CN112558006A - Double-triaxial electromagnetic detection and route positioning method for submarine cable - Google Patents

Double-triaxial electromagnetic detection and route positioning method for submarine cable Download PDF

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CN112558006A
CN112558006A CN202011366513.6A CN202011366513A CN112558006A CN 112558006 A CN112558006 A CN 112558006A CN 202011366513 A CN202011366513 A CN 202011366513A CN 112558006 A CN112558006 A CN 112558006A
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submarine cable
positioning algorithm
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positioning
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CN112558006B (en
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向先波
张嘉磊
杨少龙
张琴
徐国华
李维嘉
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Huazhong University of Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
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Abstract

The invention discloses a double-triaxial electromagnetic detection and submarine cable routing positioning algorithm for a submarine electrified cable, wherein the submarine cable routing relative positioning algorithm comprises a magnetic deviation positioning algorithm, a transverse deviation positioning algorithm and a vertical deviation positioning algorithm, six real-time electromagnetic signals and sensor attitude angle signals provided for two orthogonal triaxial electromagnetic detection sensors are input into the algorithm, and the algorithm outputs submarine cable routing angles, submarine cable routing point transverse deviation, submarine cable routing point vertical deviation and submarine cable routing point burial depth. The submarine cable routing absolute positioning algorithm comprises a submarine cable buried depth positioning algorithm, a submarine cable routing angle positioning algorithm and a submarine cable routing point absolute positioning algorithm, wherein the algorithm inputs are output of the submarine cable routing relative positioning algorithm, a real-time base height signal fed back by an altimeter, and a course angle and an absolute position (namely a longitude/latitude signal of a detection platform body) of a detection sensor under a geodetic coordinate system; the algorithm output is the absolute position of the submarine cable routing point (i.e., the longitude/latitude of the submarine cable routing point).

Description

Double-triaxial electromagnetic detection and route positioning method for submarine cable
Technical Field
The invention relates to the technical field of ocean engineering, relates to the field of detection and maintenance of submarine cables, and particularly relates to a double-triaxial electromagnetic detection and route positioning method for submarine cables.
The submarine cable routing positioning means determines the relative position and the burying depth of a submarine cable relative to a detection platform and the absolute position (namely the trend and the longitude/latitude of a submarine cable routing point) under a geodetic coordinate system through a certain detection means, and provides key submarine cable position information for submarine cable maintenance.
Background
The submarine cable mainly comprises a submarine cable, a submarine optical cable and a submarine photoelectric composite cable. Submarine optical cable communication is the most important communication means in the world due to the advantages of high capacity, high quality, low price and the like, and occupies more than 95% of international data communication traffic in the world. With the explosive growth demand of the internet related services such as 5G and cloud services on data communication, the demand on the bandwidth and the number of submarine optical cables is rapidly increased. Submarine cables play a great role in the field of electric energy transmission such as ocean wind power generation and inter-island power transmission. Submarine cables are often interfered by natural and man-made factors such as tsunamis, earthquakes and anchoring, and are often in abnormal operating conditions such as damage, fracture and suspension. For example, in 2004, day 2, month 27, in a submarine cable protection area near a landing station of an international submarine cable, communication is interrupted for 10 more days due to the fact that a submarine works illegally to cause a failure of an international submarine cable in the asia-europe. Therefore, accurate exploration of submarine cable routing and daily tracking inspection are important tasks in daily maintenance of submarine cables. Submarine cables are mostly buried in the seabed, particularly in the offshore field, so that risks caused by natural and artificial factors to the operation of a submarine cable system are reduced to the maximum extent. The submarine optical cable, particularly the submarine optical cable, is small in diameter, and the conventional underwater acoustic and optical detection equipment is difficult to accurately position the routing information due to the seabed buried state. The underwater electromagnetic detection technology provides a new solution for the detection of the small-diameter buried submarine cable, but the medium constant changes in the transmission process of the submarine cable radiation electromagnetic signals caused by multiple media such as water pressure, different salinity, silt, rocks and the like, so that the electromagnetic detection method also has technical challenges in the application process.
The thesis of research on submarine cable burying depth detection technology (electric wire and cable, 2005,3(3):38-42) and the thesis of submarine optical cable route tracking system design and implementation (academic thesis, university of science and technology in china) disclose a method for determining the position and burying depth of a submarine cable by using a double triaxial array probe, specifically analyze the output ranges of the probe signals of the probe and the submarine cable under different relative positions and relative deflection angles, and analyze and deduce the positioning algorithm of the submarine cable under three relative positions, namely, the position of the submarine cable between the two probes, the position of the submarine cable on the right side of the array and the position of the submarine cable on the left side of the array. It should be noted that: the submarine cable positioning expressions are not consistent under different relative positions; the pitch angle and the roll angle of the electromagnetic detection sensor during underwater motion are not considered; under actual conditions, the submarine cable is buried and does not carry other submarine cable relative positioning detection equipment, so that the relative position of the submarine cable and the detection sensor is unknown. The thesis of 'submarine robot submarine cable automatic tracking technology research based on magnetic signal guidance' (academic thesis, science and technology university in china) discloses a submarine cable positioning algorithm, which analyzes a yaw angle, a transverse offset distance and a vertical offset distance positioning algorithm of two electromagnetic detectors which have collinear Y axes and are in a horizontal plane under the conditions of no rolling and no pitching.
The two submarine cable positioning algorithms do not consider the influence of the attitude change of the two sensors on the detection and positioning results, and the attitude change of the detection platform in the underwater motion process is difficult to avoid, so that the positioning algorithms are only aimed at and suitable for the ideal working condition that the sensors are in the horizontal attitude, and are difficult to be used in engineering practice. In addition, the positioning algorithms in the first two comparison files need to determine the relative position of the submarine cable relative to the electromagnetic detection sensor through other technical means, and then the positioning algorithms are switched based on different position relations. Therefore, the use of such positioning algorithms is limited by other auxiliary detection devices.
Disclosure of Invention
The invention designs a submarine cable route relative positioning algorithm and an absolute positioning algorithm based on two sets of three-axis electromagnetic sensors aiming at submarine cable passive detection and route positioning. The invention considers the actual working condition possibly encountered by the sensor during underwater detection, provides a set of submarine cable detection and positioning scheme which is in accordance with ocean engineering practice and has higher automation degree for the operation and maintenance of a submarine cable system, and aims to detect and accurately position the routing information of submarine cables in real time, wherein the routing information mainly comprises submarine cable routing angle, longitude/latitude information and cable burying depth (or bottom-to-bottom suspension distance).
The technical problems solved by the invention mainly comprise that the medium constant of the electromagnetic signal radiated by the submarine cable is non-uniform, the submarine cable positioning algorithm is not consistent under different relative spatial poses, the switching of the positioning algorithm depends on the relative position of the detection sensor and the submarine cable, the influence of the non-zero pose of the detection sensor on the electromagnetic detection result and the like. The technical scheme adopted by the invention is as follows:
1. and the submarine cable routing positioning algorithm comprises a submarine cable routing relative positioning algorithm and a submarine cable routing absolute positioning algorithm. The submarine cable routing relative positioning algorithm comprises three algorithm modules, namely a magnetic deviation positioning algorithm, a transverse deviation positioning algorithm and a vertical deviation positioning algorithm. Based on the relative positioning algorithm established by the submarine cable routing absolute positioning algorithm, the submarine cable routing absolute positioning algorithm comprises two algorithm modules, namely a submarine cable routing angle positioning algorithm and a submarine cable routing point absolute positioning algorithm.
2. The resolving result of the submarine cable route relative positioning algorithm comprises a magnetic yaw angle, and the transverse offset distance and the vertical offset distance of the central points of the two sensors and the vertical mapping points of the central points on the submarine cable route. The resolving result of the submarine cable absolute routing positioning algorithm comprises submarine cable burying depth, submarine cable routing angle and submarine cable routing electric warp/latitude coordinates.
3. The execution flow of the submarine cable routing and positioning algorithm comprises the following steps: firstly, regularizing magnetic detection data by utilizing the feedback of two electromagnetic detection sensors and an attitude sensor so as to eliminate the influence of the attitude (roll and pitch) of the sensors on a detection result; then resolving a submarine cable route relative positioning algorithm based on the regularized data and the attitude data; resolving the submarine cable buried depth positioning algorithm based on the output of the vertical offset positioning algorithm and the data feedback of the altimeter; based on the output of the magnetic navigation positioning algorithm and the transverse offset positioning algorithm in the submarine cable relative positioning algorithm, the resolving of the submarine cable absolute routing positioning algorithm can be executed by combining the data feedback of the integrated navigation or ultra-short baseline positioning system.
4. The data of the electromagnetic sensor are normalized, and the algorithm of the regularization process is as follows:
Figure BDA0002805577600000031
Figure BDA0002805577600000032
wherein theta is the pitch angle of the electromagnetic detection sensor,
Figure BDA0002805577600000033
the roll angle of the electromagnetic detection sensor; vx1、Vy1、Vz1Three-way electromagnetic signal feedback for detector number 1, A1、B1、C1The normalized three-axis data respectively correspond to X, Y, Z three axes of the No. 1 electromagnetic detection sensor; vx2、Vy2、Vz2Feeding back three electromagnetic signals of the No. 2 detector; a. the2、B2、C2The normalized three-axis data are respectively corresponding to X, Y, Z three axes of the No. 2 electromagnetic detection sensor.
5. The magnetic yaw positioning algorithm is as follows:
Ψe＝arctan2(A1,B1)＝arctan2(A1,B1)
therein, ΨeIs the magnetic yaw angle.
6. The lateral offset positioning algorithm is as follows:
Figure BDA0002805577600000041
wherein, YeIs the horizontal offset distance between the two sensors' center distance from their vertically mapped points on the submarine cable route. And L is the distance between the center points of the two sensors.
7. The vertical offset positioning algorithm is as follows:
Figure BDA0002805577600000042
wherein Z iseIs the vertical offset distance between the two sensor center distances from their vertically mapped points on the submarine cable route.
8. The submarine cable burying depth positioning algorithm is as follows:
Figure BDA0002805577600000043
wherein Z isbFor the depth of laying of submarine cables, Zb> 0 denotes that the submarine cable is in a buried state, Z b0 denotes that the sea cable is in the state of bare leakage of the sea bed, ZbAnd < 0 represents that the submarine cable is in a suspended state, and D is real-time data of the ground height fed back by the altimeter.
9. The submarine cable routing angle positioning algorithm is as follows:
Ψc＝Ψe+Ψ
therein, ΨcFor the sea cable routing angle, ΨeIs the output of the magnetic deviation positioning algorithm, psi is the orientation of the X axis of the two sensors, is the same as the heading of the detection carrier platform, and has a value range of (-180, + 180)]And (4) degree. In particular, when the route angle of the submarine cable is around ± 180 degrees, it is possible to generate the calculation ΨcMore than (-180, + 180)]The solution of degrees, and therefore the submarine cable routing angle, is calculated as follows:
Ψc＝Ψc-FLOOR(|Ψc|，180)*sign(Ψc)*360
wherein FLOOR (| Ψ)c| 180) function represents: when t iscIf the absolute value of (a) exceeds 180, the function takes a value of 1, otherwise the function takes a value of 0. sign (Ψ)c) As a function of the sign, i.e. when ΨcWhen > 0, sign (Ψ)c) When 1, when ΨcWhen < 0, sign (Ψ)c) Is-1. By the above, the route angle psi of the submarine cable can be ensuredcIs always at (-180, + 180)]In the range of degrees, namely 0 degree is in the north direction, and when the angle is gradually increased from 0 degree to +180 degrees along the clockwise direction to the south direction; the angle gradually decreases from 0 degrees to-180 degrees when going from the counterclockwise direction to the south-plus direction.
10. The absolute positioning algorithm of the submarine cable routing point:
(Nc Ec)＝(Nv-Yesin(Ψ+Ψe) Ev+Yecos(Ψ+Ψe))
wherein (N)v Ev) To detect the absolute coordinates of the platform, (N)c Ec) Is the absolute coordinate of the submarine cable route point, and psi is the heading of the exploration platform.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1. the submarine cable electromagnetic detection and routing positioning algorithm designed by the invention simultaneously meets the working condition that two electromagnetic detection sensors have non-zero attitude angles (including roll angle and pitch angle), and the measurement of the attitude angles is accurately measurable in the actual underwater platform. Therefore, the submarine cable electromagnetic detection and route positioning algorithm provided by the invention better conforms to the actual detection working condition, the route positioning precision is improved, and the engineering practicability of the algorithm is improved.
2. The submarine cable detection and routing positioning scheme designed by the invention is not limited by the buried state of the submarine cable, and is not influenced by the constant of the electromagnetic signal propagation medium due to different water pressures, different salinity, silt, rock and other different media between the buried submarine cable and the detection sensor, so that the adaptability and robustness of the algorithm are improved.
3. The submarine cable detection sensor configuration and routing positioning algorithm designed by the invention are consistent in positioning algorithm form under the conditions of different relative positions and postures of the detection platform and the submarine cable, algorithm switching is not required according to the relative positions of different sensors and the submarine cable, and the relative position is not required to be used as algorithm input. Therefore, the algorithm is real-time without the assistance of other detection systems except the detection system, and has certain independence and feasibility.
4. The submarine cable electromagnetic detection and routing positioning scheme has universality on various underwater motion platform carriers such as an autonomous underwater robot, a remote control underwater robot and a hybrid underwater robot, and the application of a submarine cable positioning algorithm only requires that a certain interval is reserved between the central points of two electromagnetic detection sensors, and the X of the two sensors is enabled to be positioned1、X2And better coaxiality is kept.
5. The submarine cable detection sensor configuration scheme designed by the invention has stronger extensibility to different detection platform carriers. The electromagnetic detection system and altimeter are standard configurations for submarine cable detection and relative positioning. For a detection platform carrier carrying a combined navigation system or an ultra-short baseline positioning system, the absolute positioning of the submarine cable can be carried out by utilizing the submarine cable relative positioning result and platform navigation information.
6. The submarine cable electromagnetic detection and routing positioning algorithm provided by the invention can get rid of the limitation of physical conditions such as small diameter, buried depth and the like of submarine cables, and is not influenced by electromagnetic radiation constants of various media such as submarine silt, rock, seawater with different salinity and depth and the like. In addition, the submarine cable electromagnetic detection and routing positioning method provided by the invention is suitable for various underwater platforms with different configurations, including autonomous underwater robots, remote-control underwater robots, hybrid underwater robots, submarine trenchers and the like, and can provide guidance for design and implementation of a submarine cable detection and positioning system.
Drawings
Fig. 1 is a flowchart of a submarine cable relative positioning algorithm and an absolute positioning algorithm (submarine cable detection and routing positioning algorithm flowchart).
FIG. 2 is a schematic diagram of a submarine cable electromagnetic detection and three-dimensional routing positioning algorithm when a non-zero attitude angle exists in the electromagnetic sensor according to the present invention;
FIG. 3 illustrates a sensor data regularization process and its decomposition (sensor number 1 for example);
FIG. 4 is a front view of a cable routing location process;
FIG. 5 is a side view (right side view) of a marine cable routing location process;
FIG. 6 is a top view of a cable routing location process;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further explained in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention discloses a submarine cable passive electromagnetic detection system which mainly comprises two orthogonal three-axis electromagnetic detection sensors, a bottom detection altimeter and an attitude sensor (the measurement comprises roll, pitch and course), and the system can be selectively configured into an underwater combined navigation system and an ultra-short baseline positioning system. Three-axis orthogonal electromagnetic detection sensor: x, Y, Z three axes of the two detectors are parallel to each other, the two sensors are fixedly connected, the distance between the two sensors is known, and detection information is used for resolving a relative positioning algorithm; an altimeter: the device is used for measuring the vertical height from the central position of two orthogonal three-axis electromagnetic sensors to the surface of the sea floor in real time, and further used for calculating the burying depth (or the suspended height to the bottom) of a submarine cable; an attitude sensor: the device is used for measuring the real-time postures of the two electromagnetic detection sensors, and comprises a roll angle, a pitch angle and a course angle, wherein the roll angle and the pitch angle are used for resolving a submarine cable relative positioning algorithm, and the course angle is used for resolving a submarine cable absolute positioning algorithm; combined navigation system (optional or ultra short baseline positioning system): an underwater combined navigation system (an optional or ultra-short baseline positioning system) built in the detection platform is an optional configuration. The underwater integrated navigation system is used for measuring and calculating the absolute position of the detection sensor in the geodetic coordinate system in real time, and further determining the absolute position of the submarine cable in the geodetic coordinate system by combining a submarine cable relative positioning algorithm; the ultra-short baseline positioning system and the combined navigation system are configured interchangeably, the ultra-short baseline positioning system firstly positions the relative position of the detection platform and the water surface system, then determines the absolute position of the detection platform with the assistance of the absolute position of the water surface system, and further determines the absolute position of the submarine cable route in the geodetic coordinate system based on the submarine cable relative positioning.
When the detection platform carried by the submarine cable passive electromagnetic detection system moves underwater, the posture changes of the roll and the pitch of the detection platform are inevitable, and the posture changes can be measured in real time through the platform posture sensor. The detection and relative positioning process in the presence of non-zero attitude angles of roll and pitch for the sensors in three-dimensional space is illustrated in fig. 2. As shown in FIG. 2, the No. 1 electromagnetic detecting sensor (i.e. the No. 1 sensor) and the No. 2 electromagnetic detecting sensor (i.e. the No. 2 sensor) are fixedly connected, and the separation distance L (unit: meter) between the action center points of the two sensors is fixed and known for the calculation of the positioning algorithm. The present embodiment takes the common case that two sensors are located at the right side of the power-on direction of the submarine cable, and the roll angle and the pitch angle exist at the same time as an example, and it should be noted that the submarine cable routing and positioning algorithm is applicable to all relative positions and relative postures.
As shown in fig. 1, the flow of the route relative positioning algorithm and the absolute positioning algorithm of the submarine cable according to the present invention is applicable to any relative spatial position and relative attitude between two electromagnetic detection sensors and a submarine cable, and the route relative positioning algorithm of the submarine cable mainly includes three modules, namely a yaw positioning algorithm, a lateral offset positioning algorithm, and a vertical offset positioning algorithm:
1. firstly, the magnetic detection data is regularized by utilizing the feedback of the two electromagnetic detection sensors and the attitude sensor, and the process of regularization and regularization decomposition of the electromagnetic detection sensor data are shown as shown in fig. 3, namely, the three-axis space vector data is spatially rotated to enable two groups of vectors to fall in a horizontal plane, so that the influence of a non-zero attitude angle on the detection data is counteracted. First, three sets of vectors are rotated by a roll angle around the X-axis of the sensor to obtain vector data (V'x1，V′y1，V′z1) (ii) a Then rotating the pitching angle around the rotated Y axis to obtain vector data (A)1，B1，C1) The rotated X and Y directions coincide with the horizontal plane, so that the rotation process can be represented by the following matrix:
Figure BDA0002805577600000071
as shown in figure 3 of the drawings,
Figure BDA0002805577600000072
and θ represent the roll angle and the pitch angle of the sensor, respectively. Thus, sensor number 1 and sensor number 2 can be normalized as follows:
Figure BDA0002805577600000073
Figure BDA0002805577600000074
wherein, Vx1、Vy1、Vz1Three-way electromagnetic signal feedback for detector number 1, A1、B1、C1The normalized three-axis data respectively correspond to X, Y, Z three axes of the No. 1 electromagnetic detection sensor; vx2、Vy2、Vz2Feeding back three electromagnetic signals of the No. 2 detector; a. the2、B2、C2The normalized three-axis data are respectively corresponding to X, Y, Z three axes of the No. 2 electromagnetic detection sensor.
2. Then, a relative positioning solution of the submarine cable route is performed based on the regularized magnetic probe data.
(1) Resolving a magnetic deviation positioning algorithm:
the X-axis and Y-axis of the sensor after regularization are at the same horizontal plane, as shown in FIG. 5, which is a top view of the marine cable routing positioning process, the magnetic yaw angle ΨeThe solution can be performed by means of the two levels of X \ Y of the sensor, so the magnetic navigation positioning algorithm is as follows:
Ψe＝arctan2(A1，B1)＝arctan2(A2，B2)
when the Y axis of the sensor is parallel to the submarine cable route, the data is electromagnetically induced in the X axis direction (namely A)1And A2) And the relative yaw angle between the sensor and the submarine cable route is 0 at the moment, and the relative yaw angle is the same as the resolving result of the magnetic yaw positioning algorithm. Similarly, when the sensor yaws leftwards and rightwards relatively, the signs of the electromagnetic induction data in the X-axis direction are opposite, and the signs of the magnetic yaw angle calculated by the magnetic yaw positioning algorithm are opposite, so that the effectiveness and the uniformity of the magnetic yaw positioning algorithm are verified.
(2) Resolving a transverse offset positioning algorithm:
the following geometrical relationships can be obtained with the three-dimensional positioning and front view thereof as shown in fig. 2 and 4:
Figure BDA0002805577600000081
wherein
Figure BDA0002805577600000082
Represents from OiPoint to EiThe length of the line segment of the point; the constant k is a dielectric constant and can be offset by a relational operation, so that the value of the constant k does not influence the final positioning result. By calculating the relation, the transverse offset distance between the center point of the two electromagnetic sensors and the vertical mapping point of the two electromagnetic sensors on the submarine cable route is obtained as follows:
Figure BDA0002805577600000083
wherein K is represented as follows:
Figure BDA0002805577600000091
(3) resolving a vertical offset positioning algorithm:
the three-dimensional positioning algorithm and its front and right views shown in fig. 2, 4 and 5 can obtain the following geometric relations:
Figure BDA0002805577600000092
by resolving the relation, the vertical offset distance between the center point of the two electromagnetic sensors and the vertical mapping point of the center point of the two electromagnetic sensors on the submarine cable route is obtained as follows:
Figure BDA0002805577600000093
3. and then, based on the output of the submarine cable relative positioning algorithm, the submarine cable burial depth can be calculated by combining the height data. And optionally, an absolute positioning algorithm can be developed by combining a combined navigation system or an ultra-short baseline positioning system of the detection platform.
(1) Resolving the submarine cable buried depth positioning:
the submarine cable burying depth Z can be obtained by the front view and the right view of the three-dimensional positioning algorithm shown in the figures 3 and 4bThe positioning algorithm of (1):
Figure BDA0002805577600000094
wherein Z isbFor the depth of laying of submarine cables, Zb> 0 denotes that the submarine cable is in a buried state, Z b0 denotes that the sea cable is in the state of bare leakage of the sea bed, ZbAnd < 0 represents that the submarine cable is in a suspended state, and D is real-time data of the ground height fed back by the altimeter.
(2) The submarine cable routing angle positioning algorithm is as follows:
Ψc＝Ψe+Ψ
therein, ΨcFor the sea cable routing angle, ΨeIs the output of the magnetic deviation positioning algorithm, psi is the orientation of the X axis of the two sensors, is the same as the heading of the detection carrier platform, and has a value range of (-180, + 180)]And (4) degree. In particular, when the route angle of the submarine cable is around ± 180 degrees, it is possible to generate the calculation ΨcMore than (-180, + 180)]The solution of degrees, and therefore the submarine cable routing angle, is calculated as follows:
Ψc＝Ψc-FLOOR(|Ψc|，180)*sign(Ψc)*360
wherein FLOOR (| Ψ)c| 180) function represents: when t iscIf the absolute value of (a) exceeds 180, the function takes a value of 1, otherwise the function takes a value of 0. sign (Ψ)c) As a function of the sign, i.e. when ΨcWhen > 0, sign (Ψ)c) When 1, when ΨcWhen < 0, sign (Ψ)c) Is-1. By the above, the route angle psi of the submarine cable can be ensuredcIs always at (-180, + 180)]In the range of degrees, namely 0 degree is in the north direction, and when the angle is gradually increased from 0 degree to +180 degrees along the clockwise direction to the south direction; the angle gradually decreases from 0 degrees to-180 degrees when going from the counterclockwise direction to the south-plus direction.
(3) The absolute positioning algorithm of the submarine cable routing point:
(Nc Ec)＝(Nv-Yesin(Ψ+Ψe) Ev+Yecos(Ψ+Ψe))
wherein (N)v Ev) The absolute coordinates of the underwater detection platform can be calculated by a combined navigation system carried by the detection platform or obtained by an ultra-short baseline positioning system; (N)c Ec) Is the absolute coordinate of the sea cable route point, psi is the heading of the two detecting sensors.
To this end, the embodiment of the relative positioning and absolute positioning algorithm for the submarine cable route ends.
Note: the required semaphore in the positioning algorithm is provided with a corresponding sensor acquisition loop, and all parameters in the algorithm can be acquired and fed back in real time. Thus, real-time positioning algorithms are feasible and practicable.
As shown in fig. 2, a positioning analysis process is given when two electromagnetic detection sensors are located at the right side of the power-on direction of the submarine cable, the detection platform faces the right side of the submarine cable, and the pitch angle and the roll angle exist at the same time, and a spatial description of a relative positioning algorithm is defined. It should be noted that the positioning algorithm is not only applicable to the described relative positions and attitudes, but also applicable and of a form that remains the same in the case where the detection platform is on the left, right, or right side of the sea cable and the detection platform has different relative orientations.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various similar changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims and their equivalents.

Claims (4)

1. An electromagnetic detection system of submarine cables mainly comprises a double-triaxial electromagnetic detection sensor, an altimeter for detecting the bottom, and an attitude sensor, and is optionally configured into an underwater combined navigation system and an ultra-short baseline positioning system, and is characterized in that:
a) bi-triaxial orthogonal electromagnetic detector: the system is provided with two sets of three-axis orthogonal electromagnetic detectors, X, Y, Z three axes of the two sets of electromagnetic detection sensors are parallel to each other, the two sets of three-axis orthogonal electromagnetic detectors are fixedly connected, the distance between the two sets of three-axis orthogonal electromagnetic detectors is known, and detection information is used for resolving a relative positioning algorithm;
b) an altimeter: the device is used for measuring the vertical height from the central position of two orthogonal three-axis electromagnetic sensors to the surface of the sea floor in real time, and further used for calculating the burying depth or the bottom-to-bottom suspension height of a submarine cable;
c) an attitude sensor: the device is used for measuring the real-time postures of the two electromagnetic detection sensors, and comprises a roll angle, a pitch angle and a course angle, wherein the roll angle and the pitch angle are used for resolving a submarine cable relative positioning algorithm, and the course angle is used for resolving a submarine cable absolute positioning algorithm;
d) integrated navigation system or ultra short baseline positioning system: an underwater combined navigation system or an ultra-short baseline positioning system which is arranged in the detection platform is of selectable configuration; the integrated navigation system is used for measuring and calculating the absolute position of the detection sensor in the geodetic coordinate system in real time, and further determining the absolute position of the submarine cable in the geodetic coordinate system by combining a submarine cable relative positioning algorithm; the ultra-short baseline positioning system and the combined navigation system are configured interchangeably, the ultra-short baseline positioning system firstly positions the relative position of the detection platform and the water surface system, then determines the absolute position of the detection platform with the assistance of the absolute position of the water surface system, and further determines the absolute position of the submarine cable route in the geodetic coordinate system based on the submarine cable relative positioning.
2. A submarine cable routing and positioning algorithm based on the submarine cable electromagnetic detection system of claim 1, the routing and positioning algorithm comprising a submarine cable routing relative positioning algorithm and a submarine cable routing absolute positioning algorithm, the submarine cable routing relative positioning algorithm comprising three modules, namely a yaw positioning algorithm, a lateral offset positioning algorithm and a vertical offset positioning algorithm, wherein:
a) the six-channel data regularization algorithm: the data of the two triaxial electromagnetic sensors are fed back in combination with the data of the attitude sensor to perform spatial rotation, so that the influence of roll and pitch motion on the detection data of the two sensors is eliminated, and the calculation method comprises the following steps:
Figure FDA0002805577590000011
Figure FDA0002805577590000021
wherein theta is the pitch angle of the electromagnetic detection sensor,
Figure FDA0002805577590000022
the roll angle of the electromagnetic detection sensor; vx1、Vy1、Vz1Three-way electromagnetic signal feedback for No. 1 electromagnetic detection sensor, A1、B1、C1The normalized three-axis data respectively correspond to X, Y, Z three axes of the No. 1 electromagnetic detection sensor; vx2、Vy2、Vz2Feeding back three electromagnetic signals of a No. 2 electromagnetic detection sensor; a. the2、B2、C2The normalized three-axis data respectively correspond to X, Y, Z three axes of a No. 2 electromagnetic detection sensor;
b) magnetic yaw positioning algorithm: the method is used for positioning the X-axis direction of the electromagnetic detection sensor, namely the heading of a detection platform, and the angular deviation Ψ e between the route trend of the submarine cable, and the result Ψ e of a yaw positioning algorithm can be used for controlling and inputting the tracking of the submarine cable by the detection platform, and the yaw positioning algorithm has the following expressions:
Ψe＝arctan2(A1，B1)＝arctan2(A2，B2)
c) and (3) transverse offset positioning algorithm: the offset Ye in the horizontal plane direction is used for positioning the positions of the baseline central points of the two electromagnetic detection sensors and the routing point of the submarine cable, and the result Ye of the transverse offset positioning algorithm can be used for inputting the submarine cable tracking control and controlling the course of the detection platform, so that the detection platform is always positioned right above the submarine cable in the tracking navigation process, and the detection platform can acquire electromagnetic signals radiated by the submarine cable at the maximum intensity, and the transverse offset positioning algorithm has the following expression:
Figure FDA0002805577590000023
wherein, L is the interval between two sensor action central points, and the expression of K is as follows:
Figure FDA0002805577590000024
d) and (3) vertical offset positioning algorithm: the offset Ze in the vertical plane direction between the center positions of the two electromagnetic detection sensors and the submarine cable routing point and the result Z of the vertical offset positioning algorithmeThe method can be used for positioning the vertical distance between the submarine cable and the detection platform and further positioning the submarine burying depth of the submarine cable by combining altimeter data, and the vertical offset distance positioning algorithm has the following expression:
Figure FDA0002805577590000025
3. the submarine cable route location algorithm according to claim 2, wherein: the vertical offset positioning algorithm can position the buried depth or the suspended height of the submarine cable in real time by combining with altimeter feedback data, and the submarine cable buried depth positioning algorithm has the following expression:
Figure FDA0002805577590000031
wherein D is height data of the two sensor center positions from the surface of the seabed fed back by the altimeter in real time, and ZbBurying the submarine cable to a depth; zb> 0 denotes that the submarine cable is in a buried state, Zb0 denotes that the sea cable is in the state of bare leakage of the sea bed, Zb< 0 indicates that the sea cable is in a suspended state.
4. The submarine cable route location algorithm according to claim 2, wherein: the submarine cable can be absolutely positioned by combining a combined navigation system or an ultra-short baseline positioning system, namely the route trend of the submarine cable and the absolute position, namely the longitude and the latitude, of the submarine cable in a geodetic coordinate system are determined,
a) submarine cable route angle positioning algorithm: for determining a route run of a submarine cable, the submarine cable route location algorithm having the following expression:
Ψc＝Ψe+Ψ
therein, ΨcFor the sea cable routing angle, ΨeIs the output of the magnetic yaw positioning algorithm, psi is the orientation of the X axes of the two sensors, is the same as the heading of the detection carrier platform, and has a value range of (-180, + 180)]Degrees, in particular, when the route angle of the submarine cable is around ± 180 degrees, it may result in calculating ΨcMore than (-180, + 180)]Solution of degree range, therefore, the submarine cable routing angle is performed as followsAnd (3) calculating:
Ψc＝Ψc-FLOOR(|Ψc|，180)*sign(Ψc)*360
wherein FLOOR (| Ψ)c| 180) function represents: when t iscWhen the absolute value of (a) exceeds 180, the value of the function is 1, otherwise, the value of the function is 0; sign (Ψ)c) As a function of the sign, i.e. when ΨcWhen > 0, sign (Ψ)c) 1 is ═ 1; when t iscWhen < 0, sign (Ψ)c) -1; by the above, the route angle psi of the submarine cable can be ensuredcIs always at (-180, + 180)]In the range of degrees, namely 0 degree is in the north direction, and when the angle is gradually increased from 0 degree to +180 degrees along the clockwise direction to the south direction; when the angle is gradually reduced from 0 degree to-180 degrees along the anticlockwise direction to the south direction;
b) the absolute positioning algorithm of the submarine cable routing point: for determining the longitude/latitude coordinates of the vertical mapping point of the two sensor center points on the submarine cable in the geodetic coordinate system, the submarine cable routing and positioning algorithm has the following expression:
(Nc Ec)＝(Nv-Yesin(Ψ+Ψe)Ev+Yecos(Ψ+Ψe))
wherein (N)v Ev) For the absolute longitude and latitude coordinates of the detection platform, (N)c Ec) The absolute longitude and latitude coordinates of the submarine cable routing point are shown, and psi is the heading of the detection platform.
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