CN114993269A - Method for extracting track water depth by utilizing SEGY data - Google Patents
Method for extracting track water depth by utilizing SEGY data Download PDFInfo
- Publication number
- CN114993269A CN114993269A CN202210386364.2A CN202210386364A CN114993269A CN 114993269 A CN114993269 A CN 114993269A CN 202210386364 A CN202210386364 A CN 202210386364A CN 114993269 A CN114993269 A CN 114993269A
- Authority
- CN
- China
- Prior art keywords
- point
- depth
- amplitude
- data
- seabed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 132
- 238000000034 method Methods 0.000 title claims abstract description 70
- 238000005070 sampling Methods 0.000 claims abstract description 107
- 230000008569 process Effects 0.000 claims abstract description 21
- 239000013535 sea water Substances 0.000 claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 16
- 238000012216 screening Methods 0.000 claims abstract description 16
- 238000012937 correction Methods 0.000 claims abstract description 8
- 238000001914 filtration Methods 0.000 claims description 23
- 238000005259 measurement Methods 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 230000009191 jumping Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 238000000605 extraction Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000002085 persistent effect Effects 0.000 description 4
- 238000013075 data extraction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 239000002355 dual-layer Substances 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/28—Processing seismic data, e.g. for interpretation or for event detection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/28—Processing seismic data, e.g. for interpretation or for event detection
- G01V1/30—Analysis
- G01V1/301—Analysis for determining seismic cross-sections or geostructures
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Geology (AREA)
- Acoustics & Sound (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Hydrology & Water Resources (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The application relates to a method for extracting track water depth by utilizing SEGY data. The method comprises the following steps: carrying out data processing on SEGY data of each measuring point on the track to obtain measuring point coordinates and measuring point water depth of each measuring point to form track water depth; wherein, the process of obtaining the measuring point coordinate of a measuring point and the depth of water of the measuring point comprises the following steps: performing interpretation on SEGY data of the measuring points to obtain a GPS antenna head coordinate and a sampling point amplitude set; acquiring the draft depth of the transducer, the sound velocity value of seawater and the seabed searching starting moment; carrying out coordinate correction based on the GPS antenna head coordinate to obtain a measuring point coordinate; screening out the maximum sampling point amplitude from the sampling point amplitude set; and calculating the depth of the measured point according to the seabed recording time corresponding to the maximum sampling point amplitude, the seabed searching starting time, the draught depth of the transducer and the sea water sound velocity value. The scheme that this application provided can obtain based on current SEGY data processing, need not to survey again, when saving time, has saved the cost of surveying by a wide margin.
Description
Technical Field
The application relates to the technical field of marine surveying, in particular to a method for extracting track water depth by utilizing SEGY data.
Background
When carrying out the marine reconnaissance at present, the acquisition to the depth of water value mainly carries out the collection of data by the depth finder and obtains, and the depth of water data that the depth finder gathered under the general condition is comparatively accurate, however, when taking place the condition such as depth finder observation equipment trouble, ageing or parameter setting mistake, the depth of water value precision that probably leads to observing is poor, can't satisfy the needs of corresponding project, and because the marine survey is with high costs again, it not only consumes time to utilize new depth finder observation equipment to carry out the depth of water value and remeasure, still can bring extra large amount survey cost's expenditure.
The related art provides a time-depth conversion method, which requires manual picking or manual interaction and automatic parameter picking on a seismic system or a seismic image line by line, specifically: manually picking up first-arrival time on a seismic system or a seismic image line by a manual picking method, and then performing time-depth conversion to obtain the depth of the seabed horizon.
Although the manual picking method can accurately acquire the recorded delay value of the seabed, a lot of time is consumed for processing, and each survey line jumping point still needs to be further processed after the seabed delay is acquired, so that the recorded time of the seabed reflection signal can be converted into a water depth value, and the efficiency is low.
Disclosure of Invention
In order to overcome the problems in the related art, the method for extracting the water depth of the flight path by utilizing the SEGY data can be obtained based on the existing SEGY data processing, and the surveying cost is greatly saved while the time is saved.
The application provides a method for extracting the water depth of flight path by utilizing SEGY data, which comprises the following steps:
carrying out data processing on SEGY data of each measuring point on the track to obtain measuring point coordinates and measuring point water depth of each measuring point to form the track water depth; the flight path water depth is a mapping data set of measuring point coordinates and measuring point water depths of all measuring points on the flight path;
the acquiring process of the measuring point coordinate and the measuring point water depth of one measuring point in the SEGY data of each measuring point on the track through data processing to obtain the measuring point coordinate and the measuring point water depth of each measuring point comprises the following steps:
performing decoding on the SEGY data of the measuring points to obtain a GPS antenna head coordinate and a sampling point amplitude set;
acquiring the draft depth of the transducer, the sound velocity value of seawater and the seabed searching starting moment;
carrying out coordinate correction based on the GPS antenna head coordinate to obtain the coordinate of the measuring point;
screening out the maximum sampling point amplitude from the sampling point amplitude set;
and calculating the depth of the measuring point according to the seabed recording time corresponding to the maximum sampling point amplitude, the seabed searching starting time, the transducer draft and the seawater sound velocity value.
In one embodiment, the screening out the maximum sample amplitude from the set of sample amplitudes comprises:
and searching the sampling point amplitude set according to the size of a preset time window and based on the principle that the sum of the amplitudes of the sampling points in the window is the maximum to obtain the maximum sampling point amplitude and the corresponding seabed recording time.
In an embodiment, the searching the sample amplitude set according to a preset time window size based on a rule that a sum of amplitudes of sample points in a window is maximum to obtain the maximum sample point amplitude and a corresponding seabed recording time includes:
taking a sample point corresponding to the seabed searching starting moment as a starting point, taking a sample point of the latest recording moment in the sample point amplitude set as an end point, searching the sample point amplitude set by gradually moving a time window backwards by a preset sliding step length, and recording the sum of the sample point amplitudes in each time window to obtain a window sample point amplitude sum data set;
and selecting the maximum window sampling point amplitude sum from the window sampling point amplitude sum data set, taking the maximum amplitude in the maximum window sampling point amplitude sum as the maximum sampling point amplitude, and taking the time corresponding to the maximum sampling point amplitude as the seabed recording time.
In one embodiment, the calculating the survey point depth according to the seabed recording time corresponding to the maximum sampling point amplitude, the seabed searching starting time, the transducer draft and the sea water sound velocity value comprises:
calculating the depth of the measured point according to the following calculation formula;
wherein D represents the measuring point water depth; v represents the sound velocity value of the seawater; d represents the transducer draft; and T represents the sound wave propagation time, wherein the sound wave propagation time is the interval duration between the seabed recording time and the seabed searching starting time.
In one embodiment, after obtaining the station coordinates and the station water depth of each station, the method further includes:
and carrying out depth value filtering on the water depth of the measuring points of each measuring point to obtain the track water depth.
In one embodiment, the depth value filtering of the station depths of the respective stations includes:
acquiring a water depth value filtering threshold;
and eliminating the depth of the measured points in the depth of water of the measured points which is greater than the depth value filtering threshold value.
In one embodiment, the depth value filtering of the station depth of each station includes:
acquiring a preset seabed amplitude value;
and eliminating the depth of the measured points in the depth of water of each measured point, which is smaller than the 1/4 value of the preset seabed amplitude value.
In one embodiment, the screening out the maximum sample amplitude from the set of sample amplitudes comprises:
acquiring the maximum amplitude sampling point ordinal number of the sampling point corresponding to the maximum sampling point amplitude;
determining the seabed recording time according to the maximum amplitude sampling point ordinal number, the recording delay value and the data sampling interval; the recording delay value and the data sampling interval are obtained by decoding the SEGY data.
In one embodiment, the determining the seafloor recording time according to the maximum amplitude sample number, the recording delay value and the data sampling interval includes:
calculating to obtain the recording interval duration according to the following calculation formula;
Δt＝N*a+b；
where Δ t represents a recording interval duration; n represents the maximum amplitude sampling point number; a denotes a data sampling interval; b represents a recording delay value;
and combining the seabed searching starting moment and the recording interval duration to obtain the seabed recording moment.
In one embodiment, before said performing coordinate correction based on said GPS antenna head coordinates, comprising:
respectively carrying out position detection on the GPS antenna head and the transducer in the same state to obtain the actual measurement coordinates of the GPS antenna head and the transducer in the same coordinate system;
calculating to obtain coordinate offset according to the actual measurement coordinates of the GPS antenna head and the transducer; the coordinate offset comprises a horizontal axis offset and a vertical axis offset;
and correcting the GPS antenna head coordinate according to the coordinate offset to obtain the measuring point coordinate.
The technical scheme provided by the application can comprise the following beneficial effects:
according to the method for extracting the track water depth by utilizing the SEGY data, the SEGY data of the measuring points are subjected to decoding to obtain the GPS antenna head coordinate and the sampling point amplitude set, and the deviation between the position of the GPS antenna head and the position of the transducer, which is introduced due to the large volume of a surveying vessel, is corrected through coordinate correction, so that the accurate measuring point coordinate is obtained; the data acquisition time corresponding to the sampling point, namely the seabed recording time, can be determined by searching the sampling point corresponding to the maximum sampling point amplitude in the sampling point amplitude set, namely the sampling point of the seabed data is detected, so that the time length of the sound wave transmitted from the transducer to the transducer through the seabed can be known according to the seabed recording time and the seabed searching starting time, the depth from the seabed position of the measuring point to the transducer can be calculated by combining the sea water sound velocity value, and the measuring point depth of the measuring point can be obtained by adding the transducer draft on the basis; because the acquisition process of the water depth of the measuring point is obtained based on the existing SEGY data processing, reconnaissance is not needed, the reconnaissance time is saved, and meanwhile, the reconnaissance cost is greatly saved; and the maximum and continuous amplitude of the seabed signal reflection in the SEGY data is considered, so that the recording time of the maximum amplitude of the seabed is obtained by utilizing the SEGY data, and then the water depth of all measuring points on the track is calculated, and compared with the manual picking process, the data is more accurate, and the processing efficiency is higher.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
FIG. 1 is a schematic flow chart of a process for acquiring coordinates of a measuring point and water depth of the measuring point, which is shown in an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram illustrating a method for maximum sampling amplitude screening according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of a track water depth extraction method for removing water depth jump points according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Detailed Description
Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may 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 disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Example one
When the conditions of faults, aging or errors in parameter setting and the like of the observation equipment of the depth finder occur, the accuracy of the observed water depth value is possibly poor, the requirements of corresponding projects cannot be met, and the re-measurement cost of marine surveying is high, so that the time is consumed and extra expenses of large surveying cost are brought when the new observation equipment of the depth finder is used for re-measuring the water depth value.
The time-depth conversion method provided by the related art needs to manually pick up or manually and interactively automatically pick up parameters on a seismic system or a seismic image one by one, so that the efficiency is low.
In order to solve the above problems, the embodiment of the application provides a method for extracting the water depth of the flight path by using the SEGY data, which can be obtained based on the existing SEGY data processing, does not need to survey again, and greatly saves the surveying cost while saving time.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a process for acquiring coordinates of a measurement point and water depth of the measurement point, which is shown in an embodiment of the present application.
A method of extracting track water depth using SEGY data, comprising: and carrying out data processing on the SEGY data of each measuring point on the track to obtain measuring point coordinates and measuring point water depth of each measuring point so as to form the track water depth.
The track water depth is a mapping data set of measuring point coordinates and measuring point water depths of all measuring points on the track; namely, the measured point water depth on each measured point coordinate position on the flight path can be obtained according to the flight path water depth, and a water depth curve on the flight path is further formed.
Referring to fig. 1, in the embodiment of the present application, a process for acquiring coordinates of a measurement point and a depth of water of the measurement point includes:
101. performing decoding on SEGY data of the measuring points to obtain a GPS antenna head coordinate and a sampling point amplitude set;
the SEGY data is seismic data organized by taking seismic traces as a unit, the storage mode of a data body of each trace is to store the amplitude value of a sampling point corresponding to each time point, the SEGY file is a binary data file, and corresponding seismic trace recording information and corresponding sampling point data can be read only by performing de-encoding to acquire data from the SEGY. Therefore, by performing the decoding on the SEGY data, a set of sample amplitude data of the current measurement point, i.e., a sample amplitude set, can be obtained.
102. Acquiring the draft depth of the transducer, the sound velocity value of seawater and the seabed searching starting moment;
in the embodiment of the present application, the draft of the transducer, the sound velocity value of the seawater, and the starting time of the submarine search may be parameter sets pre-stored in the memory, or may be obtained by real-time input of the operator.
It should be noted that, in the embodiment of the present application, the execution timing of step 102 is not strictly limited, and in an actual application process, step 102 may be executed before step 105, that is, step 102 may also be executed before step 101 or between step 103 and step 105.
103. Carrying out coordinate correction based on the GPS antenna head coordinate to obtain a measuring point coordinate;
in the SEGY data acquisition process, a survey ship has a certain volume, a certain deviation exists between the position of a GPS antenna head and the position of a transducer, and coordinates recorded in SEGY data are generally the position of the GPS antenna head and are not the real position of the transducer, so that in order to ensure the data accuracy of track water depth, track fitting is often carried out according to coordinate data of a survey line, the course of the survey line is calculated, and the position is translated according to the relative position and the course angle of the transducer and the GPS antenna head to obtain the coordinates of a real shallow profile transducer.
Therefore, the GPS antenna head coordinates obtained by performing SEGY data decoding in step 101 cannot be directly used as the measurement point coordinates of the current measurement point, and the GPS antenna head coordinates need to be corrected by coordinate translation or other methods, so as to obtain accurate measurement point coordinates.
In the embodiment of the application, because the survey ship is only fixed in the survey process of a track, the deviation value between the position of the GPS antenna head and the position of the transducer is relatively fixed; on the basis, after the actual positions of the GPS antenna head and the transducer in the same state are detected respectively, the offset is calculated, and the GPS antenna head coordinates under each measuring point can be corrected by using the offset.
Specifically, the method comprises the following steps:
respectively carrying out position detection on the GPS antenna head and the transducer in the same state to obtain the actual measurement coordinates of the GPS antenna head and the transducer in the same coordinate system;
calculating according to the actual measurement coordinates of the GPS antenna head and the transducer to obtain coordinate offset; the coordinate offset comprises a horizontal axis offset and a vertical axis offset;
correcting the GPS antenna head coordinate according to the coordinate offset to obtain a measuring point coordinate; the method comprises the following steps that a horizontal axis offset is added on the basis of a horizontal axis of a GPS antenna head to obtain a horizontal axis of a measuring point coordinate; and increasing the longitudinal axis offset on the basis of the longitudinal coordinate of the GPS antenna head to obtain the longitudinal coordinate of the measuring point.
104. Screening out the maximum sampling point amplitude from the sampling point amplitude set;
in the surveying process, the water depth of the current measuring point is the depth of the position of the seabed corresponding to the coordinates of the measuring point, namely the point with the longest sound wave propagation path corresponds to the sample point amplitude data, namely the maximum sample point amplitude.
In the traditional time-depth conversion method, the maximum sample point amplitude is extracted point by point mainly by a manual picking method and a method for automatically picking up first arrival wave delay through human-computer interaction, so that the efficiency is low and the error of extracted data is high.
In the embodiment of the application, a time window with a preset size is utilized, and based on the principle that the sum of amplitudes of sample points in the window is the maximum, the sample point amplitude set is searched to obtain the maximum sample point amplitude, and the seabed recording time corresponding to the maximum sample point amplitude is extracted to be used for calculating the water depth of a measuring point of a current measuring point.
105. And calculating the depth of the measured point according to the seabed recording time corresponding to the maximum sampling point amplitude, the seabed searching starting time, the draught depth of the transducer and the sea water sound velocity value.
The process of surveying the water depth by using the sound waves is that the sound waves are sent out by a transducer position and then return to the transducer position after being reflected by the sea bottom, the moment of sending the sound waves is used as the sea bottom searching starting moment, the transducer receives the sound waves reflected by the sea bottom as the sea bottom recording moment corresponding to the maximum sampling point amplitude, the interval duration between the sea bottom searching starting moment and the sea bottom recording moment is the required duration for the sound waves to go back and forth between the transducer position and the sea bottom position, the distance between the transducer position and the sea bottom position can be obtained by combining the propagation speed of the sound waves in the sea water, namely the sea water sound velocity value, and the distance between the current measuring point coordinate water surface and the sea bottom of the current measuring point coordinate, namely the measuring point water depth can be obtained by adding the draft of the transducer.
Specifically, the depth of the measured point water can be calculated according to the following calculation formula:
wherein D represents the measuring point water depth; v represents the sound velocity value of the seawater; d represents the transducer draft; and T represents the sound wave propagation time, wherein the sound wave propagation time is the interval duration between the seabed recording time and the seabed searching starting time.
It should be noted that the propagation speed of the sound wave in the seawater is influenced by the sea area conditions, and therefore, the seawater sound velocity value adopted in the embodiment of the present application is the measured sound velocity value.
According to the method for extracting the track water depth by utilizing the SEGY data, the SEGY data of the measuring points are subjected to decoding to obtain the GPS antenna head coordinate and the sampling point amplitude set, and the deviation between the position of the GPS antenna head and the position of the transducer, which is introduced due to the large volume of a surveying vessel, is corrected through coordinate correction, so that the accurate measuring point coordinate is obtained; the data acquisition time corresponding to the sampling point, namely the seabed recording time, can be determined by searching the sampling point corresponding to the maximum sampling point amplitude in the sampling point amplitude set, namely the sampling point of the seabed data is detected, so that the time length of the sound wave transmitted from the transducer to the transducer through the seabed can be known according to the seabed recording time and the seabed searching starting time, the depth from the seabed position of the measuring point to the transducer can be calculated by combining the sea water sound velocity value, and the measuring point depth of the measuring point can be obtained by adding the transducer draft on the basis; because the acquisition process of the depth of water of the measuring point is obtained based on the existing SEGY data processing, reconnaissance is not needed, the time is saved, and meanwhile, the reconnaissance cost is greatly saved; and the maximum and continuous amplitude of the seabed signal reflection in the SEGY data is considered, so that the recording time of the maximum amplitude of the seabed is obtained by utilizing the SEGY data, and then the water depth of all measuring points on the track is calculated, and compared with the manual picking process, the data is more accurate, and the processing efficiency is higher.
Example two
The embodiment of the present application designs step 104 in the first embodiment, and in the embodiment of the present application, a sampling point amplitude set is searched by using time window sliding, a time window area with the maximum sampling point amplitude sum in a time window is found by using the maximum sampling point amplitude sum in the time window as a screening principle, and the maximum value in the time window area is used as the maximum sampling point amplitude in the seismic data of the current measurement point, so that a time window sliding screening manner is used to increase a screening speed, thereby achieving an efficient data extraction purpose.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 2 is a schematic flowchart of a maximum sampling amplitude screening method according to an embodiment of the present application.
Referring to fig. 2, the method for screening the maximum sample amplitude includes:
201. taking a sample point corresponding to the seabed searching starting moment as a starting point, taking a sample point of the latest recording moment in the sample point amplitude set as an end point, gradually moving a time window backwards by a preset sliding step length to search the sample point amplitude set, and recording the sum of the sample point amplitudes in each time window to obtain a window sample point amplitude sum data set;
in the embodiment of the present application, the size of the time window is set according to the actual requirements for the search fineness and the search speed, and in the embodiment of the present application, it is set as the pulse length of the SEGY profile data, for example: when a pulse length is 1ms, the window size is set to 1 ms.
The searching process in the embodiment of the application is as follows:
taking a sampling point corresponding to the seabed searching starting moment as a starting point of time window movement, and when the time window is positioned at the starting point, calculating the sum of the amplitudes of all sampling points in the current time window as a window sampling point amplitude sum S1; then, moving the time window backwards by a preset sliding step length, and calculating the sum S2 of the amplitudes of all sampling points in the time window at the moment; by analogy, after each time window is moved backwards by a preset sliding step length, calculating to obtain the sum of the amplitudes of all sampling points in the current time window until the time window is moved to the sampling point at the latest recording moment in the sampling point amplitude set, and obtaining the sum Sn of the amplitudes of all the sampling points in the current time window; s1 through Sn form the window sample amplitude summation data set described above.
It should be noted that the preset sliding step is a value set by an operator according to an actual search requirement, and may be adjusted according to an actual situation, which is not limited herein.
In the practical application process, the moving direction of the time window is not unique, and the time window can be moved by taking the sample point of the latest recording time in the sample point amplitude set as the starting point by taking the sample point corresponding to the seabed searching starting time as the terminal point.
It should be noted that, when calculating the water depth by using the SEGY data, the sea-bottom search starting time of the profile may be set manually, for example, the sea-bottom search starting time is set to 2ms, that is, signals within 2ms are directly ignored, and the amplitude is not calculated, because the data acquisition process is influenced by the environment and equipment during the starting search, and there are many interference information.
202. And selecting the maximum window sampling point amplitude sum from the window sampling point amplitude sum data set, taking the maximum amplitude in the maximum window sampling point amplitude sum as the maximum sampling point amplitude, and taking the moment corresponding to the maximum sampling point amplitude as the seabed recording moment.
And screening the maximum value from S1 to Sn to obtain a maximum window sampling point amplitude sum Smax, wherein a time window area corresponding to the maximum window sampling point amplitude sum Smax is provided with a plurality of sampling point amplitudes, the maximum value is the maximum sampling point amplitude, and the maximum value corresponds to a specific recording moment, namely the seabed recording moment in the application.
In the process of searching the maximum window sample point amplitude sum, the position of the time window after each movement and the sample point amplitude sum thereof can be recorded, and after the time window sliding is completed, the maximum window sample point amplitude sum is uniformly screened; or after obtaining S1 and S2, performing a numerical comparison, taking the larger value of S1 and S2 as the reference of the next numerical comparison, and performing a numerical comparison with S3, and so on, and completing the last numerical comparison after obtaining Sn, thereby obtaining the maximum window sample amplitude sum.
It should be noted that the above description of the process of searching the maximum window sample amplitude sum is only an example, and is not intended to limit the present application in any way.
In the embodiment of the present application, the seafloor recording time is calculated based on the maximum amplitude sampling point number:
after the maximum sampling point amplitude is screened out from the sampling point amplitude set, the maximum amplitude sampling point ordinal number of the sampling point corresponding to the maximum sampling point amplitude is obtained;
determining the seabed recording time according to the maximum amplitude sampling point ordinal number, the recording delay value and the data sampling interval; wherein the recording delay value and the data sampling interval are obtained by the SEGY data codec.
Specifically, after the recording interval duration is calculated according to the following calculation formula, the seafloor recording time is obtained by combining the seafloor search starting time and the recording interval duration:
Δt＝N*a+b；
where Δ t represents a recording interval duration; n represents the maximum amplitude sampling point number; a denotes a data sampling interval; b denotes a recording delay value.
In practical applications, the data sampling interval is a time interval between a current sample point and a next sample point, and the time interval is generally very small and is only 0.010ms to 0.018 ms.
The embodiment of the application provides a screening method of maximum sample point amplitude, which searches a sample point amplitude set of a current measuring point by moving a preset time window, and extracts the maximum sample point amplitude and a corresponding seabed recording time thereof in a time window area corresponding to the maximum value of the sample point amplitude sum based on the principle that the window sample point amplitude sum is maximum; the method for extracting the maximum sampling point amplitude by utilizing the sliding time window can save a large amount of data extraction time and has higher data extraction accuracy compared with a manual picking method.
EXAMPLE III
In order to screen out data jumping points caused by ping loss or weak seabed reflection, the embodiment of the application provides a track water depth extraction method for removing water depth jumping points, which performs water depth value filtering on the water depths of measuring points of each measuring point, deletes the water depth jumping points outside a preset threshold range, and stores correct measuring point water depth data to form a track water depth with high accuracy.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 3 is a schematic flow chart of a track water depth extraction method for removing a water depth jump point according to an embodiment of the present application.
Referring to fig. 3, the method for extracting track water depth for removing water depth jump points includes:
301. carrying out data processing on SEGY data of each measuring point on the flight path to obtain measuring point coordinates and measuring point water depth of each measuring point;
in the embodiment of the present application, the specific content of step 301 has already been described in detail in the first embodiment and the second embodiment, and is not described herein again.
302. Acquiring a water depth jumping point reference range;
in the embodiment of the present application, the water depth jumping point reference range may be determined by any one of the water depth value filtering threshold and the preset seabed amplitude magnitude, or by both of them.
The following are exemplary:
when the water depth jumping point reference range is determined by the water depth value filtering threshold, firstly, the water depth value filtering threshold is obtained, a numerical value region which is larger than the water depth value filtering threshold is used as the water depth jumping point reference range, and a data point which is positioned in the range corresponds to a position point below the sea bottom;
when the water depth jumping point reference range is determined by the preset seabed amplitude value, firstly, the preset seabed amplitude value is obtained, 1/4 value of the preset seabed amplitude value is obtained through calculation, a numerical range of 1/4 value lower than the preset seabed amplitude value is used as the water depth jumping point reference range, and the data points located in the range correspond to the position points above the seabed;
when the water depth jumping point reference range is determined by the water depth value filtering threshold value and the preset seabed amplitude value, the numerical range which is smaller than 1/4 values of the preset seabed amplitude value and larger than the water depth value filtering threshold value is used as the water depth jumping point reference range.
303. And eliminating the depth of the measuring points in the depth of the water jump point reference range.
Specifically, the method comprises the following steps:
and when the water depth jumping point reference range is determined by the water depth value filtering threshold value, eliminating the water depth of the measuring points which are greater than the water depth value filtering threshold value from the water depth of the measuring points.
When the water depth jumping point reference range is determined by a preset seabed amplitude value, removing the measured point water depths of which the measured point water depths are smaller than 1/4 values of the preset seabed amplitude value;
and when the water depth jumping point reference range is determined by the water depth value filtering threshold value and the preset seabed amplitude value, removing the measured point water depth which is smaller than 1/4 value of the preset seabed amplitude value and larger than the water depth value filtering threshold value in the measured point water depth of each measured point.
In the actual surveying process, because generally, when shallow section survey is performed in a shallow water area, the time interval of each data is short, so that the data points are large in number and dense in distribution, the probability of occurrence of situations such as loss of ping or weak bottom reflection is low, the water depth jump points are not too many, and after the water depth jump points are directly deleted, the surveying project is not affected too much, and therefore interpolation supplement is not needed after the water depth jump points are removed, and the surveying precision is not affected.
The embodiment of the application provides a track water depth extraction method for removing water depth jump points, which is characterized in that after measuring point coordinates and measuring point water depths of all measuring points are obtained, the water depth jump points are removed in a water depth value filtering mode, abnormal points with overlarge amplitudes are removed through a water depth value filtering threshold value and/or abnormal points with undersize amplitudes are removed through a preset seabed amplitude value, and therefore the fact that no water depth jump points exist in the obtained track water depth and the accuracy of the track water depth is influenced is guaranteed.
Example four
Corresponding to the method embodiment of the first embodiment, the application also provides an electronic device and a corresponding embodiment.
Fig. 4 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Referring to fig. 4, the electronic device 1000 includes a memory 1010 and a processor 1020; the memory 1010 has stored thereon executable code that, when processed by the processor 1020, may cause the processor 1020 to perform some or all of the methods described above.
The Processor 1020 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 1010 may include various types of storage units, such as system memory, Read Only Memory (ROM), and permanent storage. The ROM may store, among other things, static data or instructions for the processor 1020 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, among others. In some embodiments, memory 1010 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disc, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
With regard to the electronic device in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that the acts and modules referred to in the specification are not necessarily required in the present application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and the modules in the device of the embodiment of the present application may be combined, divided, and deleted according to actual needs.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform part or all of the various steps of the above-described method according to the present application.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the applications disclosed herein may be implemented as electronic hardware, computer software, or combinations of both.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A method for extracting track water depth by utilizing SEGY data is characterized by comprising the following steps:
carrying out data processing on SEGY data of each measuring point on the track to obtain measuring point coordinates and measuring point water depth of each measuring point to form the track water depth; the track water depth is a mapping data set of measuring point coordinates of all measuring points on the track and the water depths of the measuring points;
the acquiring process of the measuring point coordinate and the measuring point water depth of one measuring point in the SEGY data of each measuring point on the track through data processing to obtain the measuring point coordinate and the measuring point water depth of each measuring point comprises the following steps:
performing decoding on the SEGY data of the measuring points to obtain a GPS antenna head coordinate and a sampling point amplitude set;
acquiring the draft depth of the transducer, the sound velocity value of seawater and the seabed searching starting moment;
carrying out coordinate correction based on the GPS antenna head coordinate to obtain the coordinate of the measuring point;
screening out the maximum sampling point amplitude from the sampling point amplitude set;
and calculating the depth of the measuring point according to the seabed recording time corresponding to the maximum sampling point amplitude, the seabed searching starting time, the transducer draft and the seawater sound velocity value.
2. The method for extracting track water depth by using SEGY data as claimed in claim 1, wherein the screening out the maximum sampling point amplitude in the sampling point amplitude set comprises:
and searching the sampling point amplitude set according to the size of a preset time window and based on the principle that the sum of the amplitudes of the sampling points in the window is the maximum to obtain the maximum sampling point amplitude and the corresponding seabed recording time.
3. The method as claimed in claim 2, wherein the searching the set of sample amplitudes according to the preset time window based on the maximum sum of the window sample amplitudes to obtain the maximum sample amplitude and the corresponding seabed recording time comprises:
taking a sample point corresponding to the seabed searching starting moment as a starting point, taking a sample point of the latest recording moment in the sample point amplitude set as an end point, searching the sample point amplitude set by gradually moving a time window backwards by a preset sliding step length, and recording the sum of the sample point amplitudes in each time window to obtain a window sample point amplitude sum data set;
and selecting the maximum window sampling point amplitude sum from the window sampling point amplitude sum data set, taking the maximum amplitude in the maximum window sampling point amplitude sum as the maximum sampling point amplitude, and taking the time corresponding to the maximum sampling point amplitude as the seabed recording time.
4. The method for extracting track depth using SEGY data as claimed in claim 1, wherein the calculating the survey point depth according to the seafloor recording time, the seafloor searching start time, the transducer draft and the sea water sound velocity value corresponding to the maximum sampling point amplitude comprises:
calculating the depth of the measured point according to the following calculation formula;
wherein D represents the measuring point water depth; v represents the sound velocity value of the seawater; d represents the transducer draft; and T represents the sound wave propagation time, wherein the sound wave propagation time is the interval duration between the seabed recording time and the seabed searching starting time.
5. The method for extracting track water depth by using SEGY data as claimed in claim 1, wherein after obtaining the survey point coordinates and the survey point water depth of each survey point, the method further comprises:
and carrying out depth value filtering on the water depth of the measuring points of each measuring point to obtain the track water depth.
6. The method for extracting the track depth by using the SEGY data as claimed in claim 5, wherein the depth value filtering of the survey point depth of each survey point comprises:
acquiring a water depth value filtering threshold;
and eliminating the depth of the measured points in the depth of water of the measured points which is greater than the depth value filtering threshold value.
7. The method for extracting the track water depth by using the SEGY data as claimed in claim 5 or 6, wherein the depth value filtering of the survey point water depth of each survey point comprises the following steps:
acquiring a preset seabed amplitude value;
and eliminating the depth of the measured points in the depth of water of each measured point, which is smaller than the 1/4 value of the preset seabed amplitude value.
8. The method for extracting track water depth by using SEGY data as claimed in claim 1, wherein the step of screening out the maximum sampling point amplitude in the sampling point amplitude set comprises:
acquiring the maximum amplitude sampling point ordinal number of the sampling point corresponding to the maximum sampling point amplitude;
determining the seabed recording time according to the maximum amplitude sampling point ordinal number, the recording delay value and the data sampling interval; the recording delay value and the data sampling interval are obtained by SEGY data de-encoding.
9. The method for extracting track water depth using SEGY data as claimed in claim 8, wherein the determining the seafloor recording time according to the maximum amplitude sample number, the recording delay value and the data sampling interval comprises:
calculating to obtain the recording interval duration according to the following calculation formula;
Δt＝N*a+b；
wherein Δ t represents a recording interval duration; n represents the maximum amplitude sampling point number; a denotes a data sampling interval; b represents a recording delay value;
and combining the seabed searching starting moment and the recording interval duration to obtain the seabed recording moment.
10. The method for extracting track water depth using SEGY data as claimed in claim 1, wherein before the coordinate correction based on the GPS antenna head coordinates, comprising:
respectively carrying out position detection on the GPS antenna head and the transducer in the same state to obtain the actual measurement coordinates of the GPS antenna head and the transducer in the same coordinate system;
calculating to obtain coordinate offset according to the actual measurement coordinates of the GPS antenna head and the transducer; the coordinate offset comprises a horizontal axis offset and a vertical axis offset;
and correcting the GPS antenna head coordinate according to the coordinate offset to obtain the measuring point coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210386364.2A CN114993269B (en) | 2022-04-13 | 2022-04-13 | Method for extracting track water depth by using SEGY data |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210386364.2A CN114993269B (en) | 2022-04-13 | 2022-04-13 | Method for extracting track water depth by using SEGY data |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114993269A true CN114993269A (en) | 2022-09-02 |
| CN114993269B CN114993269B (en) | 2023-08-18 |
Family
ID=83023577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210386364.2A Active CN114993269B (en) | 2022-04-13 | 2022-04-13 | Method for extracting track water depth by using SEGY data |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114993269B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117333575A (en) * | 2023-06-21 | 2024-01-02 | 广州海洋地质调查局 | Shaft distributed optical fiber acoustic vibration monitoring data imaging method and processing terminal |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101833081A (en) * | 2010-04-23 | 2010-09-15 | 哈尔滨工程大学 | Method for precise calibration of absolute position of deep sea underwater transponder |
| CN104569988A (en) * | 2015-01-30 | 2015-04-29 | 长江水利委员会水文局 | Echo sounding-based correction method for great sounding |
| KR101930773B1 (en) * | 2018-07-21 | 2018-12-19 | 주식회사 지오뷰 | Marine refraction seismic survey system |
| CN109100799A (en) * | 2018-06-28 | 2018-12-28 | 广州海洋地质调查局 | A kind of the cable depth localization method and processing terminal of fluctuating seawater surface |
| CN111426365A (en) * | 2020-03-31 | 2020-07-17 | 天津开发区瑞锋科技有限公司 | Crowd funding type intelligent water depth data acquisition system and method |
| CN111983686A (en) * | 2020-09-01 | 2020-11-24 | 天津大学 | SEGY-based visual display method for shallow stratum profile original data |
| CN112285775A (en) * | 2020-10-15 | 2021-01-29 | 中国科学院地质与地球物理研究所 | Device and method for detecting shear wave velocity of seabed shallow sediment layer |
| CN113156413A (en) * | 2021-04-28 | 2021-07-23 | 哈尔滨工程大学 | Seabed reference calibration method based on double-pass acoustic path |
| KR102339500B1 (en) * | 2021-04-13 | 2021-12-16 | 주식회사 그린블루 | Method for providing recommended sea route based on electronic nautical chart by measuring topography and depth of water |
| CN114018224A (en) * | 2021-10-26 | 2022-02-08 | 江苏海洋大学 | System and method for checking chart water depth data |
-
2022
- 2022-04-13 CN CN202210386364.2A patent/CN114993269B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101833081A (en) * | 2010-04-23 | 2010-09-15 | 哈尔滨工程大学 | Method for precise calibration of absolute position of deep sea underwater transponder |
| CN104569988A (en) * | 2015-01-30 | 2015-04-29 | 长江水利委员会水文局 | Echo sounding-based correction method for great sounding |
| CN109100799A (en) * | 2018-06-28 | 2018-12-28 | 广州海洋地质调查局 | A kind of the cable depth localization method and processing terminal of fluctuating seawater surface |
| KR101930773B1 (en) * | 2018-07-21 | 2018-12-19 | 주식회사 지오뷰 | Marine refraction seismic survey system |
| CN111426365A (en) * | 2020-03-31 | 2020-07-17 | 天津开发区瑞锋科技有限公司 | Crowd funding type intelligent water depth data acquisition system and method |
| CN111983686A (en) * | 2020-09-01 | 2020-11-24 | 天津大学 | SEGY-based visual display method for shallow stratum profile original data |
| CN112285775A (en) * | 2020-10-15 | 2021-01-29 | 中国科学院地质与地球物理研究所 | Device and method for detecting shear wave velocity of seabed shallow sediment layer |
| KR102339500B1 (en) * | 2021-04-13 | 2021-12-16 | 주식회사 그린블루 | Method for providing recommended sea route based on electronic nautical chart by measuring topography and depth of water |
| CN113156413A (en) * | 2021-04-28 | 2021-07-23 | 哈尔滨工程大学 | Seabed reference calibration method based on double-pass acoustic path |
| CN114018224A (en) * | 2021-10-26 | 2022-02-08 | 江苏海洋大学 | System and method for checking chart water depth data |
Non-Patent Citations (3)
| Title |
|---|
| JIANGHAO QI等: "Characteristics of crustal variation and extensional break-up in the Western Pacific back-arc region based on a wide-angle seismic profile", GEOSCIENCE FRONTIERS, vol. 12, no. 3 * |
| 吴家乃;: "水深测量改正值的探讨", 河海大学学报(自然科学版), vol. 14, no. 04 * |
| 曾凡祥等: "南海北部浅地层剖面数据精细处理方法", 地质学刊, vol. 44, no. 4 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117333575A (en) * | 2023-06-21 | 2024-01-02 | 广州海洋地质调查局 | Shaft distributed optical fiber acoustic vibration monitoring data imaging method and processing terminal |
| CN117333575B (en) * | 2023-06-21 | 2024-05-31 | 广州海洋地质调查局 | Shaft distributed optical fiber acoustic vibration monitoring data imaging method and processing terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114993269B (en) | 2023-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108089155B (en) | Passive positioning method for single hydrophone sound source in deep sea environment | |
| US10852317B1 (en) | Lowered acoustic doppler current profiler, utra-short baseline (LADCP-USBL) combined observation and data processing method and apparatus | |
| CN106796295B (en) | For assessing the method for the satellite-signal in Global Navigation Satellite System in terms of Multipath Errors, for the receiver and motor vehicle of Global Navigation Satellite System | |
| CN106896363B (en) | A kind of submarine target active tracing track initiation method | |
| CN109738902B (en) | High-precision autonomous acoustic navigation method for underwater high-speed target based on synchronous beacon mode | |
| CN114993269B (en) | Method for extracting track water depth by using SEGY data | |
| CN111024096A (en) | Vehicle positioning data uploading method and vehicle-mounted terminal | |
| CN111443344B (en) | Automatic extraction method and device for side-scan sonar sea bottom line | |
| CN101551467A (en) | Automatic first break picking method based on edge detection | |
| CN115201872A (en) | GNSS pseudo range gross error detection method and system based on satellite selection | |
| CN115047464A (en) | Double-probe multi-beam sounding method and device | |
| Lu et al. | Automatic outlier detection in multibeam bathymetric data using robust LTS estimation | |
| JP2009098126A (en) | Automatic tracking scanning sonar | |
| KR101447357B1 (en) | Method and system for navigation | |
| CN113189646B (en) | Method for removing dragging type shallow-section stratum abnormal fluctuation | |
| CN115308800A (en) | Method for positioning ocean bottom seismograph by utilizing ocean bottom reflected wave travel time and topographic data and processing terminal | |
| Carpenter et al. | Concurrent mapping and localization and map matching on autonomous underwater vehicles | |
| RU2730048C1 (en) | Adaptive dichotomous classification method of marine objects | |
| JP2023034807A (en) | Acoustic positioning processing method, acoustic positioning processing program and acoustic positioning processing system for underwater sailing body | |
| CN114509050B (en) | Water depth data processing method and system | |
| CN107561544A (en) | A kind of detection method of underwater robot | |
| JP2010145224A (en) | Scanning sonar device | |
| CN115508779B (en) | Positioning method and device for high-speed falling point target | |
| CN109143210B (en) | Sonar signal initial point real-time tracking method and device and sonar | |
| CN116879950B (en) | Seismic source mechanism inversion method based on direct wave and sPL initial motion polarity and amplitude ratio |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |