CN117607873A

CN117607873A - Ranging relation generation method, device, computing equipment and computer storage medium

Info

Publication number: CN117607873A
Application number: CN202311576127.3A
Authority: CN
Inventors: 韩艺; 井中武; 黄德友; 张昊楠; 阮福明; 赵希昉; 李政琨; 李汶轩; 武迪
Original assignee: China Oilfield Services Ltd; China National Offshore Oil Corp CNOOC
Current assignee: China Oilfield Services Ltd; China National Offshore Oil Corp CNOOC
Priority date: 2023-11-23
Filing date: 2023-11-23
Publication date: 2024-02-27

Abstract

The invention discloses a ranging relation generation method, a ranging relation generation device, a computing device and a computer storage medium. The method comprises the following steps: acquiring coordinate information of each acoustic device of the underwater multi-cable; establishing all ranging relations of each acoustic device with a receiving function according to the maximum distance allowed to establish the ranging relations and the coordinate information of each acoustic device; according to the ranging relation deleting priority and the maximum allowable receiving ranging quantity, performing ranging relation deleting processing on all ranging relations of each acoustic device with a receiving function to obtain target ranging relations of each acoustic device with a receiving function; and distributing the working modes of the acoustic devices to each acoustic device according to the target ranging relation, and completing the establishment of the underwater multi-cable acoustic device polling network. According to the technical scheme provided by the invention, an effective ranging relation is established as much as possible, and the purpose of measuring the cable size is achieved by utilizing the ranging result through the established ranging relation, so that the purpose of more accurate measurement is achieved.

Description

Ranging relation generation method, device, computing equipment and computer storage medium

Technical Field

The invention relates to the technical field of multi-cable acoustic network positioning in marine seismic exploration towing systems, in particular to a distance measurement relation generation method, a distance measurement relation generation device, a distance measurement relation calculation device and a computer storage medium.

Background

In marine seismic streamer acquisition operations, a plurality of cables are towed by a geophysical vessel to receive formation information. In order to monitor and control the array type and the gesture of the underwater towline in real time, the position of the cable detector is accurately positioned, hundreds of acoustic devices (the acoustic devices with transmitting function and the acoustic devices with receiving function) are required to be mounted on the cable, an acoustic polling network is built for the acoustic devices, and finally an acoustic network positioning system is formed. However, in the existing acoustic network positioning system, the signal transceiving relation between the acoustic devices is manually defined or randomly defined according to experience, and the formed network cannot accurately contain the streamer morphology information, so that fine measurement cannot be performed.

Disclosure of Invention

The present invention has been made in view of the above-mentioned problems, and provides a ranging relation generating method, apparatus, computing device, and computer storage medium that overcome or at least partially solve the above-mentioned problems.

According to an aspect of the present invention, there is provided a ranging relation generating method including:

acquiring coordinate information of each acoustic device of the underwater multi-cable; wherein the acoustic device comprises an acoustic device with a transmitting function and an acoustic device with a receiving function;

establishing all ranging relations of each acoustic device with a receiving function according to the maximum distance allowed to establish the ranging relations and the coordinate information of each acoustic device;

according to the ranging relation deleting priority and the maximum allowable receiving ranging quantity, performing ranging relation deleting processing on all ranging relations of each acoustic device with a receiving function to obtain target ranging relations of each acoustic device with a receiving function;

and distributing an acoustic device working mode for each acoustic device according to the target ranging relation to complete the establishment of an underwater multi-cable acoustic device polling network, wherein the acoustic device working mode comprises the following steps: transmission time, transmission signal type, reception window, reception signal type.

According to another aspect of the present invention, there is provided a ranging relation generating apparatus including:

the acquisition module is suitable for acquiring coordinate information of each acoustic device of the underwater multi-cable; wherein the acoustic device comprises an acoustic device with a transmitting function and an acoustic device with a receiving function;

The establishing module is suitable for establishing all ranging relations of each acoustic device with a receiving function according to the maximum distance allowed to establish the ranging relation and the coordinate information of each acoustic device;

the deleting module is suitable for deleting the priority and the maximum receiving distance measurement quantity according to the distance measurement relation, and carrying out distance measurement relation deleting processing on all the distance measurement relations of each acoustic device with the receiving function to obtain the target distance measurement relation of each acoustic device with the receiving function;

the distribution module is suitable for distributing an acoustic device working mode to each acoustic device according to the target ranging relation to complete the establishment of the underwater multi-cable acoustic device polling network, wherein the acoustic device working mode comprises the following steps: transmission time, transmission signal type, reception window, reception signal type.

According to yet another aspect of the present invention, there is provided a computing device comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface are communicated with each other through the communication bus;

the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the distance measurement relation generating method.

According to still another aspect of the present invention, there is provided a computer storage medium having stored therein at least one executable instruction for causing a processor to perform operations corresponding to the ranging relation generating method described above.

According to the scheme provided by the invention, under the condition of considering the connectivity, symmetry and effectiveness of the network, the distances between different acoustic devices are measured as much as possible, namely under the condition of limiting conditions, the effective ranging relation is established as much as possible, and the purpose of measuring the cable size is achieved by utilizing the ranging result through the established ranging relation, so that the purpose of more accurate measurement is achieved.

The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1A shows a flow diagram of a ranging relationship generation method according to one embodiment of the invention;

FIG. 1B is a schematic diagram of a ranging relationship;

FIG. 1C is a schematic diagram of delay distances;

FIG. 1D is a schematic diagram of a receiving window;

fig. 2 shows a schematic configuration of a ranging relation generating apparatus according to an embodiment of the present invention;

FIG. 3 illustrates a schematic diagram of a computing device, according to one embodiment of the invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention 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 invention to those skilled in the art.

Fig. 1A shows a flow diagram of a ranging relation generation method according to an embodiment of the present invention. As shown in fig. 1A, the method comprises the steps of:

and step S101, acquiring coordinate information of each acoustic device of the underwater multi-cable.

Specifically, in the marine seismic streamer acquisition operation, the geophysical prospecting ship tows a plurality of cables, and the coordinate information, type and number of the acoustic devices actually mounted on each underwater cable are recorded in a configuration file (the configuration file can be acquired from a navigation system) in advance, so that the coordinate information of each acoustic device of the underwater multi-cable can be acquired from the configuration file. The theoretical distance between the acoustic devices can be calculated through the coordinate information, and the position relation between the acoustic devices can be determined. For example, the acoustic device 01 has coordinate information of (100, 300), representing that the acoustic device is at a vertical distance of 100 from the geophysical prospecting ship and at a horizontal distance of 300 from the geophysical prospecting ship. The coordinate information of the acoustic device 02 is (100, 500). The acoustic device 02 is known to the right of the acoustic device 01 from the coordinate information, and the theoretical distance is 200m.

The acoustic device in this step includes an acoustic device having a transmitting function, an acoustic device having a receiving function, and an acoustic device having a transmitting/receiving function.

Step S102, all ranging relations of the acoustic devices with the receiving function are established according to the maximum distance allowed to establish the ranging relations and the coordinate information of the acoustic devices.

Specifically, the maximum distance allowed to establish the ranging relationship defines a maximum distance between the transmitting acoustic device and the receiving acoustic device to which the ranging relationship is allowed to be established, and if the distance between the transmitting acoustic device and the receiving acoustic device exceeds the maximum distance allowed to establish the ranging relationship, the ranging relationship does not exist between the transmitting acoustic device and the receiving acoustic device. Wherein the maximum distance allowed to establish a ranging relationship includes the maximum distance allowed to establish a ranging relationship for the same cable and the maximum distance allowed to establish a ranging relationship between different cables.

The step S101 acquires the coordinate information of each acoustic device, and therefore, the inter-device distance between the acoustic device having a transmitting function and the acoustic device having a receiving function can be calculated from the coordinate information of the acoustic device having a transmitting function and the coordinate information of the acoustic device having a receiving function, and then all ranging relationships of the respective acoustic devices having a receiving function can be established from the maximum distance and the inter-device distance that allow the ranging relationships to be established.

Step S103, deleting the priority and the maximum receiving distance measurement quantity according to the distance measurement relation, and performing distance measurement relation deletion processing on all the distance measurement relations of each acoustic device with the receiving function to obtain the target distance measurement relation of each acoustic device with the receiving function.

Specifically, the maximum allowed number of received ranging sets forth the maximum number of ranging relationships allowed to be established per acoustic device with reception capability. Step S102 establishes all ranging relationships that can be established within this maximum distance. The number of ranging relationships may then be greater than the maximum allowed number of received ranging for each receiving-capable acoustic device. Therefore, the established ranging relationship needs to be deleted.

And when deleting, deleting according to the ranging relation deleting priority, and when deleting, deleting according to the sequence from the ranging relation deleting priority to the low ranging relation deleting priority until the number of the remaining ranging relations of the acoustic equipment with the receiving function is smaller than or equal to the maximum allowable receiving ranging number, thereby obtaining the target ranging relation of each acoustic equipment with the receiving function. The target ranging relationship is the ranging relationship ultimately required to establish the underwater multi-cable acoustic device polling network. The maximum number of allowed maximum received ranging and the maximum distance allowed to establish ranging relationship can be adjusted according to practical situations.

In an optional embodiment of the present invention, according to the ranging relation deletion priority and the maximum allowable receiving ranging number, performing ranging relation deletion processing on all ranging relations of each acoustic device having a receiving function, and obtaining a target ranging relation of each acoustic device having a receiving function further includes:

s1, selecting acoustic equipment with a receiving function and the most ranging relation;

s2, selecting one ranging relation from the ranging relations of the selected acoustic equipment with the receiving function according to the ranging relation deleting priority to delete;

s3, judging whether the number of the ranging relations after deleting by each acoustic device with the receiving function is smaller than or equal to the maximum allowable receiving ranging number, if not, jumping to execute S1; if yes, jumping to execute S4;

s4, establishing a target ranging relation of each acoustic device with a receiving function.

Specifically, firstly, selecting the acoustic device with the receiving function and the most established ranging relation, starting to delete the ranging relation from the acoustic device with the receiving function, when deleting the ranging relation, selecting one ranging relation from all ranging relations of the selected acoustic device with the receiving function according to the deleting priority of the ranging relation, after completing the deleting, judging whether the number of the ranging relations of each acoustic device with the receiving function is smaller than or equal to the maximum allowable receiving ranging number, if not, reselecting the acoustic device with the most ranging relation, deleting the ranging relation of the selected acoustic device with the receiving function, namely, circularly executing S1-S3 until the number of the ranging relations of each acoustic device with the receiving function after being deleted is smaller than or equal to the maximum allowable receiving ranging number, and completing the establishment of the target ranging relation of each acoustic device with the receiving function, namely completing the establishment of the signal receiving-transmitting relation among the acoustic devices.

For ease of understanding, the following definitions are made: when two acoustic devices forming a ranging relationship are positioned on the same cable, the ranging relationship belongs to a transverse relationship; when two acoustic devices forming a ranging relationship are the same in distance from the bow of the ship but are located on different cables, the ranging relationship is a vertical relationship; when the distance between two acoustic devices forming a distance measurement relationship and the bow is different and the two acoustic devices are positioned on different cables, the distance measurement relationship belongs to an oblique relationship;

and searching the ranging relation with connectivity, symmetry and effectiveness in the ranging relation, namely deleting the ranging relation with lower importance from all the ranging relations. In practical applications, the acoustic device spacing is typically not widely varied and is therefore of minimal importance, since it can be considered approximately rigid on the same cable. The distance measurement relation of the oblique relation simultaneously comprises distance information of the same cable and the cross cable, and the distance measurement relation contains important geometric information and is the distance measurement relation deleted finally. Therefore, the ranging relation deletion priority is that the transverse relation is larger than the vertical relation, and the vertical relation is larger than the oblique relation. That is, when deleting the ranging relation of a certain acoustic device having a receiving function, the ranging relation of the transverse relation is preferentially deleted, then the ranging relation of the vertical relation is deleted, and finally the ranging relation of the oblique relation is deleted, that is, the ranging relation of a certain acoustic device having a receiving function is deleted according to the sequence of the transverse relation, the vertical relation and the oblique relation. Thereby achieving the effectiveness of establishing a ranging relationship.

When the ranging relation deletion is performed, there may be ranging relations with the same priority of the ranging relation deletion, for example, a certain acoustic device with a receiving function has a ranging relation with a plurality of transverse relations or a ranging relation with a plurality of vertical relations, or a ranging relation with a plurality of oblique relations, fig. 1B is a schematic diagram of the ranging relation, as shown in fig. 1B, three cables are schematically shown, four acoustic devices are mounted on each cable, 01-04 are acoustic devices on the cables, three 01 in the vertical directions are located on the three cables, and 01-04 in the transverse directions are located on the same cable. 02 on the second cable there are multiple ranging relationships deleting the ranging relationship of the same priority diagonal relationship. Fig. 1B is merely an illustrative listing of ranging relationships.

In this case, in order to make the finally constructed underwater multi-cable acoustic device polling network have good symmetry and high ranging accuracy, the topological distance is used to delete the ranging relationship. Therefore, according to the ranging relation deletion priority and the maximum allowable receiving ranging number, the ranging relation deletion processing for all ranging relations of each acoustic device with a receiving function can be further implemented by the following method: if a plurality of ranging relations with the same ranging relation deleting priority exist, calculating topological distances corresponding to the ranging relations with the same ranging relation deleting priority, wherein the topological distances are calculated according to the cable numbers of the cables where the acoustic equipment is located and the sequence on the cables; and if the topological distances corresponding to the ranging relationships with the same ranging relationship deleting priority are different, deleting the ranging relationship with the longest topological distance in the ranging relationships with the same ranging relationship deleting priority.

With continued reference to fig. 1B, the topological distance between the acoustic device 01 and the acoustic device 02 on the first cable is 1 (but the theoretical distance calculated from coordinates is, for example, 100 m), and the topological distance between the acoustic device 02 and the acoustic device 03 is also 1 (the theoretical distance is, for example, 200 m), and the topological distance represents the position. The topological distance between adjacent acoustic devices is 1, the topological distance is 2 when 1 acoustic device is spaced, the topological distance between the acoustic device 01 on the first cable and the acoustic device 02 on the second cable is root number 2, the topological distance between the acoustic device 01 on the first cable and the acoustic device 03 on the second cable is root number 5, and the topological distance between the acoustic device 01 on the first cable and the acoustic device 01 on the second cable is 1. And so on, detailed descriptions thereof are omitted.

If the ranging relationship deletion priorities of the plurality of ranging relationships are the same, the ranging relationship with longer topological distance is preferentially deleted, which mainly considers that the farther the edge accuracy is lower, and the reason for using the topological distance instead of the actual distance is to facilitate maintaining the symmetry of the underwater multi-cable acoustic device polling network.

In an optional embodiment of the present invention, a situation may also occur that a plurality of ranging relationships have the same ranging relationship deletion priority, and the corresponding topology distances are the same, where performing the ranging relationship deletion process on all ranging relationships of each acoustic device having a receiving function according to the ranging relationship deletion priority and the maximum allowable number of received ranging relationships further includes: deleting each ranging relation in the priority ranging relation according to a plurality of same ranging relations, and calculating the total number of the ranging relations between two cables where the ranging relation is located; and deleting the ranging relation with the largest total number of ranging relations among the ranging relations with the same ranging relation deleting priority.

In order to ensure the connectivity of the underwater multi-cable acoustic equipment polling network, the number of edges between cables is required to be calculated. The inter-cable edge number refers to the total number of the ranging relations existing between two cables, when the deleting priorities of the ranging relations to be deleted are the same and the corresponding topological distances are the same, the total number of the ranging relations between the two cables where each ranging relation is located is counted, the ranging relation with the large total number of the inter-cable ranging relations is deleted, and the problem that the ranging precision is reduced due to the fact that the ranging relations between the two cables are too few can be prevented by deleting the ranging relations by the method.

For example, in fig. 1B, the acoustic device 03 on the second cable has a ranging relationship with an oblique relationship between the acoustic device 04 on the first cable and the acoustic device 04 on the third cable, when the ranging relationship is required to be deleted, the ranging relationship deletion priorities of the two ranging relationships are found to be the same, and the topological distances are all the root number 2, but the total number of the ranging relationships between the two cables where the acoustic device 03 on the second cable and the acoustic device 04 on the first cable are located is 7, and the total number of the ranging relationships between the two cables where the acoustic device 03 on the second cable and the acoustic device 04 on the third cable are located is 5, so that when the ranging relationship between the acoustic device 03 on the second cable and the acoustic device 04 on the first cable is deleted, the ranging relationship between the acoustic device 03 on the second cable and the acoustic device 04 on the first cable is deleted.

Step S104, an acoustic device working mode is distributed to each acoustic device according to the target ranging relation, and establishment of an underwater multi-cable acoustic device polling network is completed, wherein the acoustic device working mode comprises the following steps: transmission time, transmission signal type, reception window, reception signal type.

After the target ranging relation is established, a person skilled in the art can allocate an acoustic device working mode to each acoustic device according to experience to complete the establishment of the underwater multi-cable acoustic device polling network, wherein the acoustic device working mode comprises: transmission time, transmission signal type, reception window, reception signal type. When the operation mode of the acoustic equipment is allocated, the acoustic equipment with the transmitting function is allocated according to the rule of covering all the transmitting signal types.

In an alternative embodiment of the present invention, each acoustic device with a transmitting function can transmit only one signal type, each acoustic device with a receiving function can receive multiple signal types, in order to avoid that two signals of the same type are received by the same acoustic device with a receiving function in the same period of time, and all acoustic devices complete the ranging operation in the shortest time. Thus, before assigning the acoustic device operation mode to each acoustic device according to the target ranging relationship, the method further comprises: for any one of the acoustic devices having a transmitting function, a target delay distance between the acoustic device having a transmitting function and each of the other acoustic devices having a transmitting function is calculated from the coordinate information of the acoustic device having a transmitting function, the coordinate information of each of the other acoustic devices having a transmitting function. The method for distributing the acoustic equipment working modes to the acoustic equipment according to the target ranging relation further comprises the following steps: and distributing the working modes of the acoustic devices for each acoustic device with the target ranging relation according to the target delay distance.

The target delay distance is the maximum delay distance of the calculated delay distances between two acoustic devices having a transmitting function relative to different acoustic devices having a receiving function; the delay distance is the difference in distance between two acoustic devices with transmitting and the same acoustic device with receiving functions.

For example, fig. 1C is a schematic diagram of delay distances, as shown in fig. 1C, a and B are acoustic devices with transmitting function capable of transmitting the same signal type, C is an acoustic device with receiving function, assuming that the distance between ACs is 600, the distance between bc is 700, and acoustic device a transmits a signal at an initial time, then acoustic device B must transmit a signal d (a, B) after the time before the signal does not collide with the signal before acoustic device a at acoustic device C, and this d (a, B) is defined as the delay distance from a to B. Also, assuming that acoustic device B transmits a signal at an initial time, there is also a delay distance d (B, a) between acoustic device a and acoustic device B. In fig. 1C, since a is closer to C, as long as acoustic device a signals first, no signal after acoustic device B interferes with acoustic device C reception, where d (a, B) =0; if the acoustic device B signals first, the acoustic device a needs to wait for the signal of the acoustic device B to travel d distance before transmitting the signal, so that the acoustic device C does not receive the signal simultaneously, where d (B, a) =d=700-600=100.

After the target delay distance is determined, the acoustic device working modes can be allocated to each acoustic device with a ranging relation according to the target delay distance, the allocated working modes are mainly the transmitting time and the transmitting signal type for the acoustic device with the transmitting function, and the allocated working modes are mainly the receiving window and the receiving signal type for the acoustic device with the receiving function.

In an alternative embodiment of the present invention, for any acoustic device having a transmitting function, calculating a target delay distance between the acoustic device having a transmitting function and each of the other acoustic devices having a transmitting function based on coordinate information of the acoustic device having a transmitting function and coordinate information of each of the other acoustic devices having a transmitting function may further be achieved by:

for any acoustic device with a transmitting function, respectively forming a pair of the acoustic device with the transmitting function and each other acoustic device with the transmitting function;

calculating the delay distance between two acoustic devices with transmitting functions in the device pair relative to any acoustic device with receiving functions according to the coordinate information of the two acoustic devices with transmitting functions in the device pair and the coordinate information of any acoustic device with receiving functions;

And taking the maximum delay distance in the plurality of delay distances as a target delay distance between any acoustic device with the transmitting function and other acoustic devices with the transmitting function in the pair of devices.

Specifically, in practical applications, there are a plurality of acoustic devices with a receiving function and a plurality of acoustic devices with a transmitting function, and when calculating the target delay distance, any acoustic device with a transmitting function is paired with other acoustic devices with a transmitting function, and two acoustic devices with a transmitting function form a device pair. For ease of understanding, A, B, D is an acoustic device having a transmitting function, C, E is an acoustic device having a receiving function, acoustic device a having a transmitting function is paired with acoustic device B, D having a component device pair AB and a device pair AD, acoustic device B having a transmitting function is paired with acoustic device A, D having a transmitting function, component device pair BA and a device pair BD, acoustic device D having a transmitting function is paired with acoustic device A, B having a transmitting function, respectively, and component device pair DA and device pair DB, it is to be noted that both device pair AB and device pair BA are composed of acoustic device a having a transmitting function and acoustic device B having a transmitting function, respectively, but the two sets of device pairs are directional with respect to the different acoustic devices having a transmitting function, the acoustic devices having a transmitting function that constitute the device pair.

When calculating the delay distance, firstly, respectively calculating the distance between each acoustic device with the transmitting function and the acoustic device with the receiving function according to the coordinate information of two acoustic devices with the transmitting function in the device pair and the coordinate information of any acoustic device with the receiving function, so as to calculate two distances, and calculating a distance difference value between the two distances, wherein the distance difference value is the delay distance, and when the distance difference value is smaller than 0, the delay distance is equal to 0; when the distance difference is greater than 0, the delay distance is equal to the distance difference.

Each device pair calculates a delay distance with respect to each acoustic device having a receiving function, that is, a device pair calculates a plurality of delay distances, each device pair corresponds to the number of acoustic devices having a receiving function, C, E is an acoustic device having a receiving function, and for a device pair AB, the distance between ACs can be calculated from the coordinate information of the acoustic device a having a transmitting function, the coordinate information of the acoustic device B having a transmitting function, the coordinate information of the acoustic device C having a receiving function in the device pair AB (d _AC ) And the distance between BC (d _BC ) According to d _AC And d _BC The delay distance d1 (A, B) between the device pair AB and the acoustic device C with receiving function can be calculated, wherein when d _AC -d _BC Above 0, d1 (a, B) =d _AC -d _BC When d _AC -d _BC Less than 0, d1 (a, B) =0; for the device pair AB, according to the coordinate information of the acoustic device a with the transmitting function in the device pair AB, the coordinate information of the acoustic device B with the transmitting function, and the delay distance d2 (a, B) between the acoustic device with the transmitting function and the acoustic device E with the receiving function included in the device pair AB, two delay distances are calculated for the device pair AB, and similar calculation is performed for other devices, which is not repeated here.

Through the above calculation, each device pair calculates a plurality of delay distances, and in order for the acoustic devices having a receiving function to be able to distinguish signals transmitted by acoustic devices having a transmitting function of the same type of transmission signal, the maximum delay distance is selected from among the plurality of delay distances as a target delay distance between the acoustic device having a transmitting function and each other acoustic device having a transmitting function, for example, the maximum target delay distance between the acoustic device having a transmitting function and each other acoustic device having a transmitting function is selected from d1 (a, B) and d2 (a, B).

In calculating the delay distance, the target delay distance between the acoustic device with a transmitting function and each other acoustic device with a transmitting function is calculated according to the coordinate information of any acoustic device with a transmitting function and the coordinate information of each other acoustic device with a transmitting function, and is not limited to the acoustic device with a transmitting function and the acoustic device with a receiving function having a signal receiving-transmitting relationship, but the purpose of this is mainly to avoid the problem that the signal receiving of the acoustic device with a receiving function cannot be identified even though the acoustic device with a transmitting function and the acoustic device with a receiving function do not have a signal receiving-transmitting relationship, but the distance between the acoustic device with a transmitting function and the acoustic device with a receiving function is within the distance range in which the underwater acoustic signal can propagate.

When calculating the delay distance, whether the signal receiving and transmitting relation exists between the acoustic equipment with the transmitting function and the acoustic equipment with the receiving function or not can be judged, if the signal receiving and transmitting relation does not exist between the acoustic equipment with the transmitting function and the acoustic equipment with the receiving function, whether the distance between the acoustic equipment with the transmitting function and the acoustic equipment with the receiving function is smaller than the propagation distance of the underwater acoustic signal or not is further judged, and if the distance between the acoustic equipment with the transmitting function and the acoustic equipment with the receiving function is smaller than the propagation distance of the underwater acoustic signal, the calculation of the delay distance is carried out according to the method; if not, the delay distance is set to 0.

Since the acoustic device with a receiving function starts signal detection when the receiving window arrives, and the acoustic device with a receiving function can receive signals transmitted by a plurality of acoustic devices with a transmitting function, there may be a case where the receiving windows overlap, if the acoustic device with a receiving function detects at least two signals at the overlapping portion of the receiving windows, then an interference signal may be received, and it is impossible to distinguish, in order to be able to further prevent interference, for any pair of devices, calculating a delay distance between two acoustic devices with a transmitting function in the pair of devices with respect to any acoustic device with a receiving function according to coordinate information of the two acoustic devices with a transmitting function and coordinate information of any acoustic device with a receiving function in the pair of devices may be further achieved by:

for any equipment pair, calculating a distance difference value between two acoustic equipment with transmitting functions in the equipment pair relative to any acoustic equipment with receiving functions according to the coordinate information of the two acoustic equipment with transmitting functions in the equipment pair and the coordinate information of any acoustic equipment with receiving functions;

And calculating the delay distance between the two acoustic devices with the transmitting function in the device pair and any acoustic device with the receiving function according to the distance difference and the corresponding receiving window sizes of the acoustic devices with the receiving function and the acoustic devices with the transmitting function in the device pair.

Specifically, when calculating the delay distance, the distances between each acoustic device with the transmitting function and the acoustic device with the receiving function are calculated according to the coordinate information of two acoustic devices with the transmitting function in the device pair and the coordinate information of any acoustic device with the receiving function, so that two distances are calculated, and a distance difference value between the two distances is calculated.

The acoustic device with receiving function has a receiving window corresponding to each acoustic device with transmitting function, each receiving window has a unique receiving window size, wherein the receiving window size can be determined according to the distance between the acoustic device with receiving function and the geophysical prospecting ship, the closer the acoustic device with receiving function is to the geophysical prospecting ship, the smaller the receiving window size is, the farther the acoustic device with receiving function is from the geophysical prospecting ship, and the larger the receiving window size is, in this case, the receiving window size of the acoustic device with receiving function is the same relative to the receiving window size of the different acoustic devices with transmitting function for the same acoustic device with receiving function; alternatively, the size of the receiving window may be determined according to the distance between the acoustic device having the receiving function and the acoustic device having the transmitting function, the larger the distance, the smaller the distance, and the size of the receiving window is different with respect to the receiving window of the different acoustic device having the transmitting function.

Two receiving windows are corresponding to two acoustic devices with transmitting functions in the pair of acoustic devices with receiving functions, therefore, corresponding to the two receiving window sizes, the maximum receiving window size is determined, the maximum receiving window size is multiplied by a preset value, for example, 0.5, the multiplied result is multiplied by the signal propagation speed to obtain a first distance, and the delay distance is calculated according to the distance difference value and the first distance, wherein the delay distance=the distance difference value+the first distance.

For example, the device pair includes an acoustic device A, B with a transmitting function, an acoustic device C with a receiving function, and the acoustic device C corresponds to two receiving windows, and if the receiving windows of the two receiving windows are different in size, for example, one receiving window is 100 and the other receiving window is 120, the delay distance is calculated by using the receiving window size 120; if the reception window sizes of both reception windows are the same, for example, 100, the delay distance is calculated using the reception window size 100.

Signals of different frequency bands are not disturbed due to attenuation of signal propagation and are not detected when reaching a certain distance (but from the design point of view, acoustic devices with transmitting function cannot transmit countless signal types). Therefore, firstly, as many acoustic devices as possible are selected so that they can transmit at the initial time without interfering with each other, so that this strategy can allocate most acoustic devices to transmit signals at the initial time, thereby greatly reducing the size of acoustic devices with transmitting functions that allocate transmitting time in the next step and shortening the total time.

Thus, in an alternative embodiment of the present invention, the method for assigning an acoustic device to each acoustic device having a target ranging relationship constructed according to a target delay distance further includes:

the method comprises the steps of allocating the transmitting time of the acoustic equipment with the transmitting function with the target delay distances being zero as an initial time, and allocating the transmitting signal type for the acoustic equipment with the transmitting function according to the signal type which can be transmitted by the acoustic equipment with the transmitting function;

traversing each first acoustic device in the first acoustic device set, and determining the transmitting time and the transmitting signal type of the first acoustic device according to the target delay distance between the first acoustic device and the second acoustic device in the second acoustic device set and the transmitting time of the second acoustic device; wherein the first acoustic device in the first set of acoustic devices is an unassigned acoustic device with a launch function and the second acoustic device in the second set of acoustic devices is an assigned acoustic device with a launch function;

for any acoustic device with a receiving function, determining a receiving window and a receiving signal type corresponding to the acoustic device with the receiving function according to the coordinate information, the transmitting time and the transmitting signal type of the acoustic device with the transmitting function, which have a signal receiving and transmitting relation with the acoustic device with the receiving function, and the coordinate information of the acoustic device with the receiving function.

Specifically, all the acoustic devices with the transmitting function are traversed during initial allocation, whether the target delay distance between the acoustic devices with the transmitting function and other acoustic devices with the transmitting function is zero is judged, if the target delay distance is zero, the transmitting time of the acoustic devices with the transmitting function is allocated as an initial time, and if the initial time is 0, the transmitting time is 0 time; then traversing other acoustic devices with transmitting function, so that all acoustic devices with transmitting function capable of transmitting signals at the initial moment can be found, and then distributing transmitting signal types according to the types of signals which can be transmitted by the acoustic devices with transmitting function, wherein one acoustic device with transmitting function normally transmits only one signal type. Preferably, for a certain type of transmission signal, a corresponding number of acoustic devices with transmission function may be randomly selected from acoustic devices with transmission function capable of transmitting the type of transmission signal according to the number of acoustic devices with transmission function preset to transmit the signal at the initial time.

For example, there are A, B, D three acoustic devices with transmitting functions. The target delay distances corresponding to the three acoustic devices with the transmitting function are respectively as follows:

d(DA)＝0；d(DB)＝0；d(AD)＝100；d(AB)＝0；d(BD)＝200；

D (BA) =100, the initial allocation first traverses the target delay distance between a and its acoustic device with the transmitting function, secondly B, and finally D, only the target delay distances corresponding to D are all 0, so the transmitting time of D is the initial time, and a and B will allocate the transmitting time as follows.

For convenience of the following description, a first acoustic device set, a second acoustic device set, a first acoustic device and a second acoustic device are introduced herein, wherein the first acoustic device in the first acoustic device set is an unassigned acoustic device having a transmitting function, and the second acoustic device in the second acoustic device set is an assigned acoustic device having a transmitting function.

After completing the allocation of the transmission time to the initial time, the remaining unassigned acoustic devices with transmission function will allocate the transmission time as follows: traversing each first acoustic device in the first acoustic device set, and determining the transmitting time and the transmitting signal type of the first acoustic device according to the target delay distance between the first acoustic device and the second acoustic device in the second acoustic device set, and the transmitting time and the transmitting signal type of the second acoustic device;

The target delay distance is a distance that the first acoustic device can transmit signals after the signals transmitted by the second acoustic device propagate, and the target delay distance is used for calculating the transmitting time of the first acoustic device, so that the signals transmitted by the first acoustic device can be ensured not to interfere with the acoustic device with a receiving function to receive the signals transmitted by the second acoustic device.

More preferably, traversing each first acoustic device in the first acoustic device set, and determining the emission time and the emission signal type of the first acoustic device according to the target delay distance between the first acoustic device and the second acoustic device in the second acoustic device set, the emission time and the emission signal type of the second acoustic device may further be implemented by:

calculating delay time according to target delay distances and signal propagation speeds between the first acoustic devices and the second acoustic devices in the second acoustic device set under the same emission signal type aiming at each first acoustic device in the first acoustic device set; calculating delay time according to target delay distances between each second acoustic device and the first acoustic device under the same emission signal type in the second acoustic device set and the signal propagation speed;

In order to enable all acoustic devices to finish ranging work in the shortest time, when determining the emission time of the first acoustic devices, the second acoustic devices in the second acoustic device set are divided according to the emission signal types, then, for each first acoustic device in the first acoustic device set, the delay time is calculated according to the target delay distance and the signal propagation speed between the first acoustic device and each second acoustic device in the second acoustic device set under the same emission signal type, and the delay time is calculated according to the target delay distance and the signal propagation speed between the second acoustic device in the second acoustic device set under the same emission signal type. The delay time is the time for which the first acoustic device delays transmitting, delay time = target delay distance/signal propagation speed. In calculating the delay time, the delay time is calculated according to not only the target delay distance between the first acoustic device and the second acoustic device, but also the target delay distance between the second acoustic device and the first acoustic device, and the purpose of this is mainly to prevent the first acoustic device from interfering with the reception of the signal emitted by the second acoustic device by the acoustic device having the reception function.

After calculating the delay distance, calculating the middle emission time corresponding to the first acoustic device according to the delay time and the emission time of each second acoustic device in the second acoustic device set under the same emission signal type, wherein the middle emission time=the emission time+the delay time, and determining the maximum middle emission time as the middle emission time of the first acoustic device under the emission signal type;

the minimum intermediate transmission time in the plurality of transmission signal types is determined as the transmission time of the first acoustic device so as to ensure that ranging can be completed in the shortest time, the transmission signal type corresponding to the minimum intermediate transmission time is determined as the transmission signal type of the first acoustic device, for example, the transmission signal type a corresponds to the intermediate transmission time of 00:30, the transmission signal type b corresponds to the intermediate transmission time of 00:15, and the transmission signal type c corresponds to the intermediate transmission time of 00:25, and then the transmission signal type b corresponds to the intermediate transmission time of 00:15 is determined as the transmission time of the first acoustic device, and the transmission signal type b corresponds to the transmission signal type of the first acoustic device.

In an optional embodiment of the present invention, in order to prevent the first acoustic device from interfering with the reception of the signal transmitted by the second acoustic device by the acoustic device having the reception function, and reduce the calculation amount, the maximum target delay distance may be further selected from the target delay distances between the first acoustic device and the respective second acoustic devices in the same type of transmission signal in the second acoustic device set and the target delay distances between the respective second acoustic devices in the same type of transmission signal in the second acoustic device set; then, calculating the corresponding middle transmitting time of the first acoustic device under the transmitting signal type according to the maximum target delay distance and the transmitting time of the second acoustic device corresponding to the maximum target delay distance, wherein the middle transmitting time = the maximum target delay distance/the signal propagation speed + the transmitting time; the method comprises the steps of determining a minimum intermediate transmission time in a plurality of transmission signal types as the transmission time of a first acoustic device, and determining the transmission signal type corresponding to the minimum intermediate transmission time as the transmission signal type of the first acoustic device. For example, if the transmission signal type a corresponds to an intermediate transmission time of 00:30, the transmission signal type b corresponds to an intermediate transmission time of 00:15, and the transmission signal type c corresponds to an intermediate transmission time of 00:25, the transmission signal type b is determined to be the transmission time of the first acoustic device, and the transmission signal type b is determined to be the transmission signal type of the first acoustic device.

In an optional embodiment of the present invention, for any acoustic device having a receiving function, determining a receiving window and a receiving signal type corresponding to the acoustic device having a receiving function according to coordinate information, a transmitting time and a transmitting signal type of the acoustic device having a transmitting function, which have a signal transceiving relation with the acoustic device having a receiving function, and the coordinate information of the acoustic device having a receiving function further includes:

calculating signal flight time according to coordinate information of the acoustic equipment with the transmitting function, coordinate information of the acoustic equipment with the receiving function and signal propagation speed, wherein the acoustic equipment with the receiving function has a signal receiving and transmitting relation with the acoustic equipment with the receiving function;

determining a receiving window corresponding to the acoustic equipment with the receiving function according to the transmitting time, the signal flight time and the preset receiving window size of the acoustic equipment with the transmitting function;

the type of the transmission signal corresponding to the acoustic device with the transmission function is determined as the type of the reception signal of the acoustic device with the reception function.

Specifically, for any acoustic device with a receiving function, the distance l between the two acoustic devices can be calculated according to the coordinate information of the acoustic device with a transmitting function having a signal transmitting-receiving relationship with the acoustic device with a receiving function and the coordinate information of the acoustic device with a receiving function, and the propagation speed of the acoustic signal in water is v, so that the signal flight time=l/v of the acoustic signal can be calculated, but because the acoustic device and the cable are unstable due to the influence of water flow and the like, in order to be able to improve the probability of receiving the signal sent by the acoustic device with a transmitting function, a receiving window is set for the acoustic device with a receiving function, and the acoustic device with a receiving function starts to detect the signal within the range of the receiving window.

The size of the receiving window is usually preset, and then the corresponding receiving window of the acoustic device with the receiving function is determined according to the transmitting time, the signal flight time and the preset size of the receiving window of the acoustic device with the transmitting function. The sum of the transmission time and the signal flight time of the acoustic device with the transmission function is the theoretical reception time of the acoustic device with the reception function, the reception window is evenly distributed near the midpoint of the theoretical reception time, the reception window corresponding to the acoustic device with the reception function can be determined according to the set window size and the theoretical reception time, as shown in fig. 1D, assuming that the distance between the acoustic device with the transmission function and the acoustic device with the reception function is l, the acoustic device with the transmission function transmits at t1, the acoustic device with the reception function receives at time t2, and t2=t1+l/v. In general, t2 is at the midpoint of w1 and w2, where w1 and w2 form a receiving window, and an acoustic device with a receiving function starts to detect signals within the range of w1 to w 2. Let the receiving window size be 100, if the transmitting time is 0 and the signal flight time is 100, the receiving window is 50-150.

The type of the signal which can be transmitted by the acoustic device with the transmitting function is the type of the signal which can be received by the acoustic device with the receiving function, so that the type of the received signal corresponding to the acoustic device with the receiving function is determined, and the same receiving bird can simultaneously receive data of a plurality of birds, so that a plurality of receiving windows are formed.

In an optional embodiment of the present invention, the method for allocating an acoustic device to each acoustic device having a target ranging relationship according to the target delay distance further includes:

sequentially selecting a transmitting signal type, determining the acoustic equipment with the transmitting function initially allocated with the transmitting signal type, and setting the transmitting time of the acoustic equipment with the transmitting function initially as the initial time;

determining the transmission signal type and the transmission time of the third acoustic device according to the target delay distance between the third acoustic device and the fourth acoustic device, the transmission time of the fourth acoustic device and the transmission signal type, wherein the third acoustic device is the third acoustic device, and the fourth acoustic device is the fourth acoustic device;

Specifically, the types of the emission signals are multiple, one emission signal type is sequentially selected, the acoustic equipment with the emission function initially assigned to the emission signal type is determined, namely, one acoustic equipment with the emission function is selected as the acoustic equipment with the emission function initially transmitting the emission signal type, the acoustic equipment with the emission function initially can be randomly selected, the acoustic equipment with the emission function with the target delay distance of 0 is preferentially selected, and then the emission time of the acoustic equipment with the emission function initially is set as the initial time; after the distribution is completed, the acoustic device with the transmitting function is the distributed acoustic device with the transmitting function. For convenience of the following description, the acoustic device having a transmitting function to be allocated is referred to herein as a third acoustic device, and the acoustic device having a transmitting function to which the transmitting signal type has been allocated is referred to herein as a fourth acoustic device.

More preferably, for one transmission signal type, determining whether the target delay distance between the third acoustic device and the fourth acoustic device and the target delay distance between the fourth acoustic device and the third acoustic device are both zero, if so, setting the transmission time of the third acoustic device as an initial time, and setting the transmission signal type as the transmission signal type of the third acoustic device; until the acoustic equipment with the transmitting function capable of transmitting at the initial moment is set according to all the transmitting signal types;

Calculating delay time according to target delay distances and signal propagation speeds between the third acoustic device and each fourth acoustic device under the same transmission signal type aiming at other third acoustic devices; calculating delay time according to target delay distances between each fourth acoustic device and the third acoustic device under the same transmission signal type and signal propagation speed;

calculating the corresponding intermediate transmission time of the third acoustic device according to the delay time and the transmission time of each fourth acoustic device under the same transmission signal type, and determining the maximum intermediate transmission time as the intermediate transmission time of the third acoustic device under the transmission signal type;

the minimum intermediate transmission time among the plurality of transmission signal types is determined as the transmission time of the third acoustic device, and the transmission signal type corresponding to the minimum intermediate transmission time is determined as the transmission signal type of the first acoustic device.

For example, the transmission signal types are a, B, c, 1 acoustic device a with transmission function (randomly selected or the target delay distance is 0) is set to a, the transmission time is 0, then another acoustic device B with transmission function is selected, if the target delay distance d (BX) =0 between B and the other allocated acoustic devices X with transmission function (referring to all the acoustic devices with transmission function of the allocated transmission signal type a), and the target delay distance d (XB) =0 between the other allocated acoustic devices X with transmission function (referring to all the acoustic devices with transmission function of the allocated transmission signal type a) and B, the transmission time of B is set to 0, and the transmission type is also a. According to the method, a plurality of acoustic devices with the transmitting function and the transmitting signal type a and the transmitting time 0 can be obtained. The target delay distance is only a criterion for evaluating the same type of signal, since different signal types can be identified where the acoustic device with the receiving function is reached.

Setting the transmission signal type of 1 acoustic device C with transmission function as b, the transmission time as 0, then selecting another acoustic device D with transmission function, setting the transmission time as 0 if D is the target delay distance D (DX) =0 between D and the other allocated acoustic devices X with transmission function (referring to all the acoustic devices with transmission function of the allocated transmission signal type b), and the target delay distance D (XD) =0 between the other allocated acoustic devices X with transmission function (referring to all the acoustic devices with transmission function of the allocated transmission signal type b), and setting the transmission time as 0. According to the method, a plurality of acoustic devices with the transmitting function and the transmitting signal type b and the transmitting time 0 can be obtained.

And repeating the steps according to the type of the signal which can be transmitted by the equipment, and finally obtaining all the acoustic equipment with the transmitting function which can be transmitted at the moment 0.

Then, the acoustic device with a transmitting function E in the second layer is selected as the acoustic device with a transmitting function E, and then the acoustic device with a transmitting function X is selected, where d (E, X) and d (X, E), d (E, X)/V can obtain corresponding delay times T, d (X, E)/V can obtain corresponding delay times T, and then the intermediate transmitting time=t+t corresponding to the acoustic device with a transmitting function E is calculated according to the delay times T and the transmitting time T of the acoustic device with a transmitting function X, and since the acoustic device with a transmitting function X is assigned to different transmitting signal types, the largest intermediate transmitting time is determined as the intermediate transmitting time of the acoustic device with a transmitting function E under the transmitting signal type for the same transmitting signal type, and the smallest intermediate transmitting time is selected from the different transmitting signal types as the transmitting time of the acoustic device with a transmitting function E. Repeating the above steps to complete the allocation of the transmission time and the allocation of the type of the transmission signal of all the acoustic devices having the transmission function in the second layer.

In an alternative embodiment of the present invention, for the other third acoustic device, the following method may be used to determine its transmission time and transmission signal type: screening out the maximum target delay distance from the target delay distances between the third acoustic device and the fourth acoustic devices of the same transmission signal type;

calculating corresponding intermediate transmitting time under the type of the transmitting signal of the third acoustic equipment according to the maximum target delay distance and the transmitting time of the fourth acoustic equipment corresponding to the maximum target delay distance;

the minimum intermediate transmission time among the plurality of transmission signal types is determined as the transmission time of the third acoustic device, and the transmission signal type corresponding to the minimum intermediate transmission time is determined as the transmission signal type of the third acoustic device.

After the underwater multi-cable acoustic device polling network is established, the distance between every two acoustic devices can be calculated, and data can be provided for other systems to use. By the distance and the direction between the devices, the shape and the array type of the cable can be fitted, and the underwater shape is positioned.

The technical scheme provided by the invention considers network symmetry, effectiveness and connectivity when establishing the signal receiving and transmitting relationship between acoustic devices. The operation mode of distributing the acoustic devices is to distribute the transmitting time, the transmitting signal type, the receiving window and the receiving signal type for each acoustic device under the condition that the acoustic devices can not interfere with each other.

According to the technical scheme provided by the invention, under the condition of considering connectivity, symmetry and effectiveness of a network, the distances among different acoustic devices are measured as much as possible, namely under the condition of limiting conditions, the effective ranging relation is established as much as possible, the purpose of measuring the cable size is achieved by utilizing the ranging result through the established ranging relation, so that the purpose of more accurate measurement is achieved, and effective data support can be provided for cable type positioning calculation, so that all the acoustic devices can work simultaneously, the effective signals are measured by the acoustic devices with the receiving function, and the working efficiency of a towing cable system is greatly improved.

Fig. 2 shows a schematic configuration of a ranging relation generating apparatus according to an embodiment of the present invention.

The device comprises:

an acquisition module 201 adapted to acquire coordinate information of each acoustic device of the underwater multi-cable from the configuration file; the acoustic device comprises a transmitting acoustic device and an acoustic device with a receiving function;

The establishing module 202 is adapted to establish a target ranging relationship of each acoustic device with a receiving function according to the coordinate information and a preset ranging constraint condition, wherein the target ranging relationship is a signal transceiving relationship existing between the transmitting acoustic device and the acoustic device with the receiving function;

the deleting module 203 is adapted to delete the priority and the maximum allowable receiving ranging number according to the ranging relation, and perform ranging relation deletion processing on all the ranging relations of each acoustic device with a receiving function, so as to obtain a target ranging relation of each acoustic device with a receiving function;

the allocation module 204 is adapted to allocate an acoustic device working mode to each acoustic device according to the target ranging relationship, so as to complete the establishment of the underwater multi-cable acoustic device polling network, wherein the acoustic device working mode comprises: transmission time, transmission signal type, reception window, reception signal type.

Optionally, the deletion module is further adapted to: s1, selecting acoustic equipment with a receiving function and the most ranging relation;

Optionally, the deletion module is further adapted to: if a plurality of ranging relationships with the same ranging relationship deleting priority exist, calculating topology distances corresponding to the ranging relationships with the same ranging relationship deleting priority;

if the topology distances corresponding to the ranging relationships with the same ranging relationship deletion priority are different, deleting the ranging relationship with the longest topology distance in the ranging relationships with the same ranging relationship deletion priority

Optionally, the deletion module is further adapted to: if the topological distances corresponding to the ranging relationships with the same ranging relationship deletion priority are the same, calculating the total number of the ranging relationships between two cables where the ranging relationships are located according to each ranging relationship in the ranging relationships with the same ranging relationship deletion priority;

and deleting the ranging relation with the largest total number of ranging relations among the ranging relations with the same ranging relation deleting priority.

Optionally, when two acoustic devices forming a ranging relationship are located on the same cable, the ranging relationship is of a lateral relationship; when two acoustic devices forming a ranging relationship are the same in distance from the bow of the ship but are located on different cables, the ranging relationship is a vertical relationship; when the distance between two acoustic devices forming a distance measurement relationship and the bow is different and the two acoustic devices are positioned on different cables, the distance measurement relationship belongs to an oblique relationship;

the distance measurement relation deleting priority is that the transverse relation is larger than the vertical relation, and the vertical relation is larger than the oblique relation.

Alternatively, the ranging relationship is a signal transceiving relationship existing between an acoustic device having a transmitting function and an acoustic device having a receiving function.

Optionally, the topological distance is calculated according to the cable number of the cable where the acoustic device is located and the order of the acoustic device on the cable.

Optionally, the apparatus further comprises: calculating target delay distances between the acoustic device with the transmitting function and each other acoustic device with the transmitting function according to the coordinate information of the acoustic device with the transmitting function and the coordinate information of each other acoustic device with the transmitting function aiming at any acoustic device with the transmitting function;

The distribution module is further adapted to: and distributing the working modes of the acoustic devices for each acoustic device with the target ranging relation according to the target delay distance.

Optionally, the computing module is further adapted to: for any acoustic device with a transmitting function, respectively forming a pair of the acoustic device with the transmitting function and each other acoustic device with the transmitting function;

Optionally, the allocation module is further adapted to: the method comprises the steps of allocating the transmitting time of the acoustic equipment with the transmitting function with the target delay distances being zero as an initial time, and allocating the transmitting signal type for the acoustic equipment with the transmitting function according to the signal type which can be transmitted by the acoustic equipment with the transmitting function;

Traversing each first acoustic device in the first acoustic device set, and determining the transmitting time and the transmitting signal type of the first acoustic device according to the target delay distance between the first acoustic device and the second acoustic device in the second acoustic device set, and the transmitting time and the transmitting signal type of the second acoustic device; wherein the first acoustic device in the first set of acoustic devices is an unassigned acoustic device with a launch function and the second acoustic device in the second set of acoustic devices is an assigned acoustic device with a launch function;

Optionally, the allocation module is further adapted to: for each first acoustic device in the first acoustic device set, screening out a maximum target delay distance from target delay distances between the first acoustic device and each second acoustic device in the second acoustic device set under the same emission signal type and target delay distances between each second acoustic device in the second acoustic device set under the same emission signal type;

Calculating the corresponding middle transmitting time of the first acoustic equipment under the transmitting signal type according to the maximum target delay distance and the transmitting time of the second acoustic equipment corresponding to the maximum target delay distance;

the method comprises the steps of determining a minimum intermediate transmission time in a plurality of transmission signal types as the transmission time of a first acoustic device, and determining the transmission signal type corresponding to the minimum intermediate transmission time as the transmission signal type of the first acoustic device.

Optionally, the allocation module is further adapted to: sequentially selecting a transmitting signal type, determining the acoustic equipment with the transmitting function initially allocated with the transmitting signal type, and setting the transmitting time of the acoustic equipment with the transmitting function initially as the initial time;

determining the transmission signal type and the transmission time of the third acoustic device according to the target delay distance between the third acoustic device and the fourth acoustic device, the transmission time of the fourth acoustic device and the transmission signal type, wherein the third acoustic device is an acoustic device with a transmission function to be allocated, and the fourth acoustic device is an acoustic device with the transmission function allocated with the transmission signal type;

Optionally, the allocation module is further adapted to: for one emission signal type, judging whether the target delay distance between the third acoustic device and the fourth acoustic device and the target delay distance between the fourth acoustic device and the third acoustic device are zero, if so, setting the emission time of the third acoustic device as an initial time, and setting the emission signal type as the emission signal type of the third acoustic device; until the acoustic equipment with the transmitting function capable of transmitting at the initial moment is set according to all the transmitting signal types;

for other third acoustic devices, screening out the maximum target delay distance from the target delay distances between the third acoustic device and each fourth acoustic device under the same transmission signal type and the target delay distances between each fourth acoustic device under the same transmission signal type and the third acoustic device;

Optionally, the allocation module is further adapted to: calculating signal flight time according to coordinate information of the acoustic equipment with the transmitting function, coordinate information of the acoustic equipment with the receiving function and signal propagation speed, wherein the acoustic equipment with the receiving function has a signal receiving and transmitting relation with the acoustic equipment with the receiving function;

The embodiment of the application also provides a non-volatile computer storage medium, which stores at least one executable instruction, and the computer executable instruction can execute the ranging relation generating method in any of the above method embodiments.

FIG. 3 illustrates a schematic diagram of a computing device, according to one embodiment of the invention, the particular embodiment of the invention not being limited to a particular implementation of the computing device.

As shown in fig. 3, the computing device may include: a processor (processor) 302, a communication interface (Communications Interface) 304, a memory (memory) 306, and a communication bus 308.

Wherein: processor 302, communication interface 304, and memory 306 perform communication with each other via communication bus 308.

A communication interface 304 for communicating with network elements of other devices, such as clients or other servers.

Processor 302 is configured to execute program 310, and may specifically perform relevant steps in the foregoing ranging relation generating method embodiment.

In particular, program 310 may include program code including computer-operating instructions.

The processor 302 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included by the computing device may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.

Memory 306 for storing programs 310. Memory 306 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

Program 310 may be specifically configured to cause processor 302 to perform the ranging relationship generation method of any of the method embodiments described above. The specific implementation of each step in the procedure 310 may refer to the corresponding step and corresponding description in the unit in the foregoing ranging relation generating embodiment, which is not described herein. It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and modules described above may refer to corresponding procedure descriptions in the foregoing method embodiments, which are not repeated herein.

The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, embodiments of the present invention are not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the above description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.

Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functionality of some or all of the components according to embodiments of the present invention may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specifically stated.

Claims

1. A ranging relationship generation method, comprising:

and distributing an acoustic device working mode to each acoustic device according to the target ranging relation to complete the establishment of an underwater multi-cable acoustic device polling network, wherein the acoustic device working mode comprises the following steps: transmission time, transmission signal type, reception window, reception signal type.

2. The method of claim 1, wherein the performing ranging relation deletion processing on all ranging relations of each acoustic device with a receiving function according to the ranging relation deletion priority and the allowed maximum number of received ranging, and obtaining a target ranging relation of each acoustic device with a receiving function further comprises:

3. The method according to claim 1 or 2, wherein the performing ranging relation deletion processing on all ranging relations of each acoustic device having a receiving function according to the ranging relation deletion priority and the maximum allowable receiving ranging number further comprises:

if a plurality of ranging relationships with the same ranging relationship deleting priority exist, calculating topology distances corresponding to the ranging relationships with the same ranging relationship deleting priority;

and if the topological distances corresponding to the ranging relationships with the same ranging relationship deleting priority are different, deleting the ranging relationship with the longest topological distance in the ranging relationships with the same ranging relationship deleting priority.

4. The method of claim 3, wherein the performing ranging relation deletion processing on all ranging relations of each acoustic device having a receiving function according to the ranging relation deletion priority and the maximum allowable number of received ranging, further comprises:

if the topological distances corresponding to the ranging relationships with the same ranging relationship deleting priority are the same, calculating the total number of the ranging relationships between two cables where the ranging relationships are located according to each ranging relationship in the ranging relationships with the same ranging relationship deleting priority;

5. A method according to claim 1 or 2, wherein the ranging relationship belongs to a lateral relationship when two acoustic devices forming the ranging relationship are located on the same cable; when two acoustic devices forming a ranging relationship are the same in distance from the bow of the ship but are located on different cables, the ranging relationship is a vertical relationship; when the distance between two acoustic devices forming a distance measurement relationship and the bow is different and the two acoustic devices are positioned on different cables, the distance measurement relationship belongs to an oblique relationship;

6. The method according to claim 1 or 2, wherein the ranging relationship is a signal transceiving relationship existing between an acoustic device having a transmitting function and an acoustic device having a receiving function.

7. A method according to claim 3, wherein the topological distance is calculated from the cable number of the cable in which the acoustic device is located and the order in which the acoustic device is located on the cable.

8. A ranging relation generating apparatus comprising:

the distribution module is suitable for distributing an acoustic device working mode to each acoustic device according to the target ranging relation to complete the establishment of an underwater multi-cable acoustic device polling network, wherein the acoustic device working mode comprises the following steps: transmission time, transmission signal type, reception window, reception signal type.

9. A computing device, comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;

the memory is configured to store at least one executable instruction that causes the processor to perform operations corresponding to a ranging relationship generation method according to any one of claims 1-7.

10. A computer storage medium having stored therein at least one executable instruction for causing a processor to perform operations corresponding to a ranging relationship generation method as claimed in any of claims 1 to 7.