiment, the theoretically predicted blasting time can be calculated according to the spatial position and the navigation speed of the operating ship, the spatial position and the navigation speed of the seismic source array. In the actual production operation, although influenced by the conditions of marine environment, actual operation air routes, weather and the like, when a plurality of seismic source ships excite operation in the same near sea area, the condition of exciting seismic waves at the same time still exists, so that the submarine seismic acquisition sensor receives artificial seismic wave signals at the same time, the artificial seismic wave signals cannot be effectively separated in the post-processing of seismic data, a large error of seismic acquisition and processing is generated, and the theoretically predicted blasting time is not enough to deal with the error generated in the actual production operation, therefore, a dithering random number sequence is added in the embodiment, the dithering random number sequence in the random delay excitation time file is added with the theoretically predicted blasting time according to the sequence, and the theoretically predicted blasting time calculated according to the theoretical coordinates and the dithering random number sequence are added to be converted to the time adjustment on the node acquisition sampling point to determine the final actual predicted blasting time, and the multi-ship multi-source synchronous excitation operation can be realized under the set safety distance limiting blasting; the marine node seismic exploration high-efficiency mixed mining construction mode can be realized on the basis of ensuring the separation of seismic data of multi-ship operation, the effect of important technical support on the high-efficiency mixed mining technology of marine node seismic exploration is achieved, and the leading effect on the later high-efficiency acquisition of marine seismic exploration is achieved.
In a specific implementation of the method for synchronously controlling the marine node exploration multi-vessel multi-source seismic source array according to the embodiment of the invention, in one embodiment, the actual predicted time to point blasting can be determined as follows:
FTB to point ＝PTB Prediction +P i(k，l) +t
Wherein, FTB To point Predicting the actual point blasting time of the operating ship; PTB Prediction Predicting blasting time for a theory calculated according to the theoretical coordinate; p i(k，l) Is a sequence of jittered random numbers; t is according toAnd (3) adding a jitter random number sequence to the theoretically predicted blasting time calculated by the theoretical coordinate, and then converting to a node for collecting and sampling time adjustment.
The aforementioned expression for determining the actual predicted time to point blasting is an example, and those skilled in the art will understand that the above formula may be modified in certain forms and other parameters or data may be added or other specific formulas may be provided according to the needs, and such modifications are all within the scope of the present invention.
As shown in fig. 3, a schematic diagram of single-vessel dual-source alternate excitation synchronous control of a marine node exploration multi-vessel multi-source array synchronous control method according to an embodiment of the present invention is shown, and when the marine node exploration multi-vessel multi-source array synchronous control method according to the embodiment of the present invention is specifically implemented, in an embodiment, the exciting the source array according to a point-to-point shot time predicted actually and according to a set safety distance for limiting shot, includes:
when single-ship double-source alternate excitation synchronous control is carried out, the excitation time of a left source and a right source is determined based on the reference line in the middle of double sources and the actual point blasting time, and the seismic source array is excited in an alternate excitation mode.
When multi-ship multi-source random excitation synchronous control is performed, the seismic source array is excited according to the actual predicted point blasting time when each ship reaches a target point based on array position information sharing and a set limit blasting safe distance.
In the embodiment, the functions of early warning between the operating ship and the seismic source array and the barrier, warning in a shallow water area and the like can be realized by setting the limit blasting safety distance, and the distance between the operating ship and the seismic source array can be displayed in real time through navigation software.
In actual blasting operation of an operating ship, a random delay excitation time file generated manually is introduced into navigation software, then single-ship double-source respectively calculates sequentially based on reference lines of two array central points to obtain theoretical prediction blasting time of a left source and a right source according to theoretical coordinates, then delay excitation time values are taken out according to the sequence in the random delay excitation time file, the theoretical prediction blasting time calculated according to the theoretical coordinates is added, and the final actual prediction blasting time is obtained; according to position information shared by navigation software among multiple ships, under the requirements of production and minimum space distance of ship safety, the position from the ship to a target point is predicted, and random delay time is added for prediction excitation.
As shown in fig. 1 and 2, a reference center spatial position of the work vessel in the work area is first obtained from the satellite positioning receiver. And inputting the data into a Kalman filter to calculate the spatial position and the navigation speed of the operating ship. And calculating the real-time spatial position and speed of the seismic source array on each operating ship according to a distance observation value and an azimuth observation value which are provided with 1Hz frequency output by an RGPS positioning system arranged on each seismic source ship and a Kalman filtering algorithm. In order to ensure simultaneous excitation blasting construction of a plurality of seismic source ships and a plurality of seismic source arrays and separation of seismic data after mixed mining, a shaking random number is artificially introduced and the safety distance of blasting is limited when the point excitation blasting time is predicted. And the navigation software imports an artificially generated random delay excitation time file, and after the excitation time is predicted each time, the accurate actual predicted point blasting moment is obtained by adding the random time value to the sequence in the random delay excitation time file. And a signal synchronous controller is configured on each operation ship and used for providing signal triggering for the operation ship to predict the shot point time according to the real-time spatial position and the speed of the seismic source array calculated by navigation software. After the firing is completed, the navigation system records the used random delay firing time into a file.
The marine node exploration multi-ship multi-source seismic source array synchronous control method can generate delay excitation time, lead in and use the delay excitation time to a marine node exploration integrated navigation system, can check and control the minimum space distance of ships in real time, realizes multi-ship multi-source independent construction blasting operation, and improves marine node exploration acquisition construction efficiency.
Fig. 4 is a schematic diagram of a computer device for operating a multi-vessel multi-source array synchronous control method for marine node exploration according to an embodiment of the present invention, and as shown in fig. 4, the embodiment of the present invention further provides a computer device including a memory, a processor, and a computer program stored in the memory and operable on the processor, where the processor implements the multi-vessel multi-source array synchronous control method for marine node exploration when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium, and the computer readable storage medium stores a computer program for executing the method for synchronously controlling the marine node exploration multi-vessel multi-source seismic source array.
The embodiment of the invention also provides a device for synchronously controlling the multi-vessel multi-source seismic source array for marine node exploration, which is described in the following embodiment. The principle of the device for solving the problems is similar to that of a multi-ship multi-source seismic source array synchronous control method for marine node exploration, so that the implementation of the device can refer to the implementation of the multi-ship multi-source seismic source array synchronous control method for marine node exploration, and repeated parts are not repeated.
As shown in fig. 5, an embodiment of the present invention further provides a marine node exploration multi-vessel multi-source seismic source array synchronization control apparatus, including:
the working ship reference center spatial position data acquisition module 501 is used for acquiring the working ship reference center spatial position data;
a working vessel spatial position and navigation speed determining module 502 for determining the spatial position and navigation speed of the working vessel according to the working vessel reference center spatial position data;
a distance and azimuth observation value data obtaining module 503 for obtaining distance and azimuth observation value data of the seismic source ship and the seismic source array;
the seismic source array spatial position and navigation speed determining module 504 is used for determining the spatial position and navigation speed of the seismic source array according to the distance and azimuth observed value data between the seismic source ship and the seismic source array;
a random delayed excitation time file generating module 505, configured to generate a random delayed excitation time file;
an actual predicted point-to-point blasting time determination module 506, configured to determine an actual predicted point-to-point blasting time according to the spatial position and the navigation speed of the workboat, the spatial position and the navigation speed of the seismic source array, and the randomness delay excitation time file;
and the seismic source array excitation module 507 is used for exciting the seismic source array according to the actual predicted point blasting time and the set limit blasting safety distance.
In an embodiment of the invention, when the marine node exploration multi-vessel multi-source seismic source array synchronous control device provided in the embodiment of the invention is implemented specifically, the working vessel spatial position and navigation speed determining module is specifically configured to:
and inputting the spatial position data of the reference center of the operation ship into a Kalman filter to determine the spatial position and the navigation speed of the operation ship.
In specific implementation, in an embodiment, the distance and azimuth observation value data acquisition module of the source ship is specifically configured to: and an RGPS positioning system is configured on the seismic source ship, and the distance and azimuth observation value data between a base station of the RGPS positioning system on the seismic source ship and a tail marker on a seismic source array are output through the RGPS positioning system according to the set frequency.
In specific implementation of the multi-vessel multi-source seismic source array synchronous control device for marine node exploration provided in the embodiment of the present invention, in an embodiment, the seismic source array spatial position and navigation speed determination module is specifically configured to:
and inputting the distance and azimuth observation value data of the seismic source ship and the seismic source array into a Kalman filter, and determining the spatial position and the navigation speed of the seismic source array.
In a specific implementation of the multi-source array synchronous control device for marine node exploration, in an embodiment, the random delay excitation time file generation module is specifically configured to:
generating a dithering random number;
setting a jitter random number range, and determining a jitter random number sequence;
and storing the jitter random number sequence as a random delay excitation time file according to the sequence order.
In specific implementation of the multi-vessel multi-source seismic source array synchronous control device for marine node exploration provided in the embodiment of the present invention, in an embodiment, the random delay excitation time file generation module is further configured to generate a dithering random number according to the following manner:
R i ＝MOD(a×R i-1 +b,c)
P i ＝R i /c
wherein i is the sequence order, i =1,2, 3., n-1, n; a. b, c are constants, a =18, b =139, c =256.0; p is i Is a dithering random number; MOD () is the remainder function.
In a specific implementation of the multi-source array synchronous control device for marine node exploration, in an embodiment, the random delay excitation time file generation module is further configured to set a range of a jittering random number and determine a jittering random number sequence according to the following manner:
wherein, P i(k，l) Is a sequence of jittered random numbers; (k, l) is the jitter random number range in milliseconds; p is i Is a jittered random number.
In a specific implementation of the multi-source array synchronous control device for marine node exploration, in an embodiment, the actual predicted point-to-point blasting time determination module is specifically configured to:
determining theoretically predicted blasting time according to the spatial position and the navigation speed of the operation ship and the spatial position and the navigation speed of the seismic source array;
and adding the jitter random number sequence in the random delay excitation time file and the theoretically predicted blasting time according to the sequence to determine the actually predicted point blasting time.
In a specific implementation of the multi-source array synchronous control device for marine node exploration, in an embodiment, the actual predicted time-to-point blasting time determination module is further configured to determine the actual predicted time-to-point blasting time according to the following manner:
FTB to a point ＝PTB Prediction +P i(k，l) +t
Wherein, FTB To point Predicting the actual point blasting time of the operating ship; PTB Prediction Predicting blasting time for a theory calculated according to the theoretical coordinate; p is i(k，l) Is a sequence of dithering random numbers; and t is the time adjustment of converting the shot firing time calculated according to the theoretical coordinate into a node acquisition sampling point after adding the jitter random number sequence.
In specific implementation of the multi-vessel multi-source seismic source array synchronous control device for marine node exploration, in an embodiment, the seismic source array excitation module is specifically configured to:
when single-ship double-source alternate excitation synchronous control is carried out, the excitation time of a left source and a right source is determined based on a reference line in the middle of double sources and the actual point blasting time prediction, and the seismic source array is excited in an alternate excitation mode.
When multi-ship multi-source random excitation synchronous control is performed, the seismic source array is excited according to the actual predicted point blasting time when each ship reaches a target point based on array position information sharing and a set limit blasting safe distance.
In summary, according to the method and the device for synchronously controlling the marine node exploration multi-vessel multi-source seismic source array, the spatial position and the navigation speed of the operating vessel and the spatial position and the navigation speed of the seismic source array are obtained by acquiring the spatial position data of the reference center of the operating vessel and the distance and direction observation data between the seismic source vessel and the seismic source array, the final actual shot firing time to point is determined by combining the generated random delay firing time file, and then the seismic source array is fired under the set shot firing limiting safety distance to realize multi-vessel multi-source synchronous operation; the invention realizes the efficient hybrid mining construction mode of ocean node exploration on the basis of ensuring the basic data of multi-ship operation seismic data separation, plays an important technical support role for the efficient hybrid mining technology of ocean node seismic exploration, and plays a leading role in the later efficient acquisition of ocean seismic exploration.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (20)
1. A multi-ship multi-source seismic source array synchronous control method for marine node exploration is characterized by comprising the following steps:
acquiring spatial position data of a reference center of an operation ship;
determining the space position and the navigation speed of the operation ship according to the reference center space position data of the operation ship;
acquiring distance and azimuth observation value data of a seismic source ship and a seismic source array;
determining the space position and the navigation speed of the seismic source array according to the distance between the seismic source ship and the seismic source array and the azimuth observation value data;
generating a random delay excitation time file;
determining the actual predicted shot firing moment to a point according to the space position and the navigation speed of the operating ship, the space position and the navigation speed of the seismic source array and the randomness delay excitation time file;
exciting the seismic source array according to the actual predicted point blasting time and the set limit blasting safety distance;
the method for determining the actual predicted shot firing moment at the point according to the space position and the navigation speed of the operating ship, the space position and the navigation speed of the seismic source array and the randomness delay excitation time file comprises the following steps:
determining theoretically predicted blasting time according to the spatial position and the navigation speed of the operation ship and the spatial position and the navigation speed of the seismic source array;
and adding the jitter random number sequence in the random delay excitation time file and the theoretically predicted blasting time according to the sequence to determine the actually predicted point blasting time.
2. The method of claim 1, wherein determining a spatial position and a navigational speed of the work vessel based on the work vessel reference central spatial position data comprises:
and inputting the spatial position data of the reference center of the operation ship into a Kalman filter, and determining the spatial position and the navigation speed of the operation ship.
3. The method of claim 1, wherein obtaining range and azimuth observation data for the source vessel from the source array comprises: and an RGPS positioning system is configured on the seismic source ship, and the distance and azimuth observation value data between a base station of the RGPS positioning system on the seismic source ship and a tail marker on a seismic source array are output through the RGPS positioning system according to the set frequency.
4. The method of claim 1, wherein determining the spatial location and the navigation velocity of the source array based on the range and azimuth observations of the source vessel from the source array comprises:
and inputting the distance and azimuth observation value data of the seismic source ship and the seismic source array into a Kalman filter, and determining the spatial position and the navigation speed of the seismic source array.
5. The method of claim 1, wherein generating a stochastic delayed firing time file comprises:
generating a dithering random number;
setting a jitter random number range, and determining a jitter random number sequence;
and storing the jitter random number sequence as a random delay excitation time file according to the sequence order.
6. The method of claim 5, wherein the dithering random number is generated as follows:
R i ＝MOD(a×R i-1 +b,c)
P i ＝R i /c
wherein i is the sequence order, i =1,2, 3., n-1, n; a. b, c are constants, a =18, b =139, c =256.0; p i Is a dithering random number; MOD () is the remainder function.
7. The method of claim 6, wherein the range of dithering random numbers is set and the sequence of dithering random numbers is determined as follows:
wherein, P i(k，l) Is a sequence of dithering random numbers; (k, l) is the jitter random number range, and the time unit is millisecond; p is i Is a jittered random number.
8. The method of claim 5, wherein the actual predicted point-in-time firing is determined as follows:
FTB to point ＝PTB Prediction +P i(k，l) +t
Wherein, FTB To point Predicting the actual moment of blasting to a point for the operation ship; PTB Prediction Predicting blasting time for a theory calculated according to the theoretical coordinate; p is i(k，l) Is a sequence of jittered random numbers; and t is the time adjustment of converting the shot firing time calculated according to the theoretical coordinate into a node acquisition sampling point after adding the jitter random number sequence.
9. The method of claim 1, wherein activating the array of seismic sources according to a set, limited safe distance to fire based on an actual predicted time-to-point firing comprises:
when single-ship double-source alternate excitation synchronous control is carried out, the excitation time of a left source and a right source is determined based on the combination of a reference line in the middle of double sources and the actual predicted point blasting time, and the seismic source array is excited in an alternate excitation mode;
when multi-ship multi-source random excitation synchronous control is performed, the seismic source array is excited according to the actual predicted point blasting time when each ship reaches a target point based on array position information sharing and set limiting blasting safe distance.
10. A marine node exploration multi-ship multi-source seismic source array synchronous control device is characterized by comprising:
the working ship reference center spatial position data acquisition module is used for acquiring the working ship reference center spatial position data;
the working ship spatial position and navigation speed determining module is used for determining the working ship spatial position and navigation speed according to the working ship reference center spatial position data;
the distance and azimuth observation value data acquisition module is used for acquiring distance and azimuth observation value data of the seismic source ship and the seismic source array;
the seismic source array spatial position and navigation speed determining module is used for determining the seismic source array spatial position and navigation speed according to the distance and direction observed value data between the seismic source ship and the seismic source array;
the random delay excitation time file generation module is used for generating a random delay excitation time file;
the actual predicted point-to-point blasting moment determining module is used for determining the actual predicted point-to-point blasting moment according to the space position and navigation speed of the operating ship, the space position and navigation speed of the seismic source array and the randomness delay excitation time file;
the seismic source array excitation module is used for exciting the seismic source array according to the actual predicted point blasting time and the set limit blasting safety distance;
the actual prediction to point blasting moment determining module is specifically used for:
determining theoretically predicted blasting time according to the spatial position and the navigation speed of the operating ship and the spatial position and the navigation speed of the seismic source array;
and adding the jitter random number sequence in the random delay excitation time file to the theoretically predicted blasting time according to the sequence order to determine the actual predicted point blasting time.
11. The apparatus of claim 10, wherein the work vessel spatial position and travel speed determination module is specifically configured to:
and inputting the spatial position data of the reference center of the operation ship into a Kalman filter, and determining the spatial position and the navigation speed of the operation ship.
12. The apparatus of claim 10, wherein the survey data acquisition module is to obtain range and azimuth observations of the source vessel from the array of sources, and is to: and an RGPS positioning system is configured on the seismic source ship, and the distance and azimuth observation value data between a base station of the RGPS positioning system on the seismic source ship and a tail marker on a seismic source array are output through the RGPS positioning system according to the set frequency.
13. The apparatus of claim 10, wherein the source array spatial location and navigation velocity determination module is specifically configured to:
and inputting the distance and azimuth observation value data of the seismic source ship and the seismic source array into a Kalman filter, and determining the spatial position and the navigation speed of the seismic source array.
14. The apparatus of claim 10, wherein the stochastic delayed excitation time file generation module is specifically configured to:
generating a dithering random number;
setting a jitter random number range and determining a jitter random number sequence;
and storing the jitter random number sequence as a random delay excitation time file according to the sequence order.
15. The apparatus of claim 14, wherein the random delayed firing time file generation module is further configured to generate dithering random numbers as follows:
R i ＝MOD(a×R i-1 +b,c)
P i ＝R i /c
wherein i is the sequence order, i =1,2, 3. a. b, c are constants, a =18, b =139, c =256.0; p is i Is a dithering random number; MOD () is a remainder function.
16. The apparatus of claim 15, wherein the random delay firing time file generating module is further configured to set a range of jittered random numbers and determine the sequence of jittered random numbers as follows:
wherein, P i(k，l) Is a sequence of jittered random numbers; (k, l) is the jitter random number range, and the time unit is millisecond; p i Is a jittered random number.
17. The apparatus of claim 14, wherein the actual predicted to point firing time determination module is further configured to determine the actual predicted to point firing time as follows:
FTB to point ＝PTB Prediction +P i(k，l) +t
Wherein, FTB To point Predicting the actual point blasting time of the operating ship; PTB Prediction Predicting blasting time for a theory calculated according to the theoretical coordinate; p i(k，l) Is a sequence of jittered random numbers; and t is the time adjustment of converting the shot firing time calculated according to the theoretical coordinate into a node acquisition sampling point after adding the jitter random number sequence.
18. The apparatus of claim 10, wherein the source array excitation module is specifically configured to:
when single-ship double-source alternate excitation synchronous control is carried out, the excitation time of a left source and a right source is determined based on a reference line in the middle of double sources and the actual point blasting time prediction, and the seismic source array is excited in an alternate excitation mode;
when multi-ship multi-source random excitation synchronous control is performed, the seismic source array is excited according to the actual predicted point blasting time when each ship reaches a target point based on array position information sharing and set limiting blasting safe distance.
19. A computer apparatus comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the method of synchronous control for a marine node survey multi-vessel multi-source array of any of claims 1 to 9.
20. A computer-readable storage medium storing a computer program for executing a method for implementing the synchronous control of a marine node survey multi-vessel multi-source seismic source array according to any one of claims 1 to 9.
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