CN113687308A - Method for positioning seismic source on ice based on bending waves - Google Patents
Method for positioning seismic source on ice based on bending waves Download PDFInfo
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- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The invention provides an on-ice seismic source positioning method based on bending waves, which is based on the ice layer sound propagation characteristics and combined with the advantages of large energy and easiness in detection of the ice layer bending waves in view of the huge difference between the vertical thickness and the horizontal dimension of polar sea ice, and the bending wave dispersion curve is extracted by using a Hilbert-Huang transform time-frequency analysis method to obtain the bending wave propagation group velocity. The method comprises the steps of calculating the distance of a seismic source by fully utilizing the frequency dispersion characteristics of bending waves and through the arrival time and wave velocity difference of acoustic energy of different frequencies of the bending waves; and (4) combining the positions of the three detectors and the three distances obtained by calculation, and estimating the position of the seismic source by utilizing the geometric relationship. The invention provides an on-ice seismic source positioning method aiming at the characteristics of sound propagation in polar environment and polar sea ice, so as to solve the economic development and potential target positioning requirements in the arctic region.
Description
Technical Field
The invention relates to a seismic source positioning method, in particular to an on-ice seismic source positioning method based on bending waves, and belongs to the technical field of polar region acoustics.
Background
The seismic source positioning method is a technology for determining the azimuth and distance of a seismic source based on the arrival time difference and the propagation speed of different elastic waves by using corresponding waveform signals recorded by a sensor. Conventional seismic source location methods all process for body waves (e.g., P-waves, S-waves). For example, in the latest patent of the invention of the same kind of technology published in 2021, the ground microseism positioning method and system for joint seismic source mechanism inversion is based on a body wave velocity model and amplitude inversion seismic source position; other acoustic positioning methods, such as "a sound source positioning method based on dual microphones", and "a robust sound source positioning method based on a quaternary orthogonal microphone array", use the stable wave velocity of the bulk wave as prior information, and focus on bulk wave frequency analysis or array processing.
In the face of on-ice seismic source localization, bulk wave based localization methods are limited by changes in acoustic propagation medium characteristics and the influence of ice layer waveguides. The polar ice layer is in a macroscopic plate-shaped configuration, and bulk waves generated by excitation of a seismic source on ice are reflected and superposed for multiple times on the upper surface and the lower surface of the ice layer to form different types of guided waves. Due to the fast conversion of elastic wave energy from bulk wave to guided wave, the far field bulk wave energy is much lower than the guided wave energy, making it difficult to extract bulk waves in the actual wave field. Meanwhile, due to the special geographic position of the polar region, the synchronous satellite orbit is difficult to cover the two-polar region, the GPS synchronous time service is unavailable, the time keeping error of a chip used in the equipment is small, but the time keeping error is gradually accumulated in long-term monitoring, and a large-amplitude synchronous error is gradually generated, so that the positioning of an array processing method needing synchronous receiving is inaccurate, and the body wave positioning method cannot be directly applied based on bending waves. The above-described positioning method based on bulk waves is not applicable.
In summary, the existing seismic source positioning method is difficult to meet the requirements of seismic source positioning on polar ice, such as polar air-dropped material positioning, on-ice tool tracking, submarine ice breaking position estimation and the like. Therefore, the invention provides an on-ice seismic source positioning method aiming at the characteristics of polar environment and acoustic propagation in polar sea ice, so as to solve the economic development and potential target positioning requirements in the arctic region.
Disclosure of Invention
The invention aims to provide a method for positioning a seismic source on polar ice, which overcomes the defects of limited applicability, insufficient practicability and the like of the conventional acoustic positioning method in the face of polar sea ice. Based on the prior knowledge of the maximum bending wave energy in the plate-shaped structure, the ice layer bending wave frequency dispersion characteristic is fully utilized, and the three single-component detectors can be used for quickly and flexibly realizing the evaluation of the position of the seismic source on the ice.
The purpose of the invention is realized as follows: the method comprises the following steps:
step 1: and laying and collecting the detectors. Three single-component detectors are closely coupled to the upper surface of the ice layer, so as to ensure and record the posture and the position (x)i,yi) I is 1,2,3, then opening continuous data acquisition to obtain detector component signal Si；
Step 2: and obtaining the dispersion characteristic. Performing Hilbert-yellow transform time-frequency analysis on a bending wave signal of a known seismic source by actively exciting the seismic source, and acquiring an ice layer dispersion curve of a test area by combining the distance and excitation time information of the known seismic source;
and step 3: and estimating the distance of the seismic source. The detector continuously collects data, and the arrival time of the bending wave is determined through threshold value searching. Repeating the time-frequency curve extraction in the step 2 on the bending wave data to obtain a bending wave frequency dispersion curve of the unknown sound source; selecting two frequencies f with obvious wave speed difference1、f2Record its arrival time t1、t2. Using f in step 31、f2Corresponding group velocity v1、v2Calculating the distances L from the sound source to the three detectors by combining the arrival time1,L2,L3；
And 4, step 4: and estimating the position of the seismic source. Three detector positions (x)i,yi) I 1,2,3, distance L from the source to the three detectors1,L2,L3And obtaining the seismic source position (x, y) by using the geometric relation and mathematical calculation.
The invention also includes such structural features:
1. the step 2 specifically comprises the following steps:
(1) seismic source excitation: actively exciting a pulsed seismic source at a known distance, recording the distance L of the seismic source from the detector0And excitation time t0；
(2) Extracting a time-frequency curve: extracting sound source signal data S received by any detector, preprocessing, and decomposing bending waves into N intrinsic mode function signals by using empirical mode decomposition; performing Hilbert spectrum extraction processing on the N signals, and then superposing to obtain a time-frequency curve H (omega, t) of the bending wave;
(3) modeling a frequency dispersion curve: selecting any frequency f on the time-frequency curvenAnd recording its arrival time tn(ii) a Combined with the distance L of the known sound source0And a transmission time t0Calculating group velocity v of each frequencynAnd constructing an ice layer dispersion curve of f-v.
2. The third step specifically comprises:
(1) bending wave detection, namely taking 4 to 7 times of the average amplitude of noise as a detection threshold value, and recording as Am; for received signal SiPerforming peak value search by using a threshold value Am, and determining the arrival of a bending wave signal;
(2) extracting frequency dispersion characteristics, repeating the step 2, and carrying out bending wave signal SiPerforming frequency dispersion characteristic analysis to obtain Hilbert spectrum Hi(ω,t)；
(3) Seismic source distance estimation in Hilbert spectrum Hi(omega, t) two frequencies f with obvious difference of arrival time are selected1、f2Record its arrival time t1、t2(t1＜t2) (ii) a Determining the frequency f in the obtained group velocity curve v (f)1、f2Group velocity v of1、v2The seismic source distance L is obtained by the following calculation formulai：
Compared with the prior art, the invention has the beneficial effects that: from a theoretical point of view, the method combines the characteristics of polar ice sound propagation, utilizes the characteristics of large bending wave energy and easiness in detection formed by the elastic waveguide, develops analysis from frequency dispersion characteristics and constructs a positioning method highly suitable for an ice layer seismic source; from the perspective of engineering application, the method can adjust the group velocity of each frequency signal in real time through the excitation of a known seismic source so as to reduce the influence of environmental factors on the problem that the sound velocity of an ice layer is influenced by temperature and environment.
Drawings
FIG. 1 is a schematic flow chart of a method for locating an ice layer impact signal according to the present invention;
FIG. 2 is a time domain waveform diagram of a simulated known shock signal of the present invention;
FIG. 3 is a Hilbert spectrum of a simulated known impulse signal of the present invention;
FIG. 4 is a schematic layout of the apparatus for simulation testing of the present invention;
FIG. 5 is a time domain waveform diagram of a simulated unknown shock signal of the present invention;
FIG. 6 is a Hilbert spectrum of a simulated unknown impulse signal of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic flow chart of a method for positioning an ice layer impact signal according to the present invention. In view of the huge difference between the vertical thickness and the horizontal dimension of polar sea ice, the bending wave dispersion curve is extracted by using a Hilbert-Huang transform time-frequency analysis method to acquire the bending wave propagation group velocity on the basis of the ice layer sound propagation characteristics and in combination with the advantages of large bending wave energy and easiness in detection of the ice layer. The method comprises the steps of calculating the distance of a seismic source by fully utilizing the frequency dispersion characteristics of bending waves and through the arrival time and wave velocity difference of acoustic energy of different frequencies of the bending waves; and (4) combining the positions of the three detectors and the three distances obtained by calculation, and estimating the position of the seismic source by utilizing the geometric relationship.
The method comprises the following specific steps:
2.1: seismic source excitation is known. At a distance L from the detector0Using a heavy object to pound and strike the ice surface as a pulse seismic source for excitation, and recording the excitation time t0The signal received by the detector is S0；
2.2: empirical mode decomposition. For signal S0Carrying out mean value removing processing to obtain x (t), finding out all maximum characteristic value points of x (t), and obtaining the maximum envelope line e of the maximum+(t) and minimum envelope e of minima-(t) fitting the curve by cubic spline interpolation. Finally, averaging the envelope curves to obtain a mean envelope m1(t), namely:
m1(t)＝(e+(t)+e-(t))/2
subtracting m from the sequence of the original signal1(t) a new signal h is obtained1(t), namely:
h1(t)＝x(t)-m1(t)
if h1(t) stopping the decomposition for an eigenmode function component.
General term h1(t) is not an IMF component signal, and therefore needs to be on h1(t) repeating the above process until the IMF characteristics are defined, i.e. the obtained mean value goes to zero. This way, the first order IMF component c of the original signal is obtained1(t)。
C is to1(t) obtaining a new signal r by separating from x (t)1(t), namely:
r1(t)＝x(t)-c1(t)
to further derive a lower frequency component signal, r is1(t) repeating the above process as the original signal to obtain a second IMF component c2(t) of (d). Repeating for n times until preset stop is metRegulating to obtain N IMF components ci(t),i＝1,2…,N。
2.3: and (5) extracting a time-frequency curve. The obtained N IMF components are respectively subjected to hilbert transform, and the obtained results are as follows:
wherein, ak(t) is the analytic signal amplitude of the k-th order IMF component, and ω isk(t) is the instantaneous frequency of the k-th order IMF component. Expanding the result obtained after Hilbert transform to obtain a Hilbert spectrum, wherein the formula is as follows:
finally, the frequency dispersion curve of the bending wave is characterized through a Hilbert spectrum.
2.4: group velocity modeling. By Hilbert spectroscopy H0(ω, t) obtaining each frequency fnCorresponding time of arrival tn. Incorporating the distance L of the sound source measured in 2.10And excitation time t0From vn＝L0/(tn-t0) And calculating the group velocity of the frequency, and summarizing to obtain a group velocity curve v (f) of the frequency band.
Considering that the sound velocity of the ice layer is greatly influenced by the temperature and the ice thickness, the step 2 can be repeated to update the group velocity curve.
3.1: and (4) detecting bending waves. In order to reduce random fluctuation interference, 4 to 7 times of the average amplitude of noise is taken as a detection threshold value, denoted as Am. For received signal SiAnd performing peak value search by using a threshold value Am to determine the arrival of the bending wave signal.
3.2: and (5) extracting frequency dispersion characteristics. Repeating steps 2.2 and 2.3 to obtain bending wave signal SiPerforming frequency dispersion characteristic analysis to obtain Hilbert spectrum Hi(ω,t)。
3.3: and estimating the distance of the seismic source. In HilbertTesper spectrum Hi(omega, t) two frequencies f with obvious difference of arrival time are selected1、f2Record its arrival time t1、t2(t1＜t2). In the group velocity profile v (f) obtained in step 2.4, the frequency f is determined1、f2Group velocity v of1、v2(v1＞v2) The seismic source distance L is obtained by the following calculation formulai。
Step 4 the seismic source location estimate is detailed as: assuming that the source position is (x, y), the position of the detector is known as (x)i,yi) I is 1,2,3, and the distance between the source and the detector is LiSimultaneous solution of equations
And obtaining the uniquely determined seismic source position (x, y), and finally completing the positioning of the ice layer seismic source.
This is further illustrated below by way of a simulation example:
FIG. 2 is a diagram of a simulated shockwave as a known signal, the signal having a transmission time t00s at a distance L from the detector0200 m. And (3) performing frequency dispersion characteristic extraction on the bending wave signals in the Z component to obtain the signal shown in the figure 3. FIG. 3 is a Hilbert spectrum of a flexural wave generated by excitation of the signal, characterizing the time-frequency characteristics of the flexural wave. Table 1 shows the arrival time t of bending wave at a partial frequencynAnd calculating vn＝L0/(tn-t0) The resulting bending wave velocity vn。
TABLE 1 arrival time and wave velocity of bending wave signals at different frequencies
FIG. 4 is a schematic diagram of an estimate of the location of an unknown seismic source modeled on an ice surface, the location of the modeled seismic source being (90,120), and the locations of the three receivers being (0,0), (90,0), (0, 120). The detector (0,0) receives an unknown source waveform as shown in FIG. 5, which adds noise interference to the known source signal. The detector signal at the (0,0) position is detected by amplitude search. The bending wave is collected at 0.06s of the intercepted data segment in the figure, and the frequency dispersion feature extraction is also carried out on the bending wave signal, so that a Hilbert spectrum as shown in figure 6 is obtained. Extracting the frequency f from the Hilbert spectrum1＝150Hz、f2Time of arrival t corresponding to 100Hz1＝0.07667s、t20.09241 s. In combination with the wave velocity information v given in Table 11＝1211.8m/s、v21076.9m/s, prepared from
Calculating to obtain the distance L of the seismic source1L is calculated in the same way as 152.3m2＝122.6m，L3＝92.4m。
Simultaneous solution of equations with detector position
X is 91.3 and y is 121.8. The seismic source location estimate is (91.3,121.8) and substantially matches the predetermined actual location (90,120), demonstrating that the method of the present invention is able to accurately and efficiently estimate the seismic source location on ice.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (3)
1. A method for positioning an ice seismic source based on bending waves is characterized by comprising the following steps: the method comprises the following steps:
step 1: laying and collecting a detector; three single-component detectors are closely coupled to the upper surface of the ice layer, so as to ensure and record the posture and the position (x)i,yi) I is 1,2,3, then opening continuous data acquisition to obtain detector component signal Si；
Step 2: acquiring a frequency dispersion characteristic; performing Hilbert-yellow transform time-frequency analysis on a bending wave signal of a known seismic source by actively exciting the seismic source, and acquiring an ice layer dispersion curve of a test area by combining the distance and excitation time information of the known seismic source;
and step 3: estimating the distance of the seismic source; the detector continuously collects data, and the arrival time of the bending waves is determined through threshold value searching; repeating the time-frequency curve extraction in the step 2 on the bending wave data to obtain a bending wave frequency dispersion curve of the unknown sound source; selecting two frequencies f with obvious wave speed difference1、f2Record its arrival time t1、t2(ii) a Using f1、f2Corresponding group velocity v1、v2Calculating the distances L from the sound source to the three detectors by combining the arrival time1,L2,L3；
And 4, step 4: estimating the position of a seismic source; three detector positions (x)i,yi) I 1,2,3, distance L from the source to the three detectors1,L2,L3And obtaining the seismic source position (x, y) by using the geometric relation and mathematical calculation.
2. The method of claim 1, wherein the method comprises: the step 2 specifically comprises the following steps:
(1) seismic source excitation: actively exciting a pulsed seismic source at a known distance, recording the distance L of the seismic source from the detector0And excitation time t0；
(2) Extracting a time-frequency curve: extracting sound source signal data S received by any detector, preprocessing, and decomposing bending waves into N intrinsic mode function signals by using empirical mode decomposition; performing Hilbert spectrum extraction processing on the N signals, and then superposing to obtain a time-frequency curve H (omega, t) of the bending wave;
(3) modeling a frequency dispersion curve: selecting any frequency f on the time-frequency curvenAnd recording its arrival time tn(ii) a Combined with the distance L of the known sound source0And a transmission time t0Calculating group velocity v of each frequencynAnd constructing an ice layer dispersion curve of f-v.
3. A method for seismic source location on ice based on flexural waves according to claim 1 or 2, characterized by: the third step specifically comprises:
(1) bending wave detection, namely taking 4 to 7 times of the average amplitude of noise as a detection threshold value, and recording as Am; for received signal SiPerforming peak value search by using a threshold value Am, and determining the arrival of a bending wave signal;
(2) extracting frequency dispersion characteristics, repeating the step 2, and carrying out bending wave signal SiPerforming frequency dispersion characteristic analysis to obtain Hilbert spectrum Hi(ω,t)；
(3) Seismic source distance estimation in Hilbert spectrum Hi(omega, t) two frequencies f with obvious difference of arrival time are selected1、f2Record its arrival time t1、t2(t1＜t2) (ii) a Determining the frequency f in the obtained group velocity curve v (f)1、f2Group velocity v of1、v2The seismic source distance L is obtained by the following calculation formulai：
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| CN115166817A (en) * | 2022-06-30 | 2022-10-11 | 哈尔滨工程大学 | Ice sound positioning method based on ice layer modal group slowness difference characteristics |
| CN115208484A (en) * | 2022-07-01 | 2022-10-18 | 哈尔滨工程大学 | Cross-ice medium acoustic communication method |
| CN115236597A (en) * | 2022-06-30 | 2022-10-25 | 哈尔滨工程大学 | Double-accelerometer-coupled phase velocity characteristic-based ice-crossing positioning method |
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| CN115166817A (en) * | 2022-06-30 | 2022-10-11 | 哈尔滨工程大学 | Ice sound positioning method based on ice layer modal group slowness difference characteristics |
| CN115236597A (en) * | 2022-06-30 | 2022-10-25 | 哈尔滨工程大学 | Double-accelerometer-coupled phase velocity characteristic-based ice-crossing positioning method |
| CN115236597B (en) * | 2022-06-30 | 2022-12-23 | 哈尔滨工程大学 | Double-accelerometer-coupled phase velocity characteristic-based ice-crossing positioning method |
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| CN115208484A (en) * | 2022-07-01 | 2022-10-18 | 哈尔滨工程大学 | Cross-ice medium acoustic communication method |
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