CN113640808B - Shallow water submarine cable buried depth detection method and device - Google Patents
Shallow water submarine cable buried depth detection method and device Download PDFInfo
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- CN113640808B CN113640808B CN202110925087.3A CN202110925087A CN113640808B CN 113640808 B CN113640808 B CN 113640808B CN 202110925087 A CN202110925087 A CN 202110925087A CN 113640808 B CN113640808 B CN 113640808B
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The embodiment of the invention discloses a method and a device for detecting the buried depth of a submarine cable in a shallow water area, wherein the method comprises the following steps: acquiring average sound velocity and draft during the navigation process of the survey ship according to the specified ship speed and the navigation pre-layout survey line; inputting the average sound velocity and the draft into a depth finder, and carrying out water depth measurement to obtain instantaneous water depth data and positioning data; utilizing a side scan sonar to carry out submarine landform survey and acquiring side scan sonar data; laying a specified encrypted cable detection measuring line by using a shallow stratum profiler to obtain profile data; drawing a track graph; generating a water depth map; generating a landform map; obtaining a cable state section diagram containing the buried depth of the submarine cable; according to the track map, the water depth map, the landform map and the cable state section map, the submarine cable route is subjected to framing drawing to obtain a submarine cable burial result map, so that the traditional submarine cable burial depth investigation operation cost is greatly reduced, the operation safety is improved, and the submarine cable burial depth investigation operation in a shallow water area is realized.
Description
Technical Field
The embodiment of the invention relates to the technical field of submarine cable detection, in particular to a method and a device for detecting the buried depth of a submarine cable in a shallow water area.
Background
In recent years, the submarine cable is often hung up by anchors in shallow water areas such as Bohai sea areas, which causes great economic loss to users. This is the case frequently, on the one hand, because of the increasing number of construction vessels and the random lowering of the anchor, which constitutes an external risk of the cable being disconnected. On the other hand, in a conventional submarine pipeline external survey project, due to the fact that the diameter of a submarine cable is small, conventional acoustic survey equipment cannot be accurately distinguished, and due to the fact that the depth of water in the Bohai sea area is shallow, electromagnetic survey methods such as a tug or a DP ship carrying underwater Robots (ROV) cannot be normally carried out, the cable burial depth of the Bohai sea area is difficult to detect, the defect of the cable burial depth data in the Bohai sea area is caused, cables with exposed hidden dangers cannot be managed and maintained in a targeted mode in time, and great risks are caused to safe operation of the submarine cable.
Disclosure of Invention
In view of the above problems, embodiments of the present invention have been made to provide a shallow water submarine cable burial depth detection method and apparatus that overcome or at least partially solve the above problems.
According to an aspect of the embodiments of the present invention, there is provided a method for detecting a buried depth of a submarine cable in a shallow water region, the method including:
acquiring data, namely acquiring average sound velocity and draft during the navigation process of a survey ship according to the specified ship speed and a navigation preset layout survey line; inputting the average sound velocity and the draft into a depth finder, and carrying out water depth measurement to obtain instantaneous water depth data and positioning data; utilizing a side scan sonar to carry out submarine landform survey and acquiring side scan sonar data; laying a specified encrypted cable detection measuring line by using a shallow stratum profiler to obtain profile data;
a data processing step, namely performing first preprocessing on navigation data, and drawing a track map by combining position offset information of a plurality of devices; performing second pretreatment on the water depth data, and generating a water depth map based on the treated data; carrying out third preprocessing on the side-scan sonar data, and extracting information based on the processed data to generate a landform image; performing fourth preprocessing on the profile data by adopting a specified format to correct the profile data, and calculating a cable state profile containing the buried depth of the submarine cable according to the corrected profile data;
drawing, namely performing amplitude-division drawing on the submarine cable route according to a track map, a water depth map, a landform map and a cable state section map to obtain a submarine cable burial result map; the submarine cable burial result graph comprises submarine cable burial data.
According to another aspect of the embodiments of the present invention, there is provided a submarine cable burial depth detection device in a shallow water region, including:
the data acquisition module is suitable for acquiring the average sound velocity and the draft during the navigation process of the survey ship according to the specified ship speed and the navigation pre-layout survey line; inputting the average sound velocity and the draft into a depth finder, and carrying out water depth measurement to obtain instantaneous water depth data and positioning data; utilizing a side scan sonar to carry out submarine landform survey and acquiring side scan sonar data; laying a specified encrypted cable detection measuring line by using a shallow stratum profiler to obtain profile data;
the data processing module is suitable for performing first preprocessing on navigation data information and drawing a track map by combining position offset information of a plurality of devices; performing second pretreatment on the water depth data, and generating a water depth map based on the treated data; carrying out third preprocessing on the side-scan sonar data, and extracting information based on the processed data to generate a landform image; performing fourth preprocessing on the profile data by adopting a specified format to correct the profile data, and calculating a cable state profile containing the buried depth of the submarine cable according to the corrected profile data;
the drawing module is suitable for carrying out amplitude-division drawing on the submarine cable route according to the track graph, the water depth graph, the landform graph and the cable state section graph to obtain a submarine cable buried result graph; the submarine cable burial result graph comprises submarine cable burial data.
According to still another aspect of an embodiment of the present invention, there is provided a computing device including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the shallow water submarine cable burial depth detection method.
According to a further aspect of the embodiments of the present invention, there is provided a computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the shallow submarine cable burial depth detection method.
According to the shallow water submarine cable buried depth detection method and device provided by the embodiment of the invention, the buried depth investigation operation cost of the traditional submarine cable is greatly reduced, the operation safety is improved, and the investigation operation on the buried depth of the submarine cable in the shallow water is realized. Furthermore, clear and accurate submarine cable buried data can be obtained based on the submarine cable buried data acquisition method, submarine cable laying conditions can be conveniently and accurately mastered, and great help is provided for in-service submarine cable management.
The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and the embodiments of the present invention can be implemented according to the content of the description in order to make the technical means of the embodiments of the present invention more clearly understood, and the detailed description of the embodiments of the present invention is provided below in order to make the foregoing and other objects, features, and advantages of the embodiments of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the embodiments of the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 shows a flow chart of a shallow water submarine cable burial depth detection method according to one embodiment of the invention;
FIG. 2 shows a schematic diagram of a shallow profiler layout of a specified encrypted cable survey line;
FIG. 3 shows a tidal level data diagram;
FIG. 4 shows a topographical view;
FIG. 5 shows a high resolution format processing profile data comparison diagram;
fig. 6 shows a diagrammatic view of the buried result of a submarine cable;
FIG. 7 shows a schematic view of images in a cable characteristics database;
FIG. 8 is a schematic structural diagram of a shallow water submarine cable burial depth detection device according to one embodiment of the invention;
FIG. 9 shows a schematic structural diagram of a computing device according to an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 shows a flow chart of a shallow water submarine cable burial depth detection method according to an embodiment of the invention, and as shown in fig. 1, the method comprises the following steps:
and S101, acquiring average sound velocity and draft during the navigation process of the survey ship according to the specified ship speed and the navigation pre-layout survey line.
According to the embodiment, a plurality of devices are pre-installed on the measuring ship, various data are collected by the devices in the process of sailing, the buried depth of the submarine cable is determined based on the data, and therefore the buried depth detection of the submarine cable in the shallow water area is achieved.
To better acquire data, a plurality of devices are mounted in advance to designated positions of the measuring vessel. The plurality of devices includes: such as navigation positioning systems, side-scan sonar, depth finders, shallow profilers, and the like. Specifically, the equipment is divided into indoor and outdoor equipment, a navigation computer of a navigation positioning system, a side-scan sonar data acquisition host of side-scan sonar equipment and a shallow stratum profiler processing unit are installed in a cabin working chamber of a survey ship, and after the accurate connection is ensured, operation debugging is carried out to ensure that the equipment can normally work. When a plurality of devices are installed outdoors, for example, in order to avoid shelters and improve positioning accuracy, a GPS antenna of a navigation positioning system can be installed at a specified position, for example, a depth finder and a shallow profile profiler are vertically fixed on the port side of a measuring ship through a support, a ship board position (about 1/2 ship length) near the gravity center of the measuring ship is selected to fix an instrument support, and an instrument can be installed at the position far away from a ship host, a pump and a propeller, and the swinging of the measuring ship and noise interference can be effectively avoided. And three GPS antennas are respectively arranged on the top of the shallow stratum profiler, the bow and the stern so as to conveniently improve the positioning precision. The side scan sonar drags the fish and installs in survey ship starboard, stretches out ship board side direction through the bracing piece and drags to avoid the hull to scan wide interference to the sonar. For example, the position of the device may be specifically adjusted according to the implementation situation to ensure the accuracy of the measurement and data acquisition, which is not limited herein. Further, after the equipment is installed, the position offset information of each equipment relative to the GPS navigation positioning system is accurately measured, so that the accuracy of the measured position of each equipment is ensured.
Besides the installation of the above devices, the measuring vessel is also provided with an acoustic velocity meter, a surge compensation system and the like, and the installation position is not limited here.
Based on the equipment, the survey line can be pre-laid in navigation software used by the navigation positioning system, and the measuring ship is guided to facilitate the measuring ship to correct the course at any time through the yaw indicator in the navigation window of the measuring ship, so that the measuring ship can be ensured to sail along the laid survey line. The track map in the navigation software can reflect measured lines, unmeasured lines, the position of a measuring ship on the map, the navigation direction, whether areas which are missed to be measured and need to be measured are available in real time, and the like. The data window of the navigation software can display various navigation parameters such as longitude and latitude coordinates, ship speed, ship heading, recording state, survey line name, event number, measured line length, file name, time, survey line direction, offset distance, water depth, HDOP (horizontal precision factor) value and the like in real time. The navigation positioning computer of the navigation positioning system synchronously provides equipment such as a depth finder and a side scan sonar with a scaler during working, and marking signals are conveniently conveyed. The survey ship navigates by prearranging a survey line, and in order to guarantee data acquisition, the survey ship navigates according to the specified ship speed, such as the ship speed of about 4 knots, so as to increase the sampling rate of each device, prolong the crosscutting time and guarantee that data sampling is not distorted. In the sailing process of the measuring ship, the sound velocity profile of the seawater is measured by using the sound velocity meter, the average sound velocity is obtained, and the draft depth is accurately measured so as to provide data support for subsequent equipment.
And S102, inputting the average sound velocity and the draft into a depth finder, measuring the water depth, and acquiring instantaneous water depth data and positioning data.
In the embodiment, the depth finder adopts a single-beam depth finder, and the obtained average sound velocity and draft are input into the depth finder to perform water depth measurement. In the process of water depth measurement, the gain of the instrument is adjusted in real time according to the change of the water depth so as to ensure the measurement precision. In the measuring process, the navigation software records the acquired instantaneous water depth data and the positioning data, and the depth finder can synchronously perform water depth analog printing for subsequent processing.
Further, when the depth finder is used for measuring the water depth, the submarine cable is used as a central line for laying the measuring lines, the single-beam water depth measuring lines are laid perpendicular to the central line, the middle point is on the central line of the submarine cable route, the length of the measuring lines is a first designated length, and the interval of the measuring lines is a first designated distance. For example, the length of the measuring line is 200m, and the interval between the measuring lines is 50 m. The inspection line is perpendicular to the main measurement line, the total length of the inspection line is greater than a preset value of the length of the main measurement line, and the total length of the inspection line can be greater than 5% of the length of the main measurement line. The above is an example, and is specifically set according to the implementation situation.
And step S103, performing submarine landform survey by using a side-scan sonar to acquire side-scan sonar data.
The side scan sonar adopts the dual-frenquency side scan sonar, adopts the side to pull the mode, sets up side scan sonar high-frequency range, low frequency and sweeps wide-range, if sets up the high-frequency range to 100 meters, sets up to 100 meters low frequency and sweeps wide-range, makes the coverage overlap ratio between the strip reach 200% to utilize the side scan sonar to carry out submarine topography investigation, pinpoint submarine cable routing area's submarine topography condition, thereby can pinpoint the exposed condition of cable.
The side-scan sonar layout survey line uses the submarine cable as a central line, is parallel to the central line and lays an appointed sonar survey line, and the distance of survey line from the central line is a second appointed distance, and the wide both sides of side-scan sonar scan are second appointed length respectively. If 2 sonar survey lines are arranged in parallel with the central line, the distance from each survey line to the central line of the submarine cable route is 50 meters respectively, and the distances from the two sides of the side scan sonar scan width are 100 meters respectively.
And step S104, laying a specified encrypted cable detection survey line by using a shallow layer profiler to acquire profile data.
When the shallow stratum profiler is used, in order to obtain a clear cable image, a parametric array shallow stratum profiler is adopted, the beam angle of the parametric array shallow stratum profiler is +/-1 degrees, the index can obviously improve the resolution ratio of the submarine cable, and the buried submarine cable can be clearly displayed by combining the real-time adjustment of the transmitting frequency and the transmitting pulse parameters and the attitude compensation of a navigation positioning system. When a probe transducer emitted by the shallow stratum profiler does not reach a target (submarine cable) right above, because a side beam firstly reaches the target and is reflected back to the receiver, the target is far away from the transducer at the moment, namely the sound wave propagation path is long, and the characteristics of the target are shown below the actual position of the target. When the shallow stratum profiler is right above the target object, the distance between the shallow stratum profiler and the target object is shortest, and the presented position is the highest point in the profile; when the shallow layer profiler leaves, the distance between the shallow layer profiler and the target object is gradually increased, and the image characteristics are gradually displayed below the actual position of the target object. Based on the above examples, multiple times can be set for encryption detection according to the original normal section interval, and data acquisition is increased. Specifically, when the shallow stratum profiler is used, the low frequency adopts the specified frequency, such as 10-15KHz frequency, the measuring range adopts the specified length below the mud surface, such as 5-6 meters, the cable is convenient to view, the gain is adjusted in real time, and the cable image data effect is optimal. When the shallow layer profiler is provided with a specified encrypted cable detection measuring line, the encrypted cable detection measuring line is added on the basis of the original measuring line so as to obtain more sampling data. And the layout survey lines use the submarine cables as central lines, the encrypted cable detection survey lines are arranged perpendicular to the central lines, the middle points are positioned on the central lines of the submarine cable routes, the length of the survey lines is a third designated length, and the interval of the survey lines is a third designated distance. If on the basis of the original measuring line length of 200 meters and the measuring line interval of 50 meters, 2 times of encrypted detection is added, so that the measuring line length is 200 meters and the measuring line interval is 25 meters. I.e., a third specified length of 200 meters and a third specified distance of 25 meters. As shown in fig. 2, the thickest line in the middle is the central line, and the cable detection survey lines are respectively arranged in the horizontal parallel direction on the upper and lower sides, wherein the darker color is the original survey line, and the lighter color is the encrypted cable detection survey line; and cable detection measuring lines are respectively arranged in the vertical direction, wherein the darker color is the original measuring line, the interval is 50 meters, the lighter color is the encrypted cable detection measuring line, the interval between the measuring lines is 25 meters, and the sampling data is increased.
Further, the above steps S102-S104 may be executed simultaneously, and corresponding data is collected, and the execution order of the above steps is not limited herein.
Step S105, the navigation data is first preprocessed, and a track graph is drawn by combining the position offset information of a plurality of devices.
For navigation data, the first preprocessing comprises eliminating positioning error data, for example, comprehensively checking against navigation preset measuring lines, and eliminating data corresponding to measuring points with larger positioning errors. And then calculating the plane positions of different devices according to different position offset information and headings recorded by different devices (such as a transducer of a depth finder, a side scan sonar, a transducer of a shallow stratum profiler and the like), so as to conveniently draw a track chart.
Specifically, a navigation processing module such as Hypack 2008 can be used to perform first preprocessing on the navigation data, so as to complete the drawing of the track map.
And S106, performing second preprocessing on the water depth data, and generating a water depth map based on the processed data.
The processing of the water depth data can be performed by a depth finder using a water depth processing module for second preprocessing, wherein the second preprocessing comprises checking the water depth data by a depth finder for analog record, eliminating wrong numerical values, forecasting obtained tide level data according to a tide table (such as a tide table of an acquisition place published by Chinese maritime affairs, shown in fig. 3, and tidal height data display at different times), and acquiring sound velocity data acquired on site to perform tide level, sound velocity correction and the like.
Specifically, the above processing may be performed by using a water depth processing module such as Hypack 2008, and a water depth map may be generated based on the processed data.
And step S107, performing third preprocessing on the side scan sonar data, and extracting information based on the processed data to generate a landform map.
And carrying out third preprocessing on the side-scan sonar data, wherein the third preprocessing comprises water body removal, offset correction, inclination correction, time variable gain TVG (transient voltage variation) adjustment processing and the like. For example, the EdgeTech Discover4200 software is adopted to carry out the above processing on the collected original data, so that the side scan sonar data is more accurate. And extracting the feature landform of the seabed, the coordinate and the size of the suspicious target by utilizing functions such as inlaying and digitalizing to generate a landform map based on the processed data. During processing, according to the reflection and scattering principles of sound waves in water acoustics in different media of the seabed, information such as pile holes, seabed scouring and obvious barriers are distinguished by combining sea area marine power factors, and the accuracy of generating a topographic map is guaranteed. The topographic map is shown in fig. 4, wherein the strip-shaped lines in the middle part are in the shape of a sea ditch of the submarine cable.
And S108, performing fourth preprocessing on the profile data by adopting a specified format to correct the profile data, and calculating a cable state profile containing the buried depth of the submarine cable according to the corrected profile data.
When the profile data is processed, the fourth preprocessing is performed on the profile data in a specified format, the specified format is a high-resolution format, and the original data and the SES3 data are combined for comparative analysis, as shown in FIG. 5, through the comparative analysis, the data accuracy and the like can be improved. The fourth preprocessing includes, for example, identifying profile data interference waves, profile data correction, attitude and position error correction, and the like. Due to the presence of objects such as rocks on the sea floor, which also interfere with the profile data, misinterpret as a result of submarine cable reflections, profile data interference waves are identified in conjunction with data such as topographical maps, geological artefacts are removed for correction, etc. Analyzing the space form of each layer and the contact relation between layers, carrying out time-depth conversion, calculating to obtain the buried depth of the submarine cable according to the time length of receiving reflection, and finally generating a cable state section diagram by using AutoCAD software and the like.
The measurement result of submarine cable detection is a two-pass reflection time profile, which is essentially a reflection of acoustic impedance between stratum interfaces. The submarine cable is embodied in a cable state section view as a parabolic curve formed by the reflection of sound waves. The pipe trench influences the use effect of the profiler, so the states of the exposed and suspended submarine cables are comprehensively interpreted by the data of the side scan sonar and the shallow profiler, and the submarine cable data in all the buried states are calculated by the data of the shallow profiler. For a section image with serious diffraction influence, the trench bottom cannot be directly and accurately presented, but the parabolic curve arc formed by the submarine cable is dilute and visible, and the height of the submarine cable relative to the average submarine on the upper part can be measured. The pipe trench needs to extract the trench bottom water depth through single-beam water depth data, and then the submarine cable buried depth is calculated to obtain a cable state profile.
And step S109, according to the track map, the water depth map, the landform map and the cable state section map, framing and drawing the submarine cable route to obtain a submarine cable burial result map.
And according to the various data, the obtained track map, the water depth map, the topographic map and the cable state section map, carrying out amplitude-division drawing on the route trend of the submarine cable and the like to obtain a submarine cable buried result map, wherein the submarine cable buried result map comprises submarine cable buried data. As shown in fig. 6, the signals and relative positions of the buried ocean bottom cables T3 and T4 and the ocean bottom and the bottom layer can be clearly distinguished, thereby providing more accurate buried data of the ocean bottom cables.
Further, a cable characteristic database can be established based on the identified submarine cable burying result diagram, as shown in fig. 7, the cable characteristic database comprises images of various characteristics of the cable, such as bare, buried, soft and hard geology, water quality, noise interference, surge influence and the like, after the submarine cable burying result diagram is obtained, the submarine cable position can be rapidly identified and determined through image comparison in the cable characteristic database, and the submarine cable can be conveniently maintained and managed.
According to the method for detecting the buried depth of the submarine cable in the shallow water area, the cost of the conventional submarine cable buried depth investigation operation is greatly reduced, the operation safety is improved, and the investigation operation on the buried depth of the submarine cable in the shallow water area is realized. Furthermore, clear and accurate submarine cable buried data can be obtained based on the submarine cable buried data acquisition method, submarine cable laying conditions can be conveniently and accurately mastered, and great help is provided for in-service submarine cable management.
Fig. 8 shows a schematic structural diagram of a submarine cable burial depth detection device in a shallow water region according to an embodiment of the invention. As shown in fig. 8, the apparatus includes:
the data acquisition module 810 is suitable for acquiring the average sound velocity and the draft during the navigation process of the survey ship according to the specified ship speed and the navigation pre-layout survey line; inputting the average sound velocity and the draft into a depth finder, and carrying out water depth measurement to obtain instantaneous water depth data and positioning data; utilizing a side scan sonar to carry out submarine landform survey and acquiring side scan sonar data; laying a specified encrypted cable detection measuring line by using a shallow stratum profiler to obtain profile data;
the data processing module 820 is suitable for performing first preprocessing on navigation data materials and drawing a track map by combining position offset information of a plurality of devices; performing second preprocessing on the water depth data, and generating a water depth map based on the processed data; carrying out third preprocessing on the side-scan sonar data, and extracting information based on the processed data to generate a landform map; performing fourth preprocessing on the profile data by adopting a specified format to correct the profile data, and calculating a cable state profile containing the buried depth of the submarine cable according to the corrected profile data;
the drawing module 830 is adapted to perform framing drawing on the submarine cable route according to the track map, the water depth map, the landform map and the cable state section map to obtain a submarine cable burial result map; the submarine cable burial result graph comprises submarine cable burial data.
Optionally, a plurality of devices are installed to the designated positions of the measuring ship in advance; the plurality of devices includes: a navigation positioning system, a side-scan sonar, a depth finder and/or a shallow profiler.
Optionally, the water depth measurement uses a submarine cable as a central line, a single-beam water depth measuring line is arranged perpendicular to the central line, a middle point is on a route central line, the length of the measuring line is a first specified length, and the interval of the measuring line is a first specified distance; the inspection line is vertical to the main measurement line, and the total length of the inspection line is greater than the preset length value of the main measurement line;
the side-scan sonar layout survey line takes a submarine cable as a central line, a specified sonar survey line is arranged in parallel to the central line, the distance between the survey line and the central line is a second specified distance, and the two sides of the side-scan sonar width are respectively a second specified length;
when the shallow stratum profiler is used for laying an appointed encrypted cable detection survey line, a submarine cable is used as a central line, the encrypted cable detection survey line is arranged perpendicular to the central line, a middle point is positioned on the central line, the length of the survey line is a third appointed length, and the interval of the survey line is a third appointed distance.
Optionally, the first preprocessing comprises rejecting positioning error data;
the data processing module 820 is further adapted to:
and calculating the plane positions of different equipment according to different position offset information recorded by the different equipment, and drawing a track map.
Optionally, the data processing module 820 is further adapted to:
performing second preprocessing on the water depth data by the depth finder by using a water depth processing module; the second pre-processing comprises: checking the water depth data by the contrast simulation record sounding volume, and eliminating wrong numerical values; and carrying out tide level and/or sound speed correction according to tide level data and sound speed data obtained by tidal table forecasting.
Optionally, the data processing module 820 is further adapted to:
carrying out third preprocessing on the side-scan sonar data; the third pre-processing comprises: water removal, offset correction, tilt correction, and/or time variable gain adjustment processing;
and extracting the submarine characteristic landform, the suspicious target coordinate and the size based on the processed data to generate a landform map.
Optionally, the data processing module 820 is further adapted to:
performing fourth preprocessing on the profile data by adopting a specified format, wherein the specified format is a high-resolution format; the fourth pre-processing comprises: identifying profile data interference waves, profile data correction and/or attitude and position error correction;
and analyzing the space form of each layer and the contact relation among layers, performing time-depth conversion, and calculating to obtain the buried depth of the submarine cable.
The descriptions of the modules refer to the corresponding descriptions in the method embodiments, and are not repeated herein.
The embodiment of the invention also provides a nonvolatile computer storage medium, wherein the computer storage medium stores at least one executable instruction, and the executable instruction can execute the method for detecting the buried depth of the submarine cable in the shallow water area in any method embodiment.
Fig. 9 is a schematic structural diagram of a computing device according to an embodiment of the present invention, and a specific embodiment of the present invention does not limit a specific implementation of the computing device.
As shown in fig. 9, the computing device may include: a processor (processor)902, a communication Interface 904, a memory 906, and a communication bus 908.
The method is characterized in that:
the processor 902, communication interface 904, and memory 906 communicate with one another via a communication bus 908.
A communication interface 904 for communicating with network elements of other devices, such as clients or other servers.
The processor 902 is configured to execute the program 910, and may specifically execute the relevant steps in the shallow submarine cable burial depth detection method embodiment described above.
In particular, the program 910 may include program code that includes computer operating instructions.
The processor 902 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement an embodiment of the invention. The computing device includes one or more processors, which may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
A memory 906 for storing a program 910. The memory 906 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 910 may be specifically configured to cause the processor 902 to execute the shallow water submarine cable burial depth detection method in any of the above-described method embodiments. For specific implementation of each step in the procedure 910, reference may be made to corresponding steps and corresponding descriptions in units in the above shallow submarine cable burial depth detection embodiment, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.
The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. In addition, embodiments of the present invention are not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of embodiments of the present invention as described herein, and any descriptions of specific languages are provided above to disclose preferred embodiments of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components according to embodiments of the present invention. Embodiments of the invention may also be implemented as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing embodiments of the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. Embodiments of the invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specified otherwise.
Claims (10)
1. A shallow water submarine cable burial depth detection method is characterized by comprising the following steps:
acquiring data, namely acquiring average sound velocity and draft during the navigation process of a survey ship according to the specified ship speed and a navigation preset layout survey line; inputting the average sound velocity and the draft into a depth finder, and carrying out water depth measurement to obtain instantaneous water depth data and positioning data; utilizing a side scan sonar to carry out submarine landform survey and acquiring side scan sonar data; laying a specified encrypted cable detection measuring line by using a shallow stratum profiler to obtain profile data;
a data processing step, namely performing first preprocessing on navigation data, and drawing a track map by combining position offset information of a plurality of devices; performing second preprocessing on the water depth data, and generating a water depth map based on the processed data; carrying out third preprocessing on the side-scan sonar data, and extracting information based on the processed data to generate a landform map; performing fourth preprocessing on the profile data by adopting a specified format to correct the profile data, and calculating a cable state profile containing the buried depth of the submarine cable according to the corrected profile data;
drawing, namely performing amplitude division drawing on submarine cable routes according to the track graph, the water depth graph, the landform graph and the cable state section graph to obtain a submarine cable buried result graph; the submarine cable burial result graph comprises submarine cable burial data.
2. The method of claim 1, further comprising:
installing a plurality of devices to the designated positions of a measuring ship in advance; the plurality of devices includes: a navigation positioning system, a side-scan sonar, a depth finder and/or a shallow profiler.
3. The method of claim 1, wherein the bathymetry uses a submarine cable as a centerline, single beam bathymetry lines are laid perpendicular to the centerline, the midpoint is on the routing centerline, the length of the lines is a first specified length, and the lines are spaced apart a first specified distance; the inspection line is vertical to the main measurement line, and the total length of the inspection line is greater than the preset length value of the main measurement line;
the side-scan sonar layout survey line takes a submarine cable as a central line, a specified sonar survey line is arranged in parallel to the central line, the distance between the survey line and the central line is a second specified distance, and the two sides of the side-scan sonar width are respectively a second specified length;
when the shallow stratum profiler is used for laying an appointed encrypted cable detection survey line, a submarine cable is used as a central line, the encrypted cable detection survey line is arranged perpendicular to the central line, a middle point is positioned on the central line, the length of the survey line is a third appointed length, and the interval of the survey line is a third appointed distance.
4. The method according to claim 1, wherein the first preprocessing includes rejecting positioning error data;
the first preprocessing is performed on the navigation data, and the mapping of the track map by combining the position offset information of the plurality of devices further comprises:
and calculating the plane positions of different equipment according to different position offset information recorded by the different equipment, and drawing a track map.
5. The method of claim 1, wherein the second pre-processing the water depth data, and generating a water depth map based on the processed data further comprises:
performing second preprocessing on the water depth data by the depth finder by using a water depth processing module; the second pre-processing comprises: checking the water depth data by the contrast simulation record sounding volume, and eliminating wrong numerical values; and carrying out tide level and/or sound speed correction according to tide level data and sound speed data obtained by tidal table forecasting.
6. The method of claim 1, wherein the third pre-processing the side-scan sonar data and extracting information based on the processed data to generate a relief map further comprises:
carrying out third preprocessing on the side-scan sonar data; the third pre-processing comprises: water removal, offset correction, tilt correction, and/or time variable gain adjustment processing;
and extracting the submarine characteristic landform, the suspicious target coordinate and the size based on the processed data to generate a landform map.
7. The method of claim 1, wherein the fourth preprocessing of the profile data in the specified format to modify the profile data, and the calculating of the cable state profile containing the submarine cable burial depth from the modified profile data further comprises:
performing fourth preprocessing on the profile data by adopting a specified format, wherein the specified format is a high-resolution format; the fourth pre-processing comprises: identifying profile data interference waves, profile data correction and/or attitude and position error correction;
and analyzing the space form of each layer and the contact relation among layers, performing time-depth conversion, and calculating to obtain the buried depth of the submarine cable.
8. A submarine cable burial depth detection device in shallow water, characterized in that the device includes:
the data acquisition module is suitable for acquiring the average sound velocity and the draft during the navigation process of the survey ship according to the specified ship speed and the navigation pre-layout survey line; inputting the average sound velocity and the draft into a depth finder, and carrying out water depth measurement to obtain instantaneous water depth data and positioning data; utilizing a side scan sonar to carry out submarine landform survey and acquiring side scan sonar data; laying a specified encrypted cable detection measuring line by using a shallow stratum profiler to obtain profile data;
the data processing module is suitable for performing first preprocessing on navigation data information and drawing a track map by combining position offset information of a plurality of devices; performing second preprocessing on the water depth data, and generating a water depth map based on the processed data; carrying out third preprocessing on the side-scan sonar data, and extracting information based on the processed data to generate a landform map; performing fourth preprocessing on the profile data by adopting a specified format to correct the profile data, and calculating a cable state profile containing the buried depth of the submarine cable according to the corrected profile data;
the drawing module is suitable for carrying out amplitude-division drawing on the submarine cable route according to the track graph, the water depth graph, the landform graph and the cable state section graph to obtain a submarine cable burial result graph; the submarine cable burial result graph comprises submarine cable burial data.
9. A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the shallow water submarine cable burial depth detection method according to any one of claims 1-7.
10. A computer storage medium having stored therein at least one executable instruction for causing a processor to perform operations corresponding to the shallow sea cable burial depth detection method of any one of claims 1-7.
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