CN116413811A - Marine seismic exploration method and device and marine geological exploration ship - Google Patents
Marine seismic exploration method and device and marine geological exploration ship Download PDFInfo
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Abstract
The invention provides a marine seismic exploration method and device and a marine seismic exploration ship, wherein the method comprises the following steps: respectively calculating the ship node positions according to the global positioning equipment data of the ship, and combining the relative positioning equipment data to obtain the source array node positions; obtaining the position and the speed of the main navigation point based on dynamic weight distribution calculation according to the theoretical offset relation between the position of the seismic source array node and the main navigation point; predicting the time for reaching the target point according to the position and the speed of the main pilot point, and calculating a corresponding excitation source number by using the current excitation pile number in response to the time close to the predicted time; the excitation source number and control command are sent to the air gun control system to excite in the corresponding array, and the corresponding excitation position and excitation time are recorded. According to the invention, the technical blank of single-ship multi-source sequential excitation is filled, the operation efficiency can be effectively improved especially for the 'efficient mixed mining' operation mode, and a new operation thought is provided for efficient acquisition of marine seismic exploration.
Description
Technical Field
The invention relates to the technical field of environmental resource exploration, in particular to the technical field of resource exploration of petroleum, natural gas and the like, and particularly relates to the technical field of marine seismic exploration.
Background
Seismic exploration refers to a geophysical exploration method for deducing the properties and morphology of underground rock formations by observing and analyzing the propagation rule of seismic waves generated by artificial earthquakes in the underground by utilizing the elasticity and density differences of underground media of elastic waves caused by artificial excitation.
Seismic exploration is the most important method in geophysical exploration and is the most effective method for solving the problem of oil and gas exploration. It is an important means for surveying petroleum and natural gas resources before drilling, and is widely applied in the aspects of coal field and engineering geological investigation, regional geological research, crust research and the like.
Seismic exploration is also called exploration seismology, and the main characteristics of the exploration method are as follows:
1. observing the wave impedance difference between the rock layers by using a special instrument in a specific mode, so as to further study the underground geological problem;
2. exciting seismic waves by a manual method, researching the propagation rule and characteristics of the seismic waves in the stratum to find out the geological structure of the underground, and serving for searching oil-gas fields or other exploration targets;
3. the return on investment of the seismic exploration is very high, and almost all petroleum companies rely on the seismic exploration data to determine exploration and development well positions;
4. the results of three-dimensional seismic exploration can provide rich geological details, and greatly promote the development of oil reservoir engineering.
The marine seismic exploration is a method for carrying out seismic exploration on the sea by utilizing an exploration ship, and is characterized by excitation in water, reception in water and uniform excitation and reception conditions; continuous observation without stopping the ship can be performed. The seismic source uses a non-explosive seismic source to receive a common piezoelectric seismic detector; when in operation, the wave detector and the cable are towed in the sea water at a certain depth behind the ship. Due to the characteristics, marine seismic exploration has much higher production efficiency than land seismic exploration, and data processing by using a digital electronic computer is more needed. Some special interference waves are often encountered in marine seismic exploration, such as ringing and reverberation, and bottom wave interference associated with the sea floor. The principles of marine seismic exploration, the instrumentation used, and the method of processing data are essentially the same as those of land seismic exploration. Because of the large amounts of oil and gas found in land-based areas, marine seismic exploration has extremely broad prospects.
With the large-scale application of marine node seismic exploration and acquisition, the marine node seismic data separation technology is mature, and multi-source efficient acquisition is becoming the most popular marine seismic exploration method at present. Currently, single vessel dual sources have become a common means of marine seismic exploration for companies. However, with the use of single-ship multi-source operation ships, the conventional means at present have the problems of insufficient speed, lower operation efficiency, insufficient stability of navigation excitation and the like.
Therefore, in order to solve the above-mentioned drawbacks and problems in the prior art, an optimized method for marine seismic exploration needs to be provided, so as to improve the speed, enhance the operation efficiency, optimize the navigation excitation, and other factors affecting the exploration efficiency.
Disclosure of Invention
In view of the above, the invention aims to provide an improved marine seismic exploration method and device and a marine geological exploration ship, so as to solve the problems of insufficient speed, lower operation efficiency, insufficient navigation excitation and the like in the prior art.
With the above object in view, in one aspect, the present invention provides a method of marine seismic exploration, wherein the method comprises the steps of:
respectively calculating the ship node positions according to the global positioning equipment data of the ship, and combining the relative positioning equipment data to obtain the source array node positions;
obtaining the position and the speed of the main navigation point based on dynamic weight distribution calculation according to the theoretical offset relation between the position of the seismic source array node and the main navigation point;
predicting the time for reaching the target point according to the position and the speed of the main pilot point, and calculating a corresponding excitation source number by using the current excitation pile number in response to the time close to the predicted time;
the excitation source number and control command are sent to the air gun control system to excite in the corresponding array, and the corresponding excitation position and excitation time are recorded.
In some embodiments of the method of marine seismic exploration according to the present invention, the calculating the position and velocity of the primary navigation point based on dynamic weight distribution from the theoretical offset relationship of the source array node position to the primary navigation point further comprises:
each array calculates the position and the speed of the center of the seismic source according to the tail mark position of the relative positioning equipment data;
distributing weights according to the distances from the centers of the seismic sources to the target points;
and obtaining the space position of the main navigation point according to the position and the speed of the center of the seismic source, the distributed weight and the theoretical offset relation.
In some embodiments of the method of marine seismic exploration according to the present invention, the calculating the position and velocity of the primary navigation point based on dynamic weight distribution from the theoretical offset relationship of the source array node position to the primary navigation point further comprises:
the weight assigned to each source center is the inverse of the distance from each source center to the target point.
In some embodiments of the method of marine seismic exploration according to the present invention, the calculating the position and velocity of the primary navigation point based on dynamic weight distribution from the theoretical offset relationship of the source array node position to the primary navigation point further comprises:
the position of the dominant navigation point is obtained by dividing the set of products of the position of the dominant navigation point corresponding to the spatial position of each source center and the weights assigned to each source center by the set of weights assigned to each source center.
In some embodiments of the method of marine seismic exploration according to the present invention, predicting the time to reach the target point based on the position and velocity of the main pilot point, and calculating a corresponding excitation source number using the current excitation pile number in response to approaching the predicted time further comprises:
and calculating according to the current excitation pile number, the initial excitation pile number, the increment of the excitation pile number and the number of the currently configured arrays and a preset operation sequence to obtain the corresponding excitation source number.
In some embodiments of the method of marine seismic exploration according to the present invention, predicting the time to reach the target point based on the position and velocity of the main pilot point, and calculating a corresponding excitation source number using the current excitation pile number in response to approaching the predicted time further comprises:
the preset operation sequence is from small to large, wherein the difference between the current excitation pile number and the initial excitation pile number of the array with the excitation sequence of 1 is divided by the increment of the excitation pile number, and then the difference is calculated with the number of the currently configured arrays, and 1 is added to obtain the corresponding excitation source number.
In some embodiments of the method of marine seismic exploration according to the present invention, predicting the time to reach the target point based on the position and velocity of the main pilot point, and calculating a corresponding excitation source number using the current excitation pile number in response to approaching the predicted time further comprises:
the preset operation sequence is from large to small, wherein the difference between the initial excitation pile number and the current excitation pile number of the array with the excitation sequence of 1 is divided by the increment of the excitation pile number, 1 is added, the sum is calculated with the number of the currently configured arrays, and the number of the currently configured arrays is added to obtain the corresponding excitation source number.
In some embodiments of the method of marine seismic exploration according to the present invention, the computing the vessel node locations from global positioning device data of the vessel, respectively, and combining the relative positioning device data to obtain source array node locations further comprises:
and obtaining the reference point position of the ship according to the global positioning equipment data of the ship, and performing Kalman filtering to obtain the stable position and continuous sailing speed of the ship.
In some embodiments of the method of marine seismic exploration according to the present invention, the computing the vessel node locations from global positioning device data of the vessel, respectively, and combining the relative positioning device data to obtain source array node locations further comprises:
and obtaining the position and the speed of a reference station of the relative positioning equipment according to the stable position and the continuous navigation speed of the ship and combining the reference point position, and carrying out Kalman filtering by combining the relative positioning equipment data to obtain the position of a seismic source array node.
In some embodiments of a method of marine seismic exploration according to the present invention, the relative positioning device data includes distance and method observations provided by the relative positioning device.
In some embodiments of the method of marine seismic exploration according to the present invention, the sending the excitation source number and control commands to the air gun control system to excite at the corresponding array and recording the corresponding excitation locations and excitation times further comprises:
the air gun control system controls the air gun controller to excite the array corresponding to the excitation source number according to the control instruction and returns an excitation feedback signal;
and receiving the excitation feedback signal of the air gun controller, and recording the corresponding excitation position and excitation time according to the excitation feedback signal.
In some embodiments of the method of marine seismic exploration according to the present invention, the vessel is a multi-source air gun source work vessel.
In another aspect of the invention, there is also provided an apparatus for marine seismic exploration, wherein the apparatus comprises:
global satellite positioning equipment and relative positioning equipment;
the acquisition control server is accessed into the data of the global positioning equipment and the data of the relative positioning equipment;
an air gun controller device which receives the control instruction sent by the acquisition control server to excite the corresponding air gun seismic source array;
wherein the serial server device has a marine seismic survey system onboard it that performs the method of marine seismic surveying according to the invention of any of the embodiments described above.
In some embodiments of the apparatus for marine seismic exploration according to the present invention, the global satellite positioning device comprises a global positioning receiver that acquires the reference point position of the vessel and transmits to the acquisition control server.
In some embodiments of the apparatus for marine seismic exploration according to the present invention, the relative positioning device provides range and azimuth observations of the 1HZ frequency output.
In some embodiments of the apparatus for marine seismic exploration according to the present invention, the acquisition control server further comprises an acquisition synchronization controller by which the acquisition control server transmits excitation source numbers and control commands to the air gun controller device.
In a further aspect of the invention there is also provided a marine seismic survey vessel equipped with an apparatus according to the invention of any of the embodiments described above.
In some embodiments of a marine seismic survey vessel according to the invention, the vessel is a multi-source air gun source carrier.
The invention has at least the following beneficial technical effects: based on the method, a single-ship multi-source operation foundation is provided for the existing and/or conceptual large-scale seismic source ship, and the technical blank of single-ship multi-source sequential excitation is filled; furthermore, the method of the invention is used for customizing the navigation positioning control for the 'efficient mixed mining' operation mode provided in the marine node seismic exploration construction, can realize the sequential excitation navigation control of single ship and multiple sources, shortens the excitation interval time between arrays to 3 seconds, and particularly can effectively improve the operation efficiency under the condition that the interval between the multiple sources is 12.5 meters; the method provides a new operation thought for the high-efficiency acquisition of the marine seismic exploration, and provides more expansion directions for the high-efficiency acquisition of the marine seismic exploration single vessel in the future.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention and that other embodiments may be obtained according to these drawings without inventive effort for a person skilled in the art.
In the figure:
FIG. 1 shows a schematic diagram of an air gun saliva configuration and layout of an embodiment of a method of marine seismic exploration according to the present invention;
FIG. 2 shows a schematic block diagram of an embodiment of a method of marine seismic exploration according to the present invention;
FIG. 3 shows a schematic flow chart of an embodiment of a method of marine seismic exploration according to the present invention;
FIG. 4 shows a schematic diagram of an embodiment of an apparatus for effecting marine seismic exploration in accordance with the present invention;
fig. 5 shows a schematic diagram of the composition of a vessel implementing marine seismic exploration according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
It should be noted that, in the embodiments of the present invention, all the expressions "first" and "second" are used to distinguish two non-identical entities with the same name or non-identical parameters, and it is noted that the "first" and "second" are only used for convenience of expression, and should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "comprise" and "have," and any variations thereof, are intended to cover a non-exclusive inclusion, such as a process, method, system, article, or other step or unit that comprises a list of steps or units.
The invention aims to provide a marine seismic exploration method based on single-ship multi-source sequential excitation navigation control, which is used for carrying out high-efficiency acquisition in a marine node seismic exploration by using a single-ship multi-source sequential excitation operation mode so as to meet the requirements of speed acceleration and synergy.
In short, the concept of the invention is realized by means of integrated navigation, and particularly mainly relates to two aspects of intelligent judgment of the current pile number excitation source number and calculation of the multi-array source center by dynamic weight distribution. FIG. 1 shows a schematic diagram of an air gun saliva configuration and layout of an embodiment of a method of marine seismic exploration according to the present invention. As shown in fig. 1, the single-ship multisource is sequentially excited according to the intelligent control pile number based on the datum line in the middle of the multisource. In the method according to the present invention, it is generally composed of the steps of calculating the single array source center plane position, calculating the main navigation point plane position and velocity, calculating the excitation source number, predicting the excitation time, recording the excitation coordinates, and the like.
To this end, in a first aspect of the invention, a method 100 of marine seismic exploration is provided. FIG. 2 shows a schematic block diagram of an embodiment of a method of marine seismic exploration according to the present invention. In the embodiment shown in fig. 2, the method comprises:
step S110: respectively calculating the ship node positions according to the global positioning equipment data of the ship, and combining the relative positioning equipment data to obtain the source array node positions;
step S120: obtaining the position and the speed of the main navigation point based on dynamic weight distribution calculation according to the theoretical offset relation between the position of the seismic source array node and the main navigation point;
step S130: predicting the time for reaching the target point according to the position and the speed of the main pilot point, and calculating a corresponding excitation source number by using the current excitation pile number in response to the time close to the predicted time;
step S140: the excitation source number and control command are sent to the air gun control system to excite in the corresponding array, and the corresponding excitation position and excitation time are recorded.
In general, in response to the above-described problems with the prior art, the method according to the present invention creatively proposes a marine seismic exploration method based on single vessel multi-source sequential excitation navigation control. The method is based on a comprehensive navigation system comprising software and hardware, wherein the hardware comprises a set of global satellite positioning Devices (DGPS), a set of relative positioning devices (RGPS), a set of pulse signal triggering devices, a set of serial port server devices and the like, and the software comprises a set of comprehensive navigation software. Firstly, step S110 calculates the ship node positions according to the global positioning device data of the ship and combines the relative positioning device data to obtain the source array node positions. Specifically, using the serial server device to access global positioning device data and relative positioning device data; and respectively calculating the ship node position and the seismic source array node position by using comprehensive navigation software.
Then in step S120, the position and speed of the main navigation point are calculated based on dynamic weight distribution according to the theoretical offset relationship between the position of the source array node and the main navigation point. Specifically, according to the theoretical offset relation between the position of the seismic source array node and the main navigation point, the position of the main navigation point is calculated by using a dynamic weight distribution method and is used for predicting the excitation time. In addition, the calculated location of each source center is also used for post-excitation recording. Based on this, in step S130, the time to reach the target point is predicted according to the position and speed of the main pilot point, and the corresponding excitation source number is calculated using the current excitation pile number in response to the time approaching the predicted time. And calculating the excitation source number corresponding to the current pile number by using the method for intelligently judging the excitation source number by using the current pile number.
Finally, in step S140, when the target point is approached, the excitation source number and the control command are sent to the air gun control system to excite the corresponding array, and the corresponding excitation position and excitation time are recorded. Preferably, when approaching the target point, the serial server device is used to send a control command to the air gun control system, informing the air gun controller of the excitation source number, and the synchronous controller triggers the gun control to excite the gun control in the corresponding array.
In some embodiments of the method 100 of marine seismic exploration according to the present invention, the vessel is preferably a multi-source air gun source work vessel.
In some embodiments of the method 100 of marine seismic exploration according to the present invention, step S120 of calculating the position and velocity of the primary navigation point based on dynamic weight distribution based on the theoretical offset relationship of the source array node position to the primary navigation point further comprises:
step S122: each array calculates the position and the speed of the center of the seismic source according to the tail mark position of the relative positioning equipment data;
step S124: distributing weights according to the distances from the centers of the seismic sources to the target points;
step S126: and obtaining the space position of the main navigation point according to the position and the speed of the center of the seismic source, the distributed weight and the theoretical offset relation.
That is, in order to ensure the stability and accuracy of the calculation of the main navigation point in the sequential excitation process of the multi-source array, so as to achieve the purpose that the excitation time of each array is longitudinally closer to the theoretical design position, the dynamic weight distribution is based on the calculation of the center of the seismic source by each array according to the tail mark position of the RGPS (relative positioning device), the distance from the center of each seismic source to the target point is referred to as the weight distribution basis, and the spatial position of the main navigation point is finally obtained. Specifically, first, in step S122, each array calculates the position and velocity of the center of the seismic source from the tail position of the relative positioning apparatus data. Subsequently, step S124 assigns weights based on the distance from the center of each source to the target point. Finally, step S126 obtains the spatial position of the main navigation point according to the position and velocity of the center of the seismic source, the assigned weights and the theoretical offset relationship.
In some embodiments of the method 100 of marine seismic exploration according to the present invention, step S120 of calculating the position and velocity of the primary navigation point based on dynamic weight distribution based on the theoretical offset relationship of the source array node position to the primary navigation point further comprises:
step S125: the weight assigned to each source center is the inverse of the distance from each source center to the target point.
In particular, the weight assigned to each source center is preferably the inverse of the distance from each source center to the target point, meaning that the weight occupied by each source center is inversely proportional to its distance from the theoretical target point. In other words, among all the array nodes, the array nodes whose source centers are closer to the theoretical target point are assigned a larger weight, and the array nodes whose source centers are closer to the theoretical target point are assigned a smaller weight.
In some embodiments of the method 100 of marine seismic exploration according to the present invention, step S120 of calculating the position and velocity of the primary navigation point based on dynamic weight distribution based on the theoretical offset relationship of the source array node position to the primary navigation point further comprises:
step S127: the position of the dominant navigation point is obtained by dividing the set of products of the position of the dominant navigation point corresponding to the spatial position of each source center and the weights assigned to each source center by the set of weights assigned to each source center.
That is, the position of the dominant pilot point corresponding to the spatial position of each source center is integrated with the weight assigned to each source center, and the quotient of the aggregate of the products of all source centers and the aggregate of the weights assigned to each source center is the position of the dominant pilot point. Preferably, the calculation formula of the dominant pilot point is as follows:
wherein pos is the spatial position coordinate of the dominant point 1 、pos 2 、pos 3 ……pos n Is the spatial position of the main pilot point calculated according to the spatial position of the center of each array seismic source, D 1 、D 2 、D 3 ……D n Is the distance from the spatial location of the center of each array source to the theoretical target point.
In some embodiments of the method 100 of marine seismic exploration according to the present invention, step S130 of predicting a time to reach a target point based on the position and velocity of the dominant point, and calculating a corresponding excitation source number using the current excitation pile number in response to approaching the predicted time further comprises:
step S132: and calculating according to the current excitation pile number, the initial excitation pile number, the increment of the excitation pile number and the number of the currently configured arrays and a preset operation sequence to obtain the corresponding excitation source number.
That is, according to the pile number excited in the current sequence and the set initial rule, the method according to the invention can intelligently judge the source number corresponding to the current excited pile number and send the source number to the gun control system to control the gun control system to excite according to the appointed source number. Specifically, in step S132, the corresponding excitation source number is calculated according to the current excitation pile number, the initial excitation pile number, the increment of the excitation pile number, and the number of the currently configured arrays according to a preset operation sequence.
Further, in some embodiments of the method 100 of marine seismic exploration according to the present invention, step S130 of predicting a time to reach a target point based on the position and velocity of the main pilot point and calculating a corresponding excitation source number using the current excitation pile number in response to approaching the predicted time further comprises:
step S134: the preset operation sequence is from small to large, wherein the difference between the current excitation pile number and the initial excitation pile number of the array with the excitation sequence of 1 is divided by the increment of the excitation pile number, and then the difference is calculated with the number of the currently configured arrays, and 1 is added to obtain the corresponding excitation source number.
Specifically, the first case of calculating the excitation source number is to excite from small to large in the order of work. In this case, the excitation source number may be calculated according to the following formula:
wherein ID is the excitation source number, sp c For currently exciting pile number, sp 0 To set upInitial excitation pile number, sp, set to array with excitation order 1 1 To excite the increment of pile number, N c The number of arrays currently configured. In other words, the calculation process is to divide the difference between the current excitation pile number and the initial excitation pile number of the array with the excitation sequence of 1 by the increment of the excitation pile number, then to make the remainder with the number of the currently configured arrays, and to add 1 to obtain the corresponding excitation source number.
Furthermore, in some embodiments of the method 100 of marine seismic exploration according to the present invention, step S130 of predicting a time to reach a target point based on the position and velocity of the main pilot point, and calculating a corresponding excitation source number using the current excitation pile number in response to the near predicted time further comprises:
step S136: the preset operation sequence is from large to small, wherein the difference between the initial excitation pile number and the current excitation pile number of the array with the excitation sequence of 1 is divided by the increment of the excitation pile number, 1 is added, the sum is calculated with the number of the currently configured arrays, and the number of the currently configured arrays is added to obtain the corresponding excitation source number.
Specifically, the second case of calculating the excitation source number is to excite from large to small in the order of work. In this case, the excitation source number may be calculated according to the following formula:
wherein ID is the excitation source number, sp c For currently exciting pile number, sp 0 To set the initial excitation pile number of an array with excitation order 1, sp 1 To excite the increment of pile number, N c The number of arrays currently configured. In other words, the calculation process is to divide the difference between the initial excitation pile number and the current excitation pile number of the array with the excitation sequence of 1 by the increment of the excitation pile number, then add 1, then make the remainder with the number of the currently configured arrays, and add the number of the currently configured arrays to obtain the corresponding excitation source number.
In some embodiments of the method 100 of marine seismic exploration according to the present invention, step S110 of calculating the vessel node locations from global positioning device data of the vessel, respectively, and combining the relative positioning device data to obtain source array node locations further comprises:
step S112: and obtaining the reference point position of the ship according to the global positioning equipment data of the ship, and performing Kalman filtering to obtain the stable position and continuous sailing speed of the ship.
Fig. 3 shows a schematic flow chart of an embodiment of a method of marine seismic exploration according to the invention, wherein the flow of the method according to the invention is schematically shown with three arrays of excitation sources as examples. However, the method according to the invention is not limited to three array excitation sources, in particular allows more array excitation sources and also allows dual array excitation sources. Within the scope of the present invention, unless otherwise indicated, a "position" is substantially identical to a "spatial position".
Referring to fig. 3, step S110 of calculating the ship node positions according to global positioning device data of the ship, and obtaining the source array node positions by combining the relative positioning device data may further include step S112 of obtaining the reference point positions of the ship according to global positioning Device (DGPS) data of the ship, and then performing kalman filtering on the data to obtain the stable positions and continuous sailing speeds of the ship.
Further, in some embodiments of the method 100 of marine seismic exploration according to the present invention, step S110 of calculating the vessel node locations from global positioning device data of the vessel, respectively, and combining the relative positioning device data to obtain source array node locations further comprises:
step S114: and obtaining the position and the speed of a reference station of the relative positioning equipment according to the stable position and the continuous navigation speed of the ship and combining the reference point position, and carrying out Kalman filtering by combining the relative positioning equipment data to obtain the position of a seismic source array node.
As shown in fig. 3, on the basis of the stable position and the continuous navigation speed of the vessel after the kalman filtering in step S112, the position and the speed of a reference station of a relative positioning device (RGPS) are obtained by combining the stable position and the continuous navigation speed of the vessel with the reference point position in step S114, and the node positions of the seismic source array 1, the array 2, the array 3, and the like are obtained by performing the kalman filtering with the data of the relative positioning device (RGPS). Preferably, the relative positioning device (RGPS) data comprises distance and method observations provided by the relative positioning device.
In some embodiments of the method 100 of marine seismic exploration according to the present invention, step S140 of transmitting the excitation source number and control commands to the air gun control system for excitation at a corresponding array, and recording the corresponding excitation locations and excitation times further comprises:
step S142: the air gun control system controls the air gun controller to excite the array corresponding to the excitation source number according to the control instruction and returns an excitation feedback signal;
step S144: and receiving the excitation feedback signal of the air gun controller, and recording the corresponding excitation position and excitation time according to the excitation feedback signal.
Specifically, after the excitation source number corresponding to the current excitation pile number is calculated in step S130, the air gun control system may be notified of excitation information and excite the corresponding array. That is, firstly, in step S142, the air gun control system controls the air gun controller to excite the array corresponding to the excitation source number according to the control command, and then the air gun controller controls the corresponding array to excite. After the excitation is completed, the air gun controller returns an excitation feedback signal. Then, in step S144, the air gun control system receives the excitation feedback signal of the air gun controller, and records the corresponding excitation position and excitation time according to the information recorded in the excitation feedback signal. This concludes the assembled prediction of the present round.
The implementation of the method according to the invention is further illustrated according to the following examples with reference to a schematic flow chart shown in fig. 3. Firstly, according to a global positioning receiver, the central space position of a ship reference point of a multi-source air gun focus working ship is obtained, and a Kalman filter is used for obtaining the stable space position and continuous sailing speed of the working ship. And calculating the center plane positions of all the array seismic sources by combining the distance and azimuth observation values of the 1HZ frequency output provided by the RGPS (relative GPS) system. And respectively obtaining the calculated plane position and the calculated speed of the main pilot point corresponding to the center of each array source according to the theoretical offset relation between the center of each array source and the main pilot point. And simultaneously calculating the distance from the center of each array focus to the target point, and performing weight distribution on the main navigation point calculated by the center of each array focus by using a dynamic weight distribution method. And finally, calculating the plane position and speed of the main navigation point, and predicting the time to the target point according to the plane position and speed of the main navigation point. When the current time is close to the predicted time, the corresponding excitation source number is calculated by using the current pile number. And sending a control command and a trigger signal to the air gun control system through the acquisition synchronous controller, and finally controlling the corresponding array to excite by the air gun controller to return an excitation completion signal. After receiving the excitation completion signal, the navigation system records the position of the center plane of the seismic source corresponding to the array and the excitation time.
By combining the previous embodiments according to the invention, the invention provides a single-ship multi-source operation foundation for the existing and/or conceptual large-scale seismic source ships from the method based on the invention, and fills the technical blank of single-ship multi-source sequential excitation; furthermore, the method of the invention is used for customizing the navigation positioning control for the 'efficient mixed mining' operation mode provided in the marine node seismic exploration construction, can realize the sequential excitation navigation control of single ship and multiple sources, shortens the excitation interval time between arrays to 3 seconds, and particularly can effectively improve the operation efficiency under the condition that the interval between the multiple sources is 12.5 meters; the method provides a new operation thought for the high-efficiency acquisition of the marine seismic exploration, and provides more expansion directions for the high-efficiency acquisition of the marine seismic exploration single vessel in the future.
In a second aspect of the invention, there is also provided an apparatus for marine seismic exploration. Fig. 4 shows a schematic view of an embodiment of an apparatus 200 for marine seismic exploration according to the present invention. As shown in fig. 4, the apparatus 200 includes:
a global satellite positioning device 210 and a relative positioning device 220;
an acquisition control server 230, the acquisition control server 230 accessing data of the global positioning device 210 and data of the relative positioning device 220;
an air gun controller device 240, the air gun controller device 240 receiving control instructions issued by the acquisition control server 230 to fire a corresponding air gun source array;
wherein the serial server device 230 has a marine seismic survey system 250 onboard, the onboard marine seismic survey system 250 performing the method 100 of marine seismic surveying according to the invention of any of the embodiments described above.
As already set forth in the embodiments of the method according to the invention, the method is based on an integrated navigation system comprising hardware and software, wherein the hardware comprises a set of global satellite positioning Devices (DGPS), a set of relative positioning devices (RGPS), a set of pulse signal triggering devices, a set of serial server devices, etc., and the software comprises a set of integrated navigation software. More specifically, an apparatus 200 for marine seismic exploration in accordance with the present invention initially includes a global satellite positioning Device (DGPS) 210 and a relative positioning device (RGPS) 220. The apparatus 200 for marine seismic exploration according to the present invention further comprises an acquisition control server 230, the acquisition control server 230 having access to the data of the global positioning device 210 and the data of the relative positioning device 220. Preferably, the acquisition control server 230 is a serial server. Further, the apparatus 200 for marine seismic exploration according to the present invention further comprises an air gun controller device 240, the air gun controller device 240 receiving control instructions issued by the acquisition control server 230 to actuate a corresponding array of air gun seismic sources. Preferably, the air gun controller device 240 is a pulse signal triggering device. To perform a marine seismic survey according to the invention, a marine seismic survey system 250 is piggybacked on the series of server devices 230 in a marine seismic survey apparatus 200 according to the invention, the piggybacked marine seismic survey system 250 performing the method 100 of marine seismic survey according to the invention of any of the embodiments described above.
In some embodiments of the apparatus 200 for marine seismic exploration according to the present invention, the global satellite positioning device 210 includes a global positioning receiver that acquires the reference point location of the vessel and transmits it to the acquisition control server 230. Furthermore, in some embodiments of the apparatus 200 for marine seismic exploration according to the present invention, the relative positioning device 220 provides range and azimuth observations of the 1HZ frequency output.
In some embodiments of the apparatus 200 for marine seismic exploration according to the present invention, the acquisition control server 230 further comprises an acquisition synchronization controller by which the acquisition control server 230 transmits excitation source numbers and control commands to the air gun controller device 240.
In a third aspect of embodiments of the present invention, there is also provided a marine seismic vessel. Fig. 5 shows a schematic diagram of an embodiment of a marine seismic vessel 300 according to the invention. As shown in fig. 5, the vessel 300 is equipped with an apparatus 200 for marine seismic exploration according to the present invention in any of the embodiments described above. Still further, the vessel 300 is a multi-source air gun source work vessel.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as software or hardware depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The foregoing is an exemplary embodiment of the present disclosure, but it should be noted that various changes and modifications could be made herein without departing from the scope of the disclosure as defined by the appended claims. The functions, steps and/or actions of the method claims in accordance with the disclosed embodiments described herein need not be performed in any particular order. Furthermore, although elements of the disclosed embodiments may be described or claimed in the singular, the plural is contemplated unless limitation to the singular is explicitly stated.
It should be understood that as used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly supports the exception. It should also be understood that "and/or" as used herein is meant to include any and all possible combinations of one or more of the associated listed items. The foregoing embodiment of the present invention has been disclosed with reference to the number of embodiments for the purpose of description only, and does not represent the advantages or disadvantages of the embodiments.
Those of ordinary skill in the art will appreciate that: the above discussion of any embodiment is merely exemplary and is not intended to imply that the scope of the disclosure of embodiments of the invention, including the claims, is limited to such examples; combinations of features of the above embodiments or in different embodiments are also possible within the idea of an embodiment of the invention, and many other variations of the different aspects of the embodiments of the invention as described above exist, which are not provided in detail for the sake of brevity. Therefore, any omission, modification, equivalent replacement, improvement, etc. of the embodiments should be included in the protection scope of the embodiments of the present invention.
Claims (18)
1. A method of marine seismic exploration, comprising the steps of:
respectively calculating the ship node positions according to the global positioning equipment data of the ship, and combining the relative positioning equipment data to obtain the source array node positions;
obtaining the position and the speed of the main navigation point based on dynamic weight distribution calculation according to the theoretical offset relation between the position of the seismic source array node and the main navigation point;
predicting the time for reaching the target point according to the position and the speed of the main navigation point, and calculating a corresponding excitation source number by using the current excitation pile number in response to the time close to the predicted time;
and sending the excitation source number and the control command to an air gun control system to excite the corresponding array, and recording the corresponding excitation position and excitation time.
2. The method of claim 1, wherein the calculating the position and velocity of the primary navigation point based on dynamic weight distribution according to the theoretical offset relationship of the source array node position and the primary navigation point comprises:
each array calculates the position and the speed of the center of the seismic source according to the tail mark position of the relative positioning equipment data;
distributing weights according to the distances from the centers of the seismic sources to the target points;
and obtaining the space position of the main navigation point according to the position and the speed of the center of the seismic source, the distributed weight and the theoretical offset relation.
3. The method of claim 2, wherein the calculating the position and velocity of the primary navigation point based on dynamic weight distribution according to the theoretical offset relationship of the source array node position and the primary navigation point further comprises:
the weight assigned to each source center is the inverse of the distance from each source center to the target point.
4. The method of claim 3, wherein the calculating the position and velocity of the primary navigation point based on dynamic weight distribution based on the theoretical offset relationship of the source array node position to the primary navigation point further comprises:
the position of the primary navigation point is obtained by dividing the set of products of the position of the primary navigation point corresponding to the spatial position of each source center and the weights assigned to each source center by the set of weights assigned to each source center.
5. The method of claim 1, wherein predicting the time to reach the target point based on the position and velocity of the primary pilot point and calculating a corresponding excitation source number using the current excitation stake number in response to approaching the predicted time further comprises:
and calculating according to the current excitation pile number, the initial excitation pile number, the increment of the excitation pile number and the number of the currently configured arrays and a preset operation sequence to obtain the corresponding excitation source number.
6. The method of claim 5, wherein predicting the time to reach the target point based on the position and velocity of the primary pilot point and calculating a corresponding excitation source number using the current excitation stake number in response to approaching the predicted time further comprises:
the preset operation sequence is from small to large, wherein the difference between the current excitation pile number and the initial excitation pile number of the array with the excitation sequence of 1 is divided by the increment of the excitation pile number, and then the difference is calculated with the number of the currently configured arrays, and 1 is added to obtain the corresponding excitation source number.
7. The method of claim 5, wherein predicting the time to reach the target point based on the position and velocity of the primary pilot point and calculating a corresponding excitation source number using the current excitation stake number in response to approaching the predicted time further comprises:
the preset operation sequence is from big to small, wherein the difference between the initial excitation pile number and the current excitation pile number of the array with the excitation sequence of 1 is divided by the increment of the excitation pile number, then 1 is added, the sum is calculated with the number of the currently configured arrays, and the number of the currently configured arrays is added to obtain the corresponding excitation source number.
8. The method of claim 1, wherein calculating the vessel node locations from global positioning device data of the vessel, respectively, and combining the relative positioning device data to obtain source array node locations further comprises:
and obtaining the reference point position of the ship according to the global positioning equipment data of the ship, and performing Kalman filtering to obtain the stable position and continuous sailing speed of the ship.
9. The method of claim 8, wherein calculating the vessel node locations from global positioning device data of the vessel, respectively, and combining the relative positioning device data to obtain source array node locations further comprises:
and obtaining the position and the speed of a reference station of the relative positioning equipment according to the stable position and the continuous navigation speed of the ship and combining the reference point position, and carrying out Kalman filtering by combining the relative positioning equipment data to obtain the position of a seismic source array node.
10. The method of claim 9, wherein the relative positioning device data comprises distance and method observations provided by the relative positioning device.
11. The method of claim 1, wherein the sending the excitation source number and control commands to an air gun control system to excite at a corresponding array and recording a corresponding excitation location and excitation time further comprises:
the air gun control system controls the air gun controller to excite the array corresponding to the excitation source number according to the control instruction and returns an excitation feedback signal;
and receiving the excitation feedback signal of the air gun controller, and recording the corresponding excitation position and excitation time according to the excitation feedback signal.
12. The method of claim 1, wherein the vessel is a multi-source air gun source work vessel.
13. An apparatus for marine seismic exploration, the apparatus comprising:
global satellite positioning equipment and relative positioning equipment;
the acquisition control server is accessed into the data of the global positioning equipment and the data of the relative positioning equipment;
the air gun controller equipment receives the control instruction sent by the acquisition control server to excite the corresponding air gun seismic source array;
wherein the serial server device has a marine seismic survey system onboard it, the onboard marine seismic survey system performing a method of marine seismic surveying according to any of the preceding claims 1 to 12.
14. The apparatus of claim 13, wherein the global satellite positioning device comprises a global positioning receiver that acquires a reference point location of a vessel and transmits to the acquisition control server.
15. The apparatus of claim 13, wherein the relative positioning device provides range and bearing observations of a 1HZ frequency output.
16. The apparatus of claim 13, wherein the acquisition control server further comprises an acquisition synchronization controller, the acquisition control server sending excitation source numbers and control commands to an air gun controller device through the acquisition synchronization controller.
17. Marine seismic vessel, characterized in that it is equipped with a marine seismic device according to any of claims 13 to 16.
18. Marine seismic vessel according to claim 17, wherein the vessel is a multi-source air gun source carrier.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117478502A (en) * | 2023-12-27 | 2024-01-30 | 中国石油集团东方地球物理勘探有限责任公司 | Dual positioning system and method |
| CN117472917A (en) * | 2023-12-28 | 2024-01-30 | 中国石油集团东方地球物理勘探有限责任公司 | Ocean node acquisition data storage system, method, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117478502A (en) * | 2023-12-27 | 2024-01-30 | 中国石油集团东方地球物理勘探有限责任公司 | Dual positioning system and method |
| CN117478502B (en) * | 2023-12-27 | 2024-03-19 | 中国石油集团东方地球物理勘探有限责任公司 | Dual positioning system and method |
| CN117472917A (en) * | 2023-12-28 | 2024-01-30 | 中国石油集团东方地球物理勘探有限责任公司 | Ocean node acquisition data storage system, method, equipment and storage medium |
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