CN111708093B - Multi-mode submarine cable buried depth detection method and detection system - Google Patents

Multi-mode submarine cable buried depth detection method and detection system Download PDF

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CN111708093B
CN111708093B CN202010441672.1A CN202010441672A CN111708093B CN 111708093 B CN111708093 B CN 111708093B CN 202010441672 A CN202010441672 A CN 202010441672A CN 111708093 B CN111708093 B CN 111708093B
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submarine cable
watertight
fluxgate
triaxial fluxgate
magnetic field
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CN111708093A (en
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张磊
乐彦杰
胡凯
徐蓓蓓
何旭涛
孙璐
陶诗洁
高震
杨国卿
梁尚清
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Hangzhou Volume Hong Technology Co ltd
Zhejiang Zhoushan Institute Of Oceanic Electric Power Transmission Co ltd
State Grid Zhejiang Electric Power Co Ltd
Zhoushan Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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Hangzhou Volume Hong Technology Co ltd
Zhejiang Zhoushan Institute Of Oceanic Electric Power Transmission Co ltd
State Grid Zhejiang Electric Power Co Ltd
Zhoushan Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
    • G01V3/165—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with magnetic or electric fields produced or modified by the object or by the detecting device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/26—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring depth
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/08—Locating faults in cables, transmission lines, or networks
    • G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
    • G01R31/083—Locating faults in cables, transmission lines, or networks according to type of conductors in cables, e.g. underground
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/08—Locating faults in cables, transmission lines, or networks
    • G01R31/088—Aspects of digital computing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/02—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with propagation of electric current

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Abstract

The invention relates to a multi-mode submarine cable buried depth detection method and a multi-mode submarine cable buried depth detection system, wherein the multi-mode submarine cable buried depth detection system comprises a measurement ship, an upper computer, a watertight towed body and a watertight cable, wherein the upper computer is arranged on the measurement ship, and a first triaxial fluxgate, a second triaxial fluxgate, an altimeter, an attitude instrument and a lower computer are arranged in the watertight towed body; the method comprises the following steps: inputting alternating current or direct current to the submarine cable through a current source; connecting the watertight towed body with an upper computer on a measuring ship by using a watertight cable; the measuring ship drags the watertight towed body through the watertight cable to scan the sea area; the first triaxial fluxgate and the second triaxial fluxgate respectively collect three components of a magnetic field, the altimeter collects the distance between the first triaxial fluxgate and the seabed and the Euler angle collected by the attitude instrument, and data are transmitted to the upper computer through the watertight cable; and the upper computer calculates the submarine cable burial depth according to the current type input to the submarine cable and the acquired data. The invention has various measuring forms, can measure the submarine cable burial depth for both alternating current and direct current of the submarine cable, and has simple operation.

Description

Multi-mode submarine cable buried depth detection method and detection system
Technical Field
The invention relates to the field of submarine cable operation and maintenance, in particular to a multi-mode submarine cable buried depth detection method and a multi-mode submarine cable buried depth detection system, which are used for improving submarine cable buried depth measurement efficiency.
Background
Submarine cable burial depth detection is an indispensable link for submarine cable operation and maintenance. When the submarine cable breaks down, the accuracy and the measuring efficiency of the submarine cable buried depth data will influence the time cost and the economic cost of maintenance. Currently, the submarine cable burial depth is determined by receiving the magnetic field change generated in the space by the submarine cable through a receiving coil instrument. The common methods are that a probe measures the buried depth of a submarine cable and a multi-coil measures the buried depth.
The probe-based submarine cable detection system comprises a probe sensing module, an interference signal filtering module, a peak signal extraction module, a core processor module, a keyboard module, a liquid crystal display module and a power supply module, wherein the probe sensing module is used for detecting the submarine cable burial depth, and the double-probe-based submarine cable detection system is disclosed as CN 105044784A; the probe sensing module adopts a double-probe structure, the two probes are connected through a connecting rod with a fixed length, the axial directions of the two probes are parallel to each other and are perpendicular to the connecting rod, and the detection method comprises the steps of detecting the position, the trend and the burial depth of the submarine cable.
The multi-coil buried depth detection device comprises three groups of induction coils for detecting induced electromotive force of a submarine cable, wherein the three groups of induction coils are mutually orthogonal, each group of induction coil is an annular coil, the detection device also comprises a data transmission module and an upper computer, and the three groups of induction coils, the data transmission module and the upper computer are sequentially in communication connection; the three groups of induction coils transmit the acquired corresponding induced electromotive force to the data transmission module, and the data transmission module processes the information of the maximum induced electromotive force and transmits the information to the upper computer.
The two modes are adopted to measure the buried depth of the submarine cable, and the method is only suitable for the situation that the submarine cable is electrified with alternating current, is not suitable for the situation that the submarine cable is electrified with direct current, and has a single application range for measuring the buried depth of the submarine cable; when multiple coils are used for measuring the burial depth, the selection of the optimal working frequency of the coils can be influenced by the structure of the coils, and the determination of the structure of the coils means the determination of the optimal working frequency of the coils; one of 25Hz, 50Hz and 133Hz is generally selected for measurement, and the measurement frequency is not continuous.
Disclosure of Invention
The invention aims to provide a multi-mode submarine cable buried depth detection method and system aiming at the defects of single application range, discontinuous measurement frequency and the like of submarine cable buried depth measurement in the prior art.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention relates to a multi-mode submarine cable buried depth detection method, which comprises the following steps:
1) inputting alternating current or direct current to the submarine cable through a current source;
2) connecting a watertight towed body internally provided with a first triaxial fluxgate, a second triaxial fluxgate, an altimeter, an attitude instrument and a lower computer with an upper computer on a measuring ship by adopting a watertight cable;
3) placing the watertight towed body in seawater, towing the watertight towed body by a measuring ship through a watertight cable and sweeping the sea area until the submarine cable is positioned under the measuring ship, and hovering the measuring ship above the submarine cable;
4) the first triaxial fluxgate collects the position E thereof 1 Three components of the magnetic field, and the second three-axis fluxgate collects the position E thereof 2 The altimeter acquires the distance h between the first triaxial fluxgate and the seabed 0 The attitude instrument acquires X, Y, Z Euler angles in the axial direction, and the acquired data is transmitted to the upper computer through the lower computer and the watertight cable;
5) and the upper computer calculates the buried depth of the submarine cable according to the type of the current input to the submarine cable and the acquired data.
The current source in step 1) of the present invention is to input ac or dc power to the submarine cable, and may be a current source carried by the submarine cable or a current source provided separately, and specifically may be an alternating current source or a dc current source.
Preferably, in the step 2), the second triaxial fluxgate is located right below the first triaxial fluxgate, the altimeter is as high as the first triaxial fluxgate, the second triaxial fluxgate, the altimeter and the attitude instrument are all in communication connection with the lower computer, and the lower computer is in communication connection with the upper computer through a watertight cable.
Preferably, the current source inputs alternating current in step 1), and the current value I is recorded after the submarine cable outputs a sinusoidal current signal with a stable frequency ω, and the specific step of calculating the burial depth of the submarine cable in step 5) includes:
5.1) forming an Euler rotation matrix R according to the collected Euler angles in the direction of the X, Y, Z axis X (α)、R Y (β)、R Z (gamma), Euler rotation matrix R X (α)、R Y (β)、R Z The calculation of (γ) is:
Figure BDA0002504215680000021
Figure BDA0002504215680000022
Figure BDA0002504215680000023
wherein, alpha, beta and gamma are respectively an X-axis Euler angle, a Y-axis Euler angle and a Z-axis Euler angle;
5.2) correcting three components of the magnetic field at the first triaxial fluxgate and the second triaxial fluxgate through the Euler rotation matrix, wherein the correction counting mode is as follows:
Figure BDA0002504215680000031
Figure BDA0002504215680000032
wherein, B x1 、B Y1 、B Z1 Three components of magnetic field, B, collected for the first tri-axial fluxgate x2 、B Y2 、B Z2 Three components of magnetic field, B, collected for the second tri-axial fluxgate x1 ’、B Y1 ’、B Z1 ’、B x2 ’、B Y2 ’、B Z2 ' is the three components of the magnetic field after correction;
5.3) respectively carrying out Fourier transformation on the corrected three components of the magnetic field, and respectively taking the amplitude A of the X, Y, Z-axis magnetic field vector of the two three-axis fluxgates at the fixed frequency omega x1 、A Y1 、A Z1 、A x2 、A Y2 、A Z2 ；
5.4) calculating the distance between the first triaxial fluxgate and the submarine cable, wherein the distance is calculated in the following mode:
Figure BDA0002504215680000033
R 1 ＝R 2 +d 0 (7)；
wherein mu 0 For vacuum permeability, R 1 Is the distance, R, between the first triaxial fluxgate and the submarine cable 2 The distance between the second triaxial fluxgate and the submarine cable，d 0 The distance between the first triaxial fluxgate and the second triaxial fluxgate is defined;
5.5) calculating the buried depth h of the submarine cable, wherein the calculation formula is as follows:
h＝R 1 -h 0 (8)；
wherein h is 0 The distance between the first triaxial fluxgate and the seabed is the output of the altimeter.
Preferably, the input of the direct current through the current source in step 1) is direct current, and the specific step of calculating the burial depth of the submarine cable in step 5) includes:
5.1) forming an Euler rotation matrix R according to the collected Euler angles in the direction of the X, Y, Z axis X (α)、R Y (β)、R Z (gamma), Euler rotation matrix R X (α)、R Y (β)、R Z The calculation of (γ) is:
Figure BDA0002504215680000034
Figure BDA0002504215680000041
Figure BDA0002504215680000042
wherein, alpha, beta and gamma are respectively an X-axis Euler angle, a Y-axis Euler angle and a Z-axis Euler angle;
5.2) correcting three components of the magnetic field at the first triaxial fluxgate and the second triaxial fluxgate through the Euler rotation matrix, wherein the correction counting mode is as follows:
Figure BDA0002504215680000043
Figure BDA0002504215680000044
wherein, B x1 、B Y1 、B Z1 Three components of magnetic field, B, collected for the first tri-axial fluxgate x2 、B Y2 、B Z2 Three components of magnetic field, B, collected for the second tri-axial fluxgate x1 ’、B Y1 ’、B Z1 ’、B x2 ’、B Y2 ’、B Z2 ' is the corrected three components of the magnetic field;
5.3) calculating the total magnetic field B according to the corrected three components of the magnetic field 1 、B 2 The calculation formula is as follows:
Figure BDA0002504215680000045
Figure BDA0002504215680000046
5.4) according to the total magnetic field B 1 、B 2 Calculating the distance between the first triaxial fluxgate and the submarine cable, wherein the calculation formula is as follows:
Figure BDA0002504215680000047
Figure BDA0002504215680000048
R 1 ＝R 2 +d 0 (13)；
wherein k is a proportionality coefficient, R 1 Is the distance, R, between the first triaxial fluxgate and the submarine cable 2 Is the distance between the second triaxial fluxgate and the submarine cable, d 0 The distance between the first triaxial fluxgate and the second triaxial fluxgate is defined;
5.5) calculating the buried depth h of the submarine cable, wherein the calculation formula is as follows:
h＝R 1 -h 0 (8)；
h 0 the distance between the first triaxial fluxgate and the seabed is the output of the altimeter.
Preferably, in the step 3), the measuring ship drags the watertight towed body through the watertight cable and rapidly scans the sea area by adopting an S-shaped route, the triaxial fluxgate continuously measures the X-axis magnetic field in the scanning process and transmits the X-axis magnetic field to the upper computer through the watertight cable, the upper computer generates an X-axis magnetic field waveform according to the X-axis magnetic field of the continuous side, and when the X-axis magnetic field waveform has a peak value, the sea cable is positioned under the measuring ship.
Preferably, when the input of the alternating current to the submarine cable is alternating current, the method further comprises the step 6), and the step 6) comprises the following steps: adjusting the frequency omega of the current, and repeating the steps 1) to 5) to obtain the submarine cable buried depth under continuous frequency.
The invention also relates to a multi-mode submarine cable buried depth detection system, which comprises a measuring ship, an upper computer, a watertight towed body and a watertight cable; the upper computer is arranged on the measuring ship; the watertight towed body is connected with the measuring ship through a watertight cable, a first triaxial fluxgate and a second triaxial fluxgate for collecting three components of a magnetic field and a distance h between the first triaxial fluxgate and the seabed are arranged in the watertight towed body 0 The height gauge, the attitude instrument used for collecting the Euler angle in the X, Y, Z axis direction and the lower computer used for receiving and transmitting data are all in communication connection with the lower computer, and the lower computer is in communication connection with the upper computer through a watertight cable.
Preferably, the second triaxial fluxgate is located right below the first triaxial fluxgate, and the altimeter is as high as the first triaxial fluxgate.
Preferably, the watertight towed body comprises a nonmetal watertight bin, and the first triaxial fluxgate, the second triaxial fluxgate, the altimeter, the attitude instrument and the lower computer are all fixed in the nonmetal watertight bin.
Preferably, the device further comprises a current source for inputting current to the submarine cable, wherein the current source is an alternating current source or a direct current source.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
1. the method selects a corresponding algorithm according to the type of the current input to the submarine cable, calculates the buried depth of the submarine cable according to the acquired data, can measure the buried depth of the submarine cable for both alternating current and direct current of the submarine cable, and has wider application range.
2. When alternating current is input into the submarine cable, the submarine cable burial depth can be repeatedly measured by adjusting the frequency omega of the current, and the submarine cable burial depth under continuous frequency can be obtained.
3. The invention only needs to operate the high-power alternating current source, the watertight towed body and the upper computer, and has simple operation.
Drawings
FIG. 1 is a block diagram of a multi-mode submarine cable burial depth detection system according to an embodiment;
fig. 2 is a block diagram of a multi-mode submarine cable buried depth detection system according to the second embodiment and the third embodiment;
FIG. 3 is a block diagram of a surface tow;
fig. 4 is a schematic diagram of the relative positions of the measuring ship, the submarine cable and the two fluxgates.
Description of the labeling: the method comprises the following steps of 1-current source, 2-watertight towed body, 3-first triaxial fluxgate, 4-second triaxial fluxgate, 5-altimeter, 6-attitude instrument, 7-lower computer, 8-watertight cable, 9-upper computer, 10-measuring ship and 11-submarine cable.
Detailed Description
In order to further understand the present invention, the following examples are described in detail, and the following examples are carried out on the premise of the technical solution of the present invention to give detailed embodiments, but the scope of the present invention is not limited to the following examples.
Example one
Referring to fig. 1 and 3, the present embodiment relates to a multi-mode submarine cable buried depth detection system, which comprises a survey vessel 10, an upper computer 9, a watertight towed body 2 and a watertight cable 8; the upper computer 9 is arranged on the measuring ship 10; the watertight towed body 2 is connected with a measuring ship through a watertight cable 8, the watertight towed body 2 comprises a nonmetal watertight bin, and a first sensor for acquiring three components of a magnetic field is arranged inside the watertight towed body 2The three-axis fluxgate 3 and the second three-axis fluxgate 4 are used for acquiring the distance h between the first three-axis fluxgate and the seabed 0 The height gauge 5, the attitude instrument 6 used for collecting the Euler angle in the direction of the X, Y, Z axis and the lower computer 7 used for receiving and transmitting data, the second triaxial fluxgate 4 is positioned under the first triaxial fluxgate 3, the height gauge 5 is as high as the first triaxial fluxgate 3, the second triaxial fluxgate 4, the height gauge 5 and the attitude instrument 6 are all in communication connection with the lower computer 7, the lower computer 7 is in communication connection with the upper computer 9 through a watertight cable 8, and the first triaxial fluxgate 3, the second triaxial fluxgate 4, the height gauge 5, the attitude instrument 6 and the lower computer 7 are all fixed in a non-metal watertight bin.
The first triaxial fluxgate 3 and the second triaxial fluxgate 4 are Mag-13 triaxial fluxgates manufactured by british Bartington company; the attitude instrument 6 adopts a three-dimensional attitude instrument; the non-metal watertight cabin is made of carbon fiber materials; the watertight cable 8 adopts a multi-core Kevlar cable; the altimeter 5 uses a VA500 ocean floor altimeter from Valeport.
In this embodiment, the multi-mode submarine cable burial depth detection system is adopted to detect the burial depth of a submarine cable which normally works, and the inside of the submarine cable is provided with alternating current under normal work, and the multi-mode submarine cable burial depth detection method includes the following steps:
1) in the embodiment, the submarine cable works normally, no current needs to be input into the submarine cable 11 additionally, and the current value I in normal working is recorded;
2) a watertight cable 8 is adopted to connect the watertight towed body 2 internally provided with the first triaxial fluxgate 3, the second triaxial fluxgate 4, the altimeter 5, the attitude instrument 6 and the lower computer 7 with an upper computer 9 on a measuring ship 10;
3) the method comprises the steps that a watertight towed body 2 is placed in seawater, a measuring ship 10 drags the watertight towed body 2 through a watertight cable 8 and carries out rapid sweeping measurement on a sea area by adopting an S-shaped route, a triaxial fluxgate continuously measures an X-axis magnetic field in the sweeping measurement process and transmits the X-axis magnetic field to an upper computer through the watertight cable, the upper computer generates an X-axis magnetic field waveform according to the X-axis magnetic field with continuous side quantity, when the X-axis magnetic field waveform has a peak value, the sea cable 11 is positioned under the measuring ship 10, the measuring ship 10 hovers above the sea cable 11, at the moment, the position relation among the measuring ship 10, a first triaxial fluxgate 3, a second triaxial fluxgate 4 and the sea cable 11 is shown in figure 4, the measuring ship 10, the first triaxial fluxgate 3, the second triaxial fluxgate 4 and the sea cable 11 are positioned on the same vertical line, and the second triaxial fluxgate 4 is positioned right above the sea cable 11, the first triaxial fluxgate 3 is positioned right above the second triaxial fluxgate 4, and the measuring ship 10 is positioned right above the first triaxial fluxgate 3;
4) the first triaxial fluxgate 3 collects its position E 1 Three components of the magnetic field, the second three-axis fluxgate 4 acquires the position E thereof 2 The altimeter 5 collects the distance h between the first triaxial fluxgate 3 and the seabed 0 The attitude instrument 6 collects X, Y, Z Euler angles in the axial direction, and the collected data are transmitted to the upper computer 9 through the lower computer 7 and the watertight cable 8;
5) in this embodiment, the current inside the submarine cable 11 is ac. Calculating the burial depth of the submarine cable 11 according to the type of the current, the acquired data and the recorded current value I, wherein the buried depth calculating step comprises the following steps:
5.1) forming an Euler rotation matrix R according to the collected Euler angles in the direction of the X, Y, Z axis X (α)、R Y (β)、R Z (gamma), Euler rotation matrix R X (α)、R Y (β)、R Z The calculation of (γ) is:
Figure BDA0002504215680000071
Figure BDA0002504215680000072
Figure BDA0002504215680000073
wherein, alpha, beta and gamma are respectively an X-axis Euler angle, a Y-axis Euler angle and a Z-axis Euler angle;
5.2) correcting three magnetic field components at the first three-axis fluxgate 3 and the second three-axis fluxgate 4 through the Euler rotation matrix, namely converting the three alternating magnetic field components into a geographic coordinate system, wherein the corrected counting mode is as follows:
Figure BDA0002504215680000081
Figure BDA0002504215680000082
wherein, B x1 、B Y1 、B Z1 Three components of the magnetic field, B, collected for the first tri-axial fluxgate 3 x2 、B Y2 、B Z2 Three components of the magnetic field, B, collected for the second tri-axial fluxgate 4 x1 ’、B Y1 ’、B Z1 ’、B x2 ’、B Y2 ’、B Z2 ' is the corrected three components of the magnetic field;
5.3) respectively carrying out Fourier transformation on the corrected three components of the magnetic field, and respectively taking the amplitude A of the X, Y, Z-axis magnetic field vector of the two three-axis fluxgates at the fixed frequency omega x1 、A Y1 、A Z1 、A x2 、A Y2 、A Z2 ；
5.4) calculating the distance between the first triaxial fluxgate 3 and the submarine cable 11, wherein the distance is calculated in the following way:
Figure BDA0002504215680000083
R 1 ＝R 2 +d 0 (7)；
wherein mu 0 Is a vacuum permeability, R 1 Is the distance, R, between the first triaxial fluxgate 3 and the submarine cable 11 2 Is the distance between the second triaxial fluxgate 4 and the sea cable 11, d 0 Is the distance between the first and second tri-axial fluxgates 3 and 4, d 0 Measured when the watertight towed body 2 is installed;
5.5) calculating the buried depth h of the submarine cable 11 by the following formula:
h＝R 1 -h 0 (8)；
wherein h is 0 The distance between the first triaxial fluxgate 3 and the seabed is the output of the altimeter 6;
finally, the buried depth h of the submarine cable 11 is calculated and displayed in the upper computer 9.
Example two
Referring to fig. 2 and 3, the present embodiment relates to a multi-mode submarine cable burial depth detection system, which includes a current source 1, a measuring vessel 10, an upper computer 9, a watertight towed body 2 and a watertight cable 8, wherein the current source 1 is connected with a submarine cable, and the current source 1 is an alternating current source or a direct current source and is used for inputting alternating current or direct current to the submarine cable 11; the upper computer 9 is arranged on the measuring ship 10; the watertight towed body 2 is connected with a measuring ship through a watertight cable 8, the watertight towed body 2 comprises a nonmetal watertight bin, a first triaxial fluxgate 3 and a second triaxial fluxgate 4 for collecting three components of a magnetic field and used for collecting the distance h between the first triaxial fluxgate and the seabed are arranged in the watertight towed body 2 0 The height gauge 5, the attitude instrument 6 used for collecting the Euler angle in the direction of the X, Y, Z axis and the lower computer 7 used for receiving and transmitting data, the second triaxial fluxgate 4 is positioned under the first triaxial fluxgate 3, the height gauge 5 is as high as the first triaxial fluxgate 3, the second triaxial fluxgate 4, the height gauge 5 and the attitude instrument 6 are all in communication connection with the lower computer 7, the lower computer 7 is in communication connection with the upper computer 9 through a watertight cable 8, and the first triaxial fluxgate 3, the second triaxial fluxgate 4, the height gauge 5, the attitude instrument 6 and the lower computer 7 are all fixed in a non-metal watertight bin.
The first triaxial fluxgate 3 and the second triaxial fluxgate 4 are Mag-13 triaxial fluxgates manufactured by british Bartington company; the attitude instrument 6 adopts a three-dimensional attitude instrument; the non-metal watertight cabin is made of carbon fiber materials; the watertight cable 8 adopts a multi-core Kevlar cable; the altimeter 5 uses a VA500 ocean floor altimeter from Valeport.
In this embodiment, the above multi-mode submarine cable burial depth detection system is used to detect the burial depth of a submarine cable which is abnormally working, and the multi-mode submarine cable burial depth detection method includes the following steps:
1) in the embodiment, alternating current is input to a submarine cable 11 through a current source 1, the current source is a high-power alternating current source, the current source 1 adopts a full-day science and technology programmable alternating current power supply, the current source can output alternating current and direct current, only the alternating current is output, and a current value I is recorded after the submarine cable outputs a sinusoidal current signal with stable frequency omega;
2) a watertight cable 8 is adopted to connect the watertight towed body 2 internally provided with the first triaxial fluxgate 3, the second triaxial fluxgate 4, the altimeter 5, the attitude instrument 6 and the lower computer 7 with an upper computer 9 on a measuring ship 10;
3) the method comprises the steps that a watertight towed body 2 is placed in seawater, a measuring ship 10 drags the watertight towed body 2 through a watertight cable 8 and carries out rapid sweeping measurement on a sea area by adopting an S-shaped route, an X-axis magnetic field is continuously measured by a triaxial fluxgate in the sweeping measurement process and transmitted to an upper computer through the watertight cable, the upper computer generates an X-axis magnetic field waveform according to the X-axis magnetic field continuously measured by the side, when the X-axis magnetic field waveform has a peak value, the situation that a submarine cable 11 is located under the measuring ship 10 is shown, the submarine cable 11 is located under the measuring ship 10, the measuring ship 10 is suspended above the submarine cable, at the moment, the measuring ship 10, a first triaxial fluxgate 3, a second triaxial fluxgate 4 and the submarine cable 11 are in a position relation as shown in figure 4, the measuring ship 10, the first triaxial fluxgate 3, the second triaxial fluxgate 4 and the submarine cable 11 are located on the same vertical straight line, the second triaxial fluxgate 4 is located right above the submarine cable 11, the first triaxial fluxgate 3 is located right above the second fluxgate 4, the measuring ship 10 is positioned right above the first triaxial fluxgate 3;
4) the first triaxial fluxgate 3 collects its position E 1 Three components of the magnetic field, the second three-axis fluxgate 4 acquires the position E thereof 2 The altimeter 5 collects the distance h between the first triaxial fluxgate 3 and the seabed 0 The attitude instrument 6 collects X, Y, Z Euler angles in the axial direction, and the collected data are transmitted to the upper computer 9 through the lower computer 7 and the watertight cable 8;
5) in this embodiment, the current inside the submarine cable 11 is ac, the buried depth of the submarine cable 11 is calculated according to the current type, the collected data, and the recorded current value I, and the buried depth calculating step includes:
5.1) forming an Euler rotation matrix R according to the collected Euler angles in the direction of the X, Y, Z axis X (α)、R Y (β)、R Z (gamma), Euler rotation matrix R X (α)、R Y (β)、R Z The calculation of (γ) is:
Figure BDA0002504215680000101
Figure BDA0002504215680000102
Figure BDA0002504215680000103
wherein, alpha, beta and gamma are respectively an X-axis Euler angle, a Y-axis Euler angle and a Z-axis Euler angle;
5.2) correcting three magnetic field components at the first three-axis fluxgate 3 and the second three-axis fluxgate 4 through the Euler rotation matrix, namely converting the three alternating magnetic field components into a geographic coordinate system, wherein the corrected counting mode is as follows:
Figure BDA0002504215680000104
Figure BDA0002504215680000105
wherein, B x1 、B Y1 、B Z1 Three components of the magnetic field, B, collected for the first tri-axial fluxgate 3 x2 、B Y2 、B Z2 Three components of the magnetic field, B, collected for the second tri-axial fluxgate 4 x1 ’、B Y1 ’、B Z1 ’、B x2 ’、B Y2 ’、B Z2 ' is the corrected three components of the magnetic field;
5.3) respectivelyFourier transform is carried out on the three components of the corrected magnetic field, and the amplitude A of the X, Y, Z-axis magnetic field vector of the two three-axis fluxgates at the fixed frequency omega is respectively taken x1 、A Y1 、A Z1 、A x2 、A Y2 、A Z2 ；
5.4) calculating the distance between the first triaxial fluxgate 3 and the submarine cable 11, wherein the distance is calculated in the following manner:
Figure BDA0002504215680000106
R 1 ＝R 2 +d 0 (7)；
wherein mu 0 For vacuum permeability, R 1 Is the distance, R, between the first triaxial fluxgate 3 and the submarine cable 11 2 Is the distance between the second triaxial fluxgate 4 and the sea cable 11, d 0 Is the distance between the first and second tri-axial fluxgates 3 and 4, d 0 Measured when the watertight towed body 2 is installed;
5.5) calculating the buried depth h of the submarine cable 11 by the following formula:
h＝R 1 -h 0 (8)；
wherein h is 0 The distance between the first triaxial fluxgate and the seabed is the output of the altimeter;
6) adjusting the frequency omega of the current, and repeating the steps 1) to 5) to obtain the submarine cable buried depth under the continuous frequency;
finally, the buried depth h of the submarine cable 11 is calculated and displayed in the upper computer 9.
EXAMPLE III
The structure of the multi-mode submarine cable burial depth detection system in this embodiment is the same as that in the embodiment, which is not described again, the multi-mode submarine cable burial depth detection system is adopted in this embodiment to detect the burial depth of a submarine cable which is abnormally working, and the multi-mode submarine cable burial depth detection method includes the following steps:
1) in the embodiment, direct current is input to the submarine cable 11 through the current source 1, the current source is a high-power direct current source, the current source 1 adopts a programmable alternating current power supply of all-day science and technology, the current source can output alternating current and direct current, and only the direct current is output in the embodiment;
2) a watertight cable 8 is adopted to connect the watertight towed body 2 internally provided with the first triaxial fluxgate 3, the second triaxial fluxgate 4, the altimeter 5, the attitude instrument 6 and the lower computer 7 with an upper computer 9 on a measuring ship 10;
3) the method comprises the steps that a watertight towed body 2 is placed in seawater, a measuring ship 10 drags the watertight towed body 2 through a watertight cable 8 and carries out rapid sweeping measurement on a sea area by adopting an S-shaped route, a triaxial fluxgate continuously measures an X-axis magnetic field in the sweeping measurement process and transmits the X-axis magnetic field to an upper computer through the watertight cable, the upper computer generates an X-axis magnetic field waveform according to the X-axis magnetic field with continuous side quantity, when the X-axis magnetic field waveform has a peak value, the sea cable 11 is positioned under the measuring ship 10, the measuring ship 10 hovers above the sea cable, at the moment, the measuring ship 10, a first triaxial fluxgate 3, a second triaxial fluxgate 4 and the sea cable 11 are in a position relation as shown in figure 4, the measuring ship 10, the first triaxial fluxgate 3, the second triaxial fluxgate 4 and the sea cable 11 are positioned on the same vertical straight line, the second triaxial fluxgate 4 is positioned over the sea cable 11, and the first triaxial fluxgate 3 is positioned over the second fluxgate 4, the measuring ship 10 is positioned right above the first triaxial fluxgate 3;
4) the first triaxial fluxgate 3 collects its position E 1 Three components of the magnetic field, the second three-axis fluxgate 4 acquires the position E thereof 2 The altimeter 5 collects the distance h between the first triaxial fluxgate 3 and the seabed 0 The attitude instrument 6 collects X, Y, Z Euler angles in the axial direction, and the collected data are transmitted to the upper computer 9 through the lower computer 7 and the watertight cable 8;
5) in this embodiment, the current inside the submarine cable 11 is direct current, the buried depth of the submarine cable 11 is calculated according to the current type and the collected data, and the buried depth calculating step includes:
5.1) forming an Euler rotation matrix R according to the collected Euler angles in the direction of the X, Y, Z axis X (α)、R Y (β)、R Z (gamma), Euler rotation matrix R X (α)、R Y (β)、R Z Calculation of (. gamma.)The method comprises the following steps:
Figure BDA0002504215680000121
Figure BDA0002504215680000122
Figure BDA0002504215680000123
wherein, alpha, beta and gamma are respectively an X-axis Euler angle, a Y-axis Euler angle and a Z-axis Euler angle;
5.2) correcting three components of the magnetic field at the first triaxial fluxgate 3 and the second triaxial fluxgate 4 through the Euler rotation matrix, wherein the counting mode of the correction is as follows:
Figure BDA0002504215680000124
Figure BDA0002504215680000125
wherein, B x1 、B Y1 、B Z1 Three components of the magnetic field, B, collected for the first tri-axial fluxgate 3 x2 、B Y2 、B Z2 Three components of the magnetic field, B, collected for the second tri-axial fluxgate 4 x1 ’、B Y1 ’、B Z1 ’、B x2 ’、B Y2 ’、B Z2 ' is the corrected three components of the magnetic field;
5.3) calculating the total magnetic field B according to the corrected three components of the magnetic field 1 、B 2 The calculation formula is as follows:
Figure BDA0002504215680000126
Figure BDA0002504215680000127
5.4) according to the total magnetic field B 1 、B 2 Calculating the distance between the first triaxial fluxgate 3 and the submarine cable 11, wherein the calculation formula is as follows:
Figure BDA0002504215680000131
Figure BDA0002504215680000132
R 1 ＝R 2 +d 0 (13)；
wherein k is a proportionality coefficient, R 1 Is the distance, R, between the first triaxial fluxgate 3 and the submarine cable 11 2 Is the distance between the second triaxial fluxgate 4 and the sea cable 11, d 0 Is the distance between the first and second tri-axial fluxgates 3 and 4, d 0 Measured when the watertight towed body 2 is installed;
5.5) calculating the buried depth h of the submarine cable, wherein the calculation formula is as follows:
h＝R 1 -h 0 (8)；
h 0 the distance between the first triaxial fluxgate 3 and the seabed is the output of the altimeter 6;
finally, the buried depth h of the submarine cable 11 is calculated and displayed in the upper computer 9.
By the three embodiments, the working principle of the invention is summarized as follows:
when the buried depth is measured by alternating current, if the submarine cable works normally, recording a current value I in real time; if the submarine cable does not work normally, one end of the submarine cable is connected with a current source, the high-power current source is adjusted to output a sinusoidal current signal with stable frequency omega, a current value I is recorded in real time, the two triaxial fluxgate magnetometers measure three components of a magnetic field, the three components of the alternating magnetic field are converted into a geographical coordinate system through angle data provided by the attitude instrument, the three components of the triaxial fluxgates are obtained through Fourier transformation, and finally the three components are substituted into an alternating submarine cable burial depth equation to calculate the burial depth of the submarine cable, wherein the working mechanism of the normal work and burial depth measurement of the submarine cable is basically the same as that of the alternating current burial depth measurement, and the current value is obtained only in a different mode;
when the direct current is used for measuring the burial depth, one end of the submarine cable is connected with a current source, the high-power current source is adjusted to enable the current source to output stable direct current signals, the two triaxial fluxgate magnetometers measure three components of a magnetic field, the three components of the alternating current magnetic field are converted into a geographic coordinate system through angle data provided by the attitude instrument to obtain three components of the triaxial fluxgates, and finally the three components are substituted into a direct current submarine cable burial depth equation to calculate the submarine cable burial depth.
The present invention has been described in detail with reference to the embodiments, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims (8)

1. A multi-mode submarine cable buried depth detection method is characterized in that: which comprises the following steps:
1) inputting alternating current or direct current to the submarine cable through a current source;
2) connecting a watertight towed body internally provided with a first triaxial fluxgate, a second triaxial fluxgate, an altimeter, an attitude instrument and a lower computer with an upper computer on a measuring ship by adopting a watertight cable;
3) placing the watertight towed body in seawater, towing the watertight towed body by a measuring ship through a watertight cable and sweeping the sea area until the submarine cable is positioned under the measuring ship, and hovering the measuring ship above the submarine cable;
4) the first triaxial fluxgate collects the position E thereof 1 The second three-axis fluxgate acquires the position E of the three components of the magnetic field 2 The altimeter acquires the distance h between the first triaxial fluxgate and the seabed 0 The attitude instrument acquires X, Y, Z Euler angles in the axial direction, and the acquired data is transmitted to the upper computer through the lower computer and the watertight cable;
5) the upper computer calculates the buried depth of the submarine cable according to the type of the current input to the submarine cable and the acquired data;
when alternating current is input through a current source in the step 1), a current value I is recorded after the submarine cable outputs a sinusoidal current signal with a stable frequency omega, and the specific step of calculating the burial depth of the submarine cable in the step 5) comprises the following steps:
5.1) forming an Euler rotation matrix R according to the collected Euler angles in the direction of the X, Y, Z axis X (α)、R Y (β)、R Z (gamma), Euler rotation matrix R X (α)、R Y (β)、R Z The calculation of (γ) is:
Figure FDA0003771293100000011
Figure FDA0003771293100000012
Figure FDA0003771293100000013
wherein, alpha, beta and gamma are respectively an X-axis Euler angle, a Y-axis Euler angle and a Z-axis Euler angle;
5.2) correcting three components of the magnetic field at the first triaxial fluxgate and the second triaxial fluxgate through the Euler rotation matrix, wherein the correction counting mode is as follows:
Figure FDA0003771293100000014
Figure FDA0003771293100000021
wherein, B x1 、B Y1 、B Z1 Three components of magnetic field, B, collected for the first tri-axial fluxgate x2 、B Y2 、B Z2 Three components of magnetic field, B, collected for the second tri-axial fluxgate x1 ’、B Y1 ’、B Z1 ’、B x2 ’、B Y2 ’、B Z2 ' is the corrected three components of the magnetic field;
5.3) respectively carrying out Fourier transformation on the corrected three components of the magnetic field, and respectively taking the amplitude A of the X, Y, Z-axis magnetic field vector of the two three-axis fluxgates at the fixed frequency omega x1 、A Y1 、A Z1 、A x2 、A Y2 、A Z2 ；
5.4) calculating the distance between the first triaxial fluxgate and the submarine cable, wherein the distance is calculated in the following mode:
Figure FDA0003771293100000022
R 1 ＝R 2 +d 0 (7)；
wherein mu 0 For vacuum permeability, R 1 Is the distance, R, between the first triaxial fluxgate and the submarine cable 2 Is the distance between the second triaxial fluxgate and the submarine cable, d 0 The distance between the first triaxial fluxgate and the second triaxial fluxgate is defined;
5.5) calculating the buried depth h of the submarine cable, wherein the calculation formula is as follows:
h＝R 1 -h 0 (8)；
wherein h is 0 The distance between the first triaxial fluxgate and the seabed is the output of the altimeter;
when direct current is input through a current source in the step 1), the concrete step of calculating the burial depth of the submarine cable in the step 5) comprises the following steps:
5.1) forming an Euler rotation matrix R according to the collected Euler angles in the direction of the X, Y, Z axis X (α)、R Y (β)、R Z (gamma), Euler rotation matrix R X (α)、R Y (β)、R Z The calculation of (γ) is:
Figure FDA0003771293100000023
Figure FDA0003771293100000024
Figure FDA0003771293100000031
wherein, alpha, beta and gamma are respectively an X-axis Euler angle, a Y-axis Euler angle and a Z-axis Euler angle;
5.2) correcting three components of the magnetic field at the first triaxial fluxgate and the second triaxial fluxgate through the Euler rotation matrix, wherein the correction counting mode is as follows:
Figure FDA0003771293100000032
Figure FDA0003771293100000033
wherein, B x1 、B Y1 、B Z1 Three components of magnetic field, B, collected for the first tri-axial fluxgate x2 、B Y2 、B Z2 Three components of magnetic field, B, collected for the second tri-axial fluxgate x1 ’、B Y1 ’、B Z1 ’、B x2 ’、B Y2 ’、B Z2 ' is the corrected three components of the magnetic field;
5.3) calculating the total magnetic field B according to the corrected three components of the magnetic field 1 、B 2 The calculation formula is as follows:
Figure FDA0003771293100000034
Figure FDA0003771293100000035
5.4) according to the total magnetic field B 1 、B 2 Calculating the distance between the first triaxial fluxgate and the submarine cable, wherein the calculation formula is as follows:
Figure FDA0003771293100000036
Figure FDA0003771293100000037
R 1 ＝R 2 +d 0 (13)；
wherein k is a proportionality coefficient, R 1 Is the distance, R, between the first triaxial fluxgate and the submarine cable 2 Is the distance between the second triaxial fluxgate and the submarine cable, d 0 The distance between the first triaxial fluxgate and the second triaxial fluxgate is defined;
5.5) calculating the buried depth h of the submarine cable, wherein the calculation formula is as follows:
h＝R 1 -h 0 (8)；
h 0 the distance between the first triaxial fluxgate and the seabed is the output of the altimeter.
2. The method of claim 1, wherein: in the step 2), the second triaxial fluxgate is located right below the first triaxial fluxgate, the altimeter is as high as the first triaxial fluxgate, the second triaxial fluxgate, the altimeter and the attitude instrument are all in communication connection with the lower computer, and the lower computer is in communication connection with the upper computer through a watertight cable.
3. The multi-mode submarine cable burial depth detection method according to claim 1, wherein: and 3) dragging the watertight towed body by the measuring ship through the watertight cable and rapidly scanning the sea area by adopting an S-shaped route, continuously measuring the X-axis magnetic field of the triaxial fluxgate in the scanning process and transmitting the X-axis magnetic field to the upper computer through the watertight cable, generating an X-axis magnetic field waveform by the upper computer according to the X-axis magnetic field of the continuous side, and indicating that the submarine cable is positioned under the measuring ship when the X-axis magnetic field waveform has a peak value.
4. The method of claim 1, wherein: when alternating current is input into the submarine cable, the method further comprises a step 6), and the step 6) is as follows: adjusting the frequency omega of the current, and repeating the steps 1) to 5) to obtain the submarine cable buried depth under continuous frequency.
5. The method of claim 1, wherein: the system is realized based on a multi-mode submarine cable buried depth detection system, and the multi-mode submarine cable buried depth detection system comprises a measuring ship, an upper computer, a watertight towed body and a watertight cable; the upper computer is arranged on the measuring ship; the watertight towed body is connected with the measuring ship through a watertight cable, a first triaxial fluxgate and a second triaxial fluxgate for collecting three components of a magnetic field and a distance h between the first triaxial fluxgate and the seabed are arranged in the watertight towed body 0 The height gauge, the attitude instrument used for collecting the Euler angle in the X, Y, Z axis direction and the lower computer used for receiving and transmitting data are all in communication connection with the lower computer, and the lower computer is in communication connection with the upper computer through a watertight cable.
6. The method of claim 5, wherein: the second triaxial fluxgate is positioned right below the first triaxial fluxgate, and the altimeter is as high as the first triaxial fluxgate.
7. The method of claim 6, wherein: the watertight towed body comprises a nonmetal watertight bin, and the first triaxial fluxgate, the second triaxial fluxgate, the altimeter, the attitude instrument and the lower computer are all fixed in the nonmetal watertight bin.
8. The method of claim 6, wherein: the device also comprises a current source for inputting current to the submarine cable, wherein the current source is an alternating current source or a direct current source.
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