DE102011120920A1 - Processing device for measurement data of geophysical investigation methods, method for processing measurement data of geophysical investigation methods and geophysical survey system - Google Patents

Abstract

The present invention relates to a processing device (11) for measurement data of geophysical investigation methods, to a method for processing measurement data of geophysical investigation methods and to a geophysical investigation system (1). This provides a flexible and robust geophysical measuring system (1) for both basic research and industrial geophysics. In this case, the system (1) satisfies in particular the high demands of basic research on the accuracy of measurement and on the other hand has a high reliability for uncomplicated operation and simple design for industrial geophysics. Furthermore, it can also be used in a relatively inexpensive manner for seabed investigations in particular. Finally, it can be easily adapted to different geophysical investigation methods.

Description

The present invention relates to a processing device for measurement data of geophysical investigation methods according to the preamble of claim 1, a method for processing measurement data of geophysical investigation methods according to the preamble of claim 9 and a geophysical survey system according to the preamble of claim 10.

Geophysical survey methods are used in applied geophysics, which includes basic research as well as reservoir exploration and development. Numerous methods of investigation are used, including geoelectrics, geomagnetics, magnetotellurics, seismics and seismology.

The Magnetollurik is one of the US 2 677 801 A known method, in which measurements of the electrical conductivity of the near-surface soil layers of the lithosphere (30 to 100 km) and the upper mantle up to several hundred kilometers can be made via the measurement of the variable magnetic field and ground potentials at the earth's surface. These conductivity distributions provide information about the structuring and composition of the earth. In applied geophysics, the magnetotelluric for the discovery of the reservoir and development, z. For example, from oil and gas and ore and water resources, or used for geothermal energy, but also in questions of disposal on landfills and the elimination of contaminated sites. Near-surface structures up to a maximum of 10 km are investigated, which are still accessible with holes. In addition, geophysical basic research is interested in the properties of the mantle, which can no longer be studied invasively, but with methods of seismology and magnetotellurics.

Magnetotelluric uses the natural variations of the magnetic field of the Earth, which arise in the conductive ionosphere and, in a first approximation, strike the earth's surface as a plane wave. The variable magnetic fields generate eddy currents in the more or less conductive earth whose potential differences on the earth's surface can be measured by means of bottom electrodes. The penetration depth of the magnetic fields is frequency-dependent; High-frequency fields are attenuated more with increasing depth than low frequency, which can be explained by the skin effect. In Magnetotellurik either the natural variations of the earth's magnetic field are used, or, as in the Controlled Source MT or Radiolotellurik, magnetic fields are artificially generated.

A vector magnetometer is connected to a magnetotelluric measuring station. In addition, the ground potential differences are registered by means of ground electrodes, which are processed by differential amplifiers. Typically, the signals from the sensors are first amplified and filtered, then digitized and stored as a digital time series.

The actual data evaluation (also called inversion) takes place on PCs, workstations or computing clusters, but not on the measuring instruments themselves. For this purpose, the measurement data, also called time series below, depending on the measurement time and observed periods several hundred megabytes to several gigabytes in size can be read out and transferred to the computer for data evaluation.

The demands on the dynamics of the magnetic field measurements are high: The main field of the earth can be up to 60000 nT, while the largest magnetic field fluctuations interesting for the magnetotelluric are below 1000 nT. On the one hand, it requires very high-resolution systems with very low inherent noise and high stability to distinguish measurement artifacts from natural fluctuations, on the other hand, the influence of artificial disturbances is not negligible in all places. Therefore, magnetotelluric measurements are usually carried out in areas remote from civilization in order to avoid artificial disturbances - eg. As those that occur through the mains primarily at frequencies at 50 or 60 Hz or are caused by the network of the railway, which mainly causes interference in the 16.7 Hz frequency in Germany. Often, the measurements are made in areas with little access, so that the total weight of the equipment to be transported substantially determines labor productivity. The largest item in the weight balance is the power supply of the gauges, especially in explorations that can take weeks to months in basic science. Such long measurement times are necessary for investigations of the upper mantle, are measured in the long periods with period lengths of 1000 to 10,000 s with the highest possible signal-to-noise ratio. The weight of a complete typical measuring station can be 100 kg or more. In contrast, the typical measurement time in industrial geophysics is only 8 to 16 hours (cf. US Pat. No. 6,191,587 B1 Sp. 4, line 51) and thus places significantly lower demands on the battery capacity and the power consumption of the measuring devices.

In magnetotellurics, different measuring arrangements have become established. In basic research, 3 to 10 stations are built at intervals of several 10 to 100 km, each one Station records the magnetic field and the electric field components. This has the advantage that local disturbances can be detected immediately by comparison with the data of the other stations. Under certain circumstances, data inversion may also use the magnetic field data of remote stations. This procedure is called Remote Reference (cf. US Pat. No. 6,191,587 B1 , Sp. 9, line 25). The biggest problem with the interpretation of the measurement data in magnetotellurics is the local distortion of the electric field known as static shift. Various so-called profiling techniques are used, in which a dense network is built up from many measuring stations, as in US Pat. No. 6,191,587 B1 is described. In this case, the recording of the magnetic field from a measuring station is sufficient.

Regardless of the measurement setup, the data can only be evaluated if the deviations between the clock generators of the individual stations are low, so that the temporal assignment of the measurement signals is unambiguous.

Geophysical data recorders, ie measuring devices for recording changes in the time of electrical and / or magnetic fields in the field of geophysics, have long been known ( US 2 240 520 A ). The data was initially recorded on paper or film strips. Still in the 1970s recording devices were widespread, with which the variations were stored on magnetic or perforated tape (cf. DE 1 623 103 , P. 16). As the development of electronics progressed, very high-resolution recorders with robust and fast digital storage media, such as, for example, were developed in the field of seismics, which had been established much longer than magnetotellurics. As hard disks or semiconductor memories.

It is therefore often used to record the time series in the Magnetotellurik multi-channel recorder from the field of seismics, which are connected via external devices for signal matching to the magnetic field sensors and ground electrodes.

However, disadvantages such as low productivity and high acquisition costs must be accepted. The combination of seismic recorders with external signal conditioning is more susceptible to interference and cumbersome than fully integrated Magnetotellurik systems, it inevitably creates new sources of error by the transmission of analog signals over long lines, eg. B. by thermal voltages or high-frequency entrainment. For such a structure technically skilled personnel is necessary. Furthermore, multi-channel seismic recorders are not optimized primarily for low power consumption, but for maximum dynamic range in a frequency range> 100 Hz, which is uninteresting for investigations with long period magnetotelluric. Seismic recorders usually have a power consumption of several watts. Considering that the total weight of the structure is usually determined by the accumulator, which is necessary to ensure a secure power supply and can have a weight of 100 kg and more in conventional measurement scenarios, the power consumption of the device plays a central role in the feasibility of Magnetotelluric exploration, which is often done in rough terrain and is not accessible by car. In addition, the measurement setup of a recorder with external signal conditioning takes a lot of space and thus further limits the usability in hard-to-reach areas or reduces the possibility to hermetize the system, for. B. for measurements on the seabed. Furthermore, the purchase price also plays a role because the stations are usually not monitored during the measurement and thus a loss of the entire system must be taken into account.

To overcome these problems, data loggers have been developed that include signal conditioning for magnetometers, telluric amplifiers and the actual data logger. An in-house development by the University of Göttingen, hereinafter referred to as RAP, is known for measurements on land ( Steveling, E .; Leven, M .: Status of RAP device development. in: 15. Coll. Electromagnetic Depth Research, Höchst, eds .: K. Bahr (Göttingen), A. Junge (Frankfurt / M.), 1994. 431-438 ), and the system of US Pat. No. 6,191,587 B1 and for marine measurements only US 5,770,945 A . US 2011/0 031 973 A1 such as US Pat. No. 7,705,599 B2 ,

Because of the insufficient progress in the development of the data loggers for the magnetotelluric today this has not the importance of seismics. The lack of magnetotelluric recorders slows down the progress in basic research so that in-house developments are still used (see, for example: S. Golden, R. Rossberg, A. Junge, "Long-period MT Measurements in a Lake with the Long-Term Data Logger Geolore", 20th Colloquium Electromagnetic Depth Research, Königstein, 29.09.-3.10.2003, Ed .: A. Hördt and JB Stoll , hereafter called Geolore).

In Magnetotellurik usually saturation core magnetometer (also called Fluxgate) or induction coils are used with very high inductance. The main field of the earth contains no sensor information in addition to the orientation of the sensor relative to the earth's magnetic field and is not used in the data analysis. One therefore sets to Part of sensors that record only the fluctuations, but not the main field. This makes it easy to resolve the field variations; a simple data recorder with 16-bit analog-to-digital converter and relatively low noise and stability requirements is sufficient. The RAP apparatus works on this principle. The disadvantage is that additional electric power has to be applied for the compensation of the main field. In addition, the sensor is expediently aligned manually in the direction of the magnetic field so that at least one of the three component sensors is perpendicular to the field and does not have to be compensated.

Once the sensor has been adjusted and compensated, it must not be moved during the measurement so that the sensors do not overdrive. Alternatively, full-range sensors are used which can also record the main field of the earth and are thus position-independent, because the magnetic field is determined by measuring the three components. In addition to the omitted sensor adjustment, the lower power consumption and the smaller dimensions are also advantageous due to the omission of the compensation. However, such sensors by the factor 60000/1000 = 60 much higher demands on the measuring station in terms of inherent noise and stability, if to be measured with the same accuracy. It is possible to construct measuring stations with very low-noise amplifiers (eg DE 20 43 538 A ), however, the stations are exposed to changing environmental conditions, especially significant temperature fluctuations, and the maximum power consumption is significantly limited because of the power supply from batteries. Temperature fluctuations cause an unavoidable drift of the sensor electronics, on the one hand because of the temperature dependence of the components and on the other hand due to thermal stresses that can occur on all connectors. The temperature drift disturbs above all the frequency range below 1 Hz, which is evaluated in the Magnetotellurik. Furthermore, especially the extremely high-impedance Tellurik amplifiers are exposed to strong overvoltages during thunderstorms due to the electrodes placed at a great distance.

One approach to reducing the environmental impact is to hermetise the measuring station and to carry out the measurements on the lake floor, on which relatively constant temperatures prevail for long periods (see Geolore). However, this system relies on a reference system on land for the magnetic components since it can only record the electric fields. An additional high-resolution magnetic field measurement would increase the current consumption by> 100 mW due to the power consumption of self-optimized magnetometers. at US 5,770,945 A For example, the power consumption at 12 mA is +/- 12 V (288 mW) per magnetic field direction.

In measurements on the seabed and seabed, high frequencies are strongly attenuated by the conductive water layer (cf. DE 1 623 103 , P. 5). This low-pass effect can be used to minimize the circuit complexity of the measuring station's anti-alias filters. In addition, comparatively favorable measuring conditions for the electric field prevail in the water, so that, given sufficiently low-impedance electrode resistors, passive signal filtering may be sufficient under certain circumstances.

Devices designed for sea and seabed measurements can therefore not easily be used for land surveying. In addition, there is the lack of protection circuitry against electrical discharges (lightning protection), and there are impractical wireline communication capabilities only for land measurements. Satellite time synchronization methods are usually not provided in sea and seabed systems.

The analog-to-digital converters (A / D converters) in geophysical data recorders today are almost exclusively sigma-delta converters that are used in US 4 866 442 A to be discribed. Each individual channel either has its own A / D converter or an A / D converter samples several channels with the aid of a multiplexer. The multiplexer switches the signals at different times to the A / D converter ( DE 20 43 538 A . US 5,770,945 A or US Pat. No. 7,872,477 B2 ). Using a multiplexer can reduce circuit complexity and reduce power consumption. In addition, the differential error between the channels is reduced because only one A / D converter scans all channels. In some applications, however, the constant temporal offset between the individual time series is disturbing.

It is customary to operate the A / D converter with a frequency well above twice the maximum usable frequency. This overcomes the sampling theorem (oversampling) and reduces the amount of analog circuitry at the expense of a higher data processing speed on the digital side.

The clock generator of a geophysical recorder is a critical element, since the recorder has to remain extremely stable over time over a long period of time and under the influence of the environment, and in the case of magnetotellurics it also has to make do with very low power consumption. This precision is necessary in order to obtain the synchronicity of the time series for the evaluation after the measurement.

Ultrastable, oven-stabilized clock generators, as in US Pat. No. 6,191,587 B1 are used in the current state of the art because of the high power consumption and the limited permissible operating temperature range, especially at temperatures below 0 ° C, not suitable. It is common, as in US Pat. No. 6,191,587 B1 to increase the accuracy of the clock generators by synchronization with the help of a GPS receiver or to set the stations to the same system clock. However, this is only applicable if the measurements are done in open terrain. When measuring in dense forest or underwater, no or only inaccurate GPS signals can be received. Depending on the quality of the clock generator, a system without GPS synchronization can remain in sync for a certain amount of time; at US Pat. No. 6,191,587 B1 for up to one hour (see section 8, parts 20).

Depending on the amount of data and the ambient temperature, the data is usually stored on semiconductor memory cards (flash memory cards) or mechanical hard disks ( US 5,770,945 A ) saved. Often one uses the FAT file system, because with this a simple data transfer by removal of the data carrier with all current computer systems is possible (see Geolore). The main problem with FAT file systems, however, is the indefinite access time in the case of fragmentation of the disk, which can lead to data loss in real-time environments. In addition, this file system is not fault tolerant to read / write errors, a partial destruction of the disk and is subject to size limitations that approximate the sizes of today's disk. The problem of unpredictable access times is a problem of all common standard file systems. For real-time applications, special solutions are necessary, such as: In US 8 046 558 B2 described or realized in the Real-Time-File System (hereinafter referred to as RTFS) by EBS Inc., Groton, Massachusetts.

The data transfer usually takes place via serial (RS232, R5422 or RS485, USB or IEEE1394 ) Interfaces, whereby only RS232, IEEE1394 and USB are available as standard interfaces on laptops, but the cable length is limited to a few meters. For the faster RS422 or RS485, which also allow long connections, special hardware is necessary.

In addition to data transmission, the interfaces are usually also the device control, optimization of the structure (position of the magnetometer) or to control the state, such. B. the battery voltage or the temperature. Common to all the interfaces mentioned above is the need to install special software on the evaluation computer in order to enable the control of the recorder (cf. US Pat. No. 6,191,587 B1 , Sp. 10, lines 15 ff.).

In many cases, the measurement must be stopped so that the data can be read out. A real-time data analysis is then not possible. For seismic or audio magnetotelluric measurements, this is often not feasible due to insufficient transmission speed.

As an alternative control option is at US Pat. No. 6,191,587 B1 a screen and a keypad used, but this requires more or less trained, at least trained staff to understand the proprietary operating concept.

The object of the present invention is to provide a flexible geophysical measuring system for both basic research and industrial geophysics. The system should meet the conditions of basic research on the measurement accuracy (signal-to-noise ratio, etc.) and stability (temperature drift, long-term stability) even under adverse environmental conditions with manageable total weight (achievable by low power consumption and accordingly lighter batteries). In particular, when using the magnetometer, the technical progress of the full-range sensors should be able to be used, whereby the actual dynamic range of the measuring system must be sufficient to carry out measurements of the field variations with comparable accuracy to existing systems with narrow-range sensors. On the other hand, the invention should provide high productivity in industrial geophysics, which is achieved by reliability, ease of operation and simple design. It should also be used in hard to reach places and can be used relatively inexpensive for seabed studies.

This object is achieved with a processing device for measurement data of geophysical investigation methods according to claim 1, a method for processing measurement data of geophysical investigation methods according to claim 9 and a geophysical survey system according to claim 10. Advantageous further developments are specified in the dependent claims.

The inventors have recognized that, although a technical advance in the last decade in the field of battery-powered digital signal processing has taken place, so that z. B. more powerful and faster processors with lower power consumption z. B. were developed for use in smartphones, these advantages, however, by the increasing chip complexity perspective. The higher the number of transistor functions integrated in a processor, the greater the number of undocumented errors present in each processor which, while under normal conditions often have no dramatic impact, but data loss in real-time systems exposed to extreme conditions being able to lead.

The object of the invention could not be solved on the basis of a conventional standard single-board computer, since this insufficiently meets the high demands for a wide operating temperature range, reliability of all components and the framework regarding the power consumption, the minimum reaction time, the mechanical dimensions, the specific voltage - and could meet the clock supply. In addition, such standard components are almost always available for only a few years. It was therefore operated a complete self-development.

The processing device for measurement data of geophysical investigation methods, in particular geoelectrics, magnetotellurics, seismics, seismology and the like, comprises an analogue part with at least one input for a geophysical sensor and an analog-to-digital converter, a digital part for further processing of the digitized signals and at least one voltage supply , and is characterized in that a digital signal processor is provided for controlling the functions of the analog part and the digital part. This means that there are no other processors in the digital part for controlling the functions, except for separate modules, such as GPS modules or telemetry modules (eg for GPRS / UMTS).

A digital signal processor (DSP) differs from conventional processors in having a parallel bus architecture and simplified execution units. Digital signal processors enable data processing with very short latency and delay times, even at low system clock rates, resulting in a particularly good ratio of signal processing speed to power consumption. However, DSPs are less flexible because they generally have significantly less memory resources, very primitive memory management, and no standardized floating-point units. The DSP instruction set is not compatible with standard processors due to the special architecture. Therefore, there are only specially adapted operating systems for each DSP, mostly for signal processing tasks. Typically, DSPs are therefore used exclusively for time-critical signal processing tasks and combined with standard processors that use an available embedded operating system to handle the remainder of the non-time critical tasks.

The novel use of a DSP to control the time-critical functions of both the analog part and the digital part ensures that the complexity of the entire measuring system is very low. In addition, the power consumption is very low, so that even for use in basic research for very long-term measurements only relatively small and therefore light batteries must be used. Due to the low battery requirement and the small size of the processing device, hermetization for underwater applications is very easy.

Particularly preferably, the analog part has a low-pass filter which is adapted to essentially not filter artificial disturbances in the measurement data so that they are also digitized, and the digital part has a low-pass filter adapted to the artificial disturbances in the digitized signals (time series). The low-pass filter in the digital part does not have to be physical, but can also be analytical. By this particular embodiment, a shift of analog circuit complexity takes place in the digital part, and it is increasingly achieved that the signal-to-noise ratio increases, the temperature drift minimized and the power consumption can be reduced. For example, the low-pass filters (anti-alias filters) in the analog part can be used to digitize artificial interference (16.7 Hz and 50 or 60 Hz) and only completely in preprocessing of the time series by means of digital filters in the digital part be removed. Overall, the analog circuit complexity can be simplified so that it fits into a relatively small housing.

If the digital signal processor is adapted to handle the control of the analog part and the recording of the measured data and possibly a control of the means for data transmission and possibly a data storage substantially simultaneously, then particularly short reaction times to external events are achieved by the fact that with the customized software The DSP can be adapted to prioritization of the tasks to be performed. External events can, for. As the reading of A / D converters, but also the control of amplifier stages. Advantageously, the low-pass filtering of the digitized signals and possibly further signal processing (preprocessing) as well as the time synchronization are processed substantially simultaneously.

In an advantageous further development, software, in particular an assembler-optimized software, which implements the recording of the measured data, the calibration, is implemented in the digital signal processor of the analog-to-digital converter, the low-pass filtering of the digitized signals and the further signal processing (preprocessing), the time synchronization, the monitoring of the processing device and the data storage processes substantially simultaneously. This software, in particular the assembler-optimized software, is exclusively specialized in the above-mentioned tasks and thus achieves significantly shorter reaction and processing times than solutions based on standard real-time operating systems (RTOS from various manufacturers or Real Time Linux). Thus, for example, in the case of magnetotelluric measurements, the DSP remains almost exclusively in the non-active state (idle), in which the current consumption is negligible. In principle, only DSPs are suitable for this operating mode (idle and short awakening), since the usual embedded processors have longer transition times from idle to active mode by a factor of 100 to 1000 due to their computer architecture, which is usually obsolete for compatibility reasons. While the processor is inactive during the transitional periods, it consumes the normal operating current. The longer the transition time from the idle state to the active state, the lower the maximum data rate and the higher the power consumption.

To increase the reliability, the response time and the minimization of power consumption can be provided that the data is not organized on the storage medium with either the usual in the PC field file systems or a conventional real-time file system, but by a specially adapted and fault-tolerant file system , which offers defined maximum access times while optimally exploiting the data transfer rate of the storage medium. It must also allow a clear recovery of the still readable records even with partial damage to the disk, while the processor or signal processor require a minimum of administrative work and low memory usage.

In order to realize this, the data stream to be stored in a file is subdivided into individual data blocks written on the medium. The size of the data blocks is chosen so that it coincides with the predetermined classification or addressing of the storage medium. A fragmentation of the data stream or the file is prevented by the deletion of individual files associated with a release of the storage space of the file to be deleted is not permitted, but only a complete deletion of the storage medium is provided. In this point, the file system differs from many known systems because in most applications this limitation is unacceptable. However, the functionality of a data recorder with very large and removable memory is not significantly limited. On the other hand, it ensures the real-time capability, and the effort for managing the storage medium is minimized: In the implemented software, it can always be assumed that a free data block follows again after the last written data block unless the end of the storage medium has been reached. As a result, management information of the file system substantially coincides with management information of the storage medium, thereby causing no artificial restrictions on the possible file size. Furthermore, the access times are substantially reduced to the access times of the physical storage medium, and almost the maximum data transfer bandwidth of the storage medium can be used. By storing a reference in each data block, data can be correctly allocated even if the data carrier is partially damaged, which enables the data to be reconstructed. The file system differs from the above-mentioned RTFS because it is much easier to structure but also incompatible with existing file systems. The extremely simplified structure makes the file system less prone to error than existing solutions to potential software errors.

Particularly expedient, a common system clock is provided for analog part and digital part, which is in particular a temperature-compensated clock generator (TCXO). This ensures that all essential components in the processing device operate synchronously and thus generate less electromagnetic interference than asynchronously operating components. The temperature drift of the clock is minimized by the use of a temperature compensated clock generator, which, in contrast to oven-stabilized oscillators (OCXO), does not significantly add to the overall power consumption of the system.

Advantageously, a satellite receiver for determining time and position data (eg GPS or Glonass) is provided, wherein the digital part is preferably adapted to determine position data for the processing device via the satellite receiver and / or a time reference, with their help synchronize the system clock. By satellite-based readjusting of the TCXO, the precision of the system clock can be further increased. Even in the absence of satellite signal tolerances or the temperature behavior of the clock can be compensated.

Preferably, at least two, preferably five inputs for measurement data, in particular two Tellurikkanäle and three magnetometer channels, provided, which are connected together with the analog-to-digital converter. Then you can as geophysical investigation method using the Magnetotellurik, wherein the processing of the measured data of the individual channels takes place almost simultaneously. It is possible to process the measurement data of all channels via an analog-to-digital converter, if it is connected in a time-shifted manner via a multiplexer to the individual channels and it is ensured that no mutual interaction takes place between the channels. This is done for example by an electromagnetic shielding of the individual channels with each other. Crosstalk is, moreover, frequency-dependent and completely negligible at frequencies of less than 100 Hz, that is to say the frequencies of less than 10 Hz of interest for magnetotellurics. In addition, noise pulses due to the parasitic capacitances of the multiplexer are effectively prevented by appropriately matched measuring pauses, wherein the decay time of the voltage pulses is adjusted by appropriate choice of the input impedance. The time series between the channels have a constant time offset, but this time offset can be compensated with the aid of digital filters in the DSP.

It is expedient to provide at least one telluric amplifier which contains at least one zero-drift instrument amplifier, also called an auto-zero instrument amplifier, because it is characterized by a particularly low noise spectrum uniformly distributed over all frequencies in the low-frequency frequency range below 1 Hz. They belong to the family of clocked amplifiers, which include the chopper-stabilized amplifier, but which are characterized in contrast to the zero-drift amplifiers by a parasitic ripple at the amplifier output, which can affect the signals as a noise voltage. Untacted amplifiers have a 1 / f noise characteristic, i. H. the noise power density reciprocally increases with decreasing frequency below a corner frequency of 10 to 100 Hz to the frequency.

Preferably, at least one input has an input resistance of greater than or equal to 1 MΩ, preferably greater than or equal to 100 MΩ and in particular greater than or equal to 1 GΩ. The resistance of the solid earth varies in the range from a few Ωm up to about 100000 Ωm (cf. US Pat. No. 6,191,587 B1 , Sp. 4, line 27). The high input resistance is necessary because the potential difference can only be measured accurately if the input resistance of the telluric amplifier is several orders of magnitude higher than the maximum resistance between the bottom electrodes.

If the analog part of the digital part is designed to be removable, can be made in a very simple and inexpensive way, an adaptation of the device to other methods of investigation, that is, to the sensors to be used. For example, an adaptation of magnetotelluric to seismic applications can take place. This can be ensured with the digital part according to the invention, because this is tailored primarily to the needs in geophysical applications. For example, this has a required in the Magnetotellurik lowest possible power consumption at low clock rates, while z. B. for seismic also has the possibility of quickly changing variables such. B. to record sound waves. This is made possible by the high data processing speed and the low response delay of the digital signal processor. Thus, for example, a low-clocked analog part with 5 input channels for the Magnetotellurik and a high clocked analog part with several hundred channels for seismic can be used without any problems.

To increase productivity and simplify the operation can be provided that the processing device except for a preferred for the start-stop function for special measurement scenarios provided for actuating means dispensed with other means for operation on the device and means for checking are reduced to a single status display. Instead, the processing device has functions for predefining the measurement task and the automatic triggering of data acquisition and far-reaching control options via one or more interfaces, such as Bluetooth, WLAN, LAN, GPRS, UMTS, Ethernet and the like., Which may also be active during the measurement. With these functions and interfaces can be dispensed with a manual control or a control directly on the processing device in most measurement tasks. Then the processing device is particularly simple and robust.

Furthermore expediently it can be provided that at least one input is protected against electrical overvoltages, in particular an adapted and multi-level protection against lightning strikes effectively bridged the unacceptably high input voltages with very low response time and thus the risk of destruction of the preferably with permissible input voltages extremely high-impedance amplifier minimized by lightning strikes. The lightning protection can be realized for example by a combination of very fast switching semiconductor devices, gas discharge tubes and classic fuses. By suitable choice of the components, it can be achieved that the voltage at the amplifier inputs does not reach critical values due to the discharge of the charge. For very high-energy surge impulses, which are very rare Finally, the amplifier inputs are completely separated by the response of the fuses from the voltage-carrying electrodes. In addition, the input of the amplifier with a passive RC filter is protected against high-frequency electromagnetic interference.

Particularly advantageous means for retrieval are provided. These may be formed, for example, as a means for transmitting the position of the processing device and / or as a means for emitting light, in particular at least as a flashlamp. Then, even in rough terrain and especially in the expected strong influence of the weather and / or in the event of animals, the retrievability can be ensured even during long measuring campaigns.

Independent protection is claimed for the method according to the invention for processing measurement data of geoelectrics, magnetotellurics, seismics, seismology and the like geophysical investigation methods, wherein the measurement data are analog and with the aid of a device with an analog part with an analog-to-digital converter and a digital part in digitized signals, which is characterized in that the control of the functions of the analog part and the digital part is done by means of a digital signal processor. It is preferably provided that a processing device according to one of the preceding claims is used.

Further independent protection is claimed for the geophysical survey system according to the invention with one or more geophysical sensors, preferably magnetometers and ground electrodes for use in magnetotellurics or sensors for use in seismics, and a device for processing the measurement data generated by the sensors characterized in that the processing device according to the invention is provided. Furthermore, means are preferably provided for storing the processed measurement data, which in particular are likewise controlled by the DSP.

The following advantages are achieved in particular with the processing device according to the invention:

Basic research:

It is a very high-resolution and long-term stable measurement of variable sizes with a particularly high insensitivity to environmental influences, such. As temperature fluctuations and electrical discharges possible. In Magnetotellurik full-range magnetic field sensors can be used, which record not only the small useful signal but also the relatively large static main field of the earth, so as to determine the sensor orientation. The measurement accuracy of the small useful signal has otherwise been achieved only by more expensive narrow-range sensors. However, compared to the narrow range sensors, no sensor adjustment is necessary, extending the scope of application to measurements at inaccessible or moving locations (seabed measurements, desert). The range of application is further enhanced by the minimal power consumption in this device class and a very wide operating temperature range of -40 ... 85 ° C, which due to the reduced battery capacity, a low overall weight and a compact measurement setup can be realized. The networking of the system for the control and data acquisition of measuring arrays, as used in the profiling technology in magnetotellurics, is also possible for real-time applications with standardized transmission methods (eg Ethernet).

In addition, remote maintenance via mobile radio networks (eg GSM) for reading out the measurement data and for controlling the processing device can take place. There is a common base system (digital part) for magnetotelluric and seismic measurements. It includes a very accurate (frequency deviation <1 ppm over the entire operating temperature range of -40 ... 85 ° C) and satellite-synchronizable (eg GPS / Glonass) time base. Measurements with the correct time base are also possible if there is no satellite signal, since a second battery-buffered temperature-compensated clock generator with lower, but for the MT usually sufficiently high accuracy is available.

The decor is relatively inexpensive. Another cost advantage results from the use of the compared to the narrow range sensors comparatively favorable full-range sensors.

Industrial geophysics

In reservoir exploration and development, equipment costs account for only a small percentage of the total cost, while the main cost factor is determined by drilling and field measurements. Cost-intensive false drilling can be minimized by better solving geological structures with comparatively cheap non-invasive methods. The prerequisite for this is the improvement of the measured data, which can be achieved by extending the measuring time to improve the signal-to-noise ratio and / or by increasing the simultaneously registering sensors or measuring stations to improve the local resolution and the signal-to-noise ratio. In addition, depending on the structuring and composition of the substrate The combination of different methods such as seismic and Magnetotellurik be useful. The success or failure of a prospection or exploration thus crucially depends on the productivity of the measurements, which is significantly improved with the device according to the invention and the method and the system.

The low weight and the compact dimensions contribute significantly, as the measurements are often performed in places that can not be reached by car. Furthermore, the device is very robust due to its reduced complexity, by the integration of all digital data processing tasks on a single signal processor, and redundant design of storage media and power supplies, the fault-tolerant file system and the use of highly reliable components from aircraft and vehicle manufacturing. Due to the adapted anti-alias filter in combination with digital filters, the device is insensitive to civilization disturbances. No specialist personnel are necessary for setting up the facility: Telemetry and satellite synchronization antennas are integrated into the facility, the measurement data acquisition and the satellite time synchronization can be carried out automatically.

In addition, the device can be integrated into existing measuring systems via Ethernet.

The characteristics and features of the present invention as well as other features will become apparent from the illustration of a preferred embodiment in conjunction with the figures. Show

1 the geophysical survey system according to the invention in a preferred embodiment in use in a plan view,

2a . 2 B the processing device according to the invention of the geophysical survey system according to the invention 1 in a preferred embodiment in a perspective view of the front ( 2a ) and the back ( 2 B ) and

3 the processing device according to the invention 2a . 2 B in a schematic block diagram representation.

1 purely schematically shows the geophysical survey system according to the invention 1 in a preferred embodiment in use on land, for example, for basic research.

It can be seen that the exploration system 1 one or more processing facilities 11 for measurement data geophysical investigation methods, in this case the Magnetotellurik has. The processing equipment 11 are built on a civilization distant place in the area. Power is supplied by batteries 48 and 49 wherein a power supply can be performed, for example, as a solar module or fuel cell. To the signal recording device 11 be at least three, usually four ground electrodes 35 connected, which are designed in L or X position. The magnetometer 34 becomes a few meters away from the processing facility 11 installed to keep it away from static magnetic fields and electromagnetic fields. The orientation of the magnetometer 34 may vary. Wireless communication as well as satellite synchronization and location can be done with the dome antenna mounted on the device 206 respectively.

2a . 2 B show purely schematically the processing device according to the invention 11 the geophysical reconnaissance system according to the invention 1 to 1 in a preferred embodiment in perspective views, wherein in 2a the front and in 2 B the back is shown. Storage media can be accessed by opening the watertight flap 201 also easy to change in the field. Connectors 202 serves for data transmission and control as well as for control via Ethernet. To the connectors 203 and 204 the operating voltage is applied. The antennas for wireless data transmission 55 or for satellite synchronization 58 are a compact and unbreakable double domed antenna 206 designed. In addition, there is a status indicator on the top of the housing 207 and a button 205 , the various predefined functions, eg. As a start / stop button, may own. For recording the potential differences of the electrodes 35 serve two differential amplifier inputs, namely 208 and 209 for the first and 211 and 212 for the second channel. The entrance 210 is the ground connection. The magnetometer 34 gets to the connector 213 connected.

3 shows the processing device according to the invention 11 after the 2a . 2 B in a schematic block diagram illustrating the interaction of its parts. It can be seen that processing device 11 an analog part 30 and a digital part 31 having.

The analog part 30 is specially clocked low for the Magnetotellurik with 5 inputs 32 . 33 trained, namely 3 inputs 32 for magnetometers 34 and 2 differential inputs 33 for ground electrodes 35 , There is also a ground connection 36 provided, to which also an electrode is connected. The analog part 30 still has one Magnetometer section 37 on top of the magnetometer inputs 32 is assigned, and a Tellurik section 38 covering the bottom electrode inputs 33 assigned. Each input of the magnetometer section 37 has an amplitude adjustment in the form of an amplifier or attenuator, an overvoltage protection and a low-pass filter, and each input of the telluric section 38 includes over-voltage protection, a passive high-frequency filter, an instrumentation amplifier and a low-pass filter. Both the magnetometer section 37 as well as the Tellurik section 38 are the output side to the input of an analog-to-digital converter 39 connected, which sends its signals to the digital part 31 transmitted.

The digital part 31 has a digital signal processor 40 , a power supply 41 , a system clock 42 and system timer 57 , as well as a telemetry module 43 (for example for GPRS or UMTS) and a satellite synchronization module 44 (for example GPS and / or Glonass). The digital signal processor 40 has directly connected storage modules 45 . 46 , which are formed, for example, as CompactFlash cards, and a network controller 47 and is suitably programmed to control data acquisition, calibration, preprocessing, data storage and transmission, time synchronization and device monitoring.

The power supply 41 is from two batteries 48 . 49 fed and supplied via appropriate electrical lines 50 . 51 . 52 . 53 the digital signal processor 40 , the telemetry module 43 , the satellite synchronization module 44 , the analog-to-digital converter 39 , the magnetometer 34 as well as the magnetometer section 37 and the Tellurik section 38 ,

The system clock 42 represents both the digital signal processor 40 as well as the analog-to-digital converter 39 a system-wide clock available. Controlled by the digital signal processor 40 is determined using the determined time base of the satellite synchronization module 44 with the antenna 58 the clock of the system clock 42 controlled and readjusted. The system timer 57 is also synchronized via the satellite synchronization module.

The data removal from the processing device 11 is done either via the wired network 54 or via the telemetry module 43 with the antenna 55 by means of a mobile computer 56 or other suitable data processing equipment, including the setting of the processing device 11 take over, otherwise only a configurable button 205 (eg for start / stop) and a status display 207 features.

It can be seen that for reasons of reliability both the power supply 48 . 49 as well as the data storage 45 . 46 are designed to be redundant, on the one hand to enable uninterrupted operation during maintenance and on the other hand to increase the reliability. In principle, all conventional storage media can be used 45 . 46 and types of batteries, especially 12V batteries. Support can be at one of the power supply connections 48 or 49 a solar module or a fuel cell can be used. If all supply voltages fail, the fault-tolerant file system ensures that the previously written data can be uniquely assigned in each case and read out when the supply voltage is restored.

In the following, the exact structure and mode of operation will be clarified even further:
With the processing device according to the invention 11 can be the main static magnetic field of the earth including the variations with the vector magnetometer 34 (triaxial), with the variations of the electric fields from ground potential differences with the two ground electrode pairs 35 and the ground electrode 36 be measured, these sensors 34 . 35 . 36 are sent to the processing device 11 where the measurement signals are conditioned and stored as digital time series with a high-precision time base that has less than 1 ppm of frequency deviation over the entire operating temperature range.

During the measurement, the device usually works unattended to avoid artificial interference.

The reading of the time series is usually during maintenance or after the measurement with a standard laptop 56 who is using the wired network 54 connected to the meter. The processing device 11 uses standard transmission protocols (HTTP, FTP, etc.) so that any standard computer can be used with any standard operating system. About the network controller 47 and the wired network interface 54 , which is preferably a real-time Ethernet interface, several devices can be networked and it can the operating state, eg. B. the battery condition can be read out. Alternatively, the data readout and the control also remotely via mobile networks such. B. GSM and UMTS done.

The housing of the processing device 11 is waterproof and unbreakable. It prevents high-frequency electromagnetic interference, by completely enclosing the electronic circuits with a conductive material.

At the front of the housing there are all necessary connectors for the sensor wiring, at the back the connectors for the power supply of the processing equipment 11 as well as for operation (Ethernet 54 ). The antennas for satellite synchronization 58 and for the telemetry module 55 are located on the top of the housing. Both antenna functions are using the dome antenna 206 realized, wherein alternatively for special measurement scenarios, the antenna signals can also be supplied via corresponding lines. The two CompactFlash storage media 45 . 46 are over a single flap 201 accessible. All connectors are waterproof when plugged in as well as unplugged. Likewise, the flap is waterproof when closed.

For manual control of the processing device 11 serves a control lamp 207 on the top of the housing, which indicates the device status via a blinking code. Larger ads, such as As LCD or TFT displays have been omitted for reasons of reliability and power consumption, as per Ethernet 54 a reliable and comfortable operation is possible. A manual device adjustment is not necessary because calibrations etc. are automatic. Therefore, the control options are limited to the processing device 11 even on a single configurable button 205 (eg with start / stop function), which is also robust and waterproof.

The entire electronics consists of two boards, namely the digital motherboard (digital part 31 ) and the analog board (analog part 30 ), which are above the digital motherboard 31 arranged and electromagnetically by a conductive partition from the digital motherboard 31 is shielded.

The magnetometer section 37 prepares the three analog output signals of the magnetometer 34 by an amplitude adjustment and bandwidth limiting by means of a low-pass filter and passes the data to the analog-to-digital converter 39 further. The inputs 32 the magnetometer section 37 are protected against overvoltages that may occur during wiring.

In addition, the analog part includes 30 a Tellurik section 38 with two Tellurik amplifiers, which use Zero Drift instrumentation amplifiers to produce a sufficiently amplified output signal from ground potential differences. So that the measurement is not falsified, the input of the instrument amplifier has a significantly higher input resistance, as it occurs in common measuring arrangements with displays of 10 ... 100 m between the bottom electrodes. In addition, the Tellurik amplifier has a multi-stage lightning protection, which also derives high currents with so little response time that the risk of destruction of the extremely high-impedance amplifier is minimized by lightning strikes.

The total of 5 channels, namely the 3 magnetometer channels and 2 Tellurik channels, are compared to the filter cut-off frequency of the analog low-pass filter fast clocked analog-to-digital converter 39 digitized and reach via PCB connectors to the digital motherboard 31 ,

On the analog part 30 While the low pass filters work to attenuate the strongest artificial noise at frequencies of 16.7 Hz, 50 Hz and 60 Hz respectively, the frequency components are attenuated in the high frequency time series. Only in the preprocessing of the high-frequency time series by means of digital low-pass filters are these on the digital motherboard 31 completely removed and converted into low frequency time series. As a result, the analog circuit complexity can be simplified so that it fits into a relatively small housing. The lower analog circuit complexity can increase the signal-to-noise ratio, minimize temperature drift, and reduce power consumption.

The temperature influence on the processing device is very low with offset drift values of <0.1 μV / K or gain errors of <1 ppm / K. The entire analog part, including the analog-to-digital converter, requires an electrical power of less than 0.1 W. The preprocessing comprises filtering of the time series by means of digital filters and decimation for noise reduction and data reduction. Digital filters are absolutely insensitive to environmental influences and can be designed with lower noise than analogue filters. The advantage in signal processing results from the combination of a simplified analog circuit with a further digital filtering. Remaining analog circuit artifacts can be further compensated with customized software algorithms.

The digital motherboard 31 powered by a power supply 41 the modules on the analog part 30 and derives from the system clock using a temperature compensated clock generator (TCXO) 42 is generated, including the clock signal for the analog-to-digital converter 39 from. The digital signal processor 40 derives its clock signal from the system clock. This ensures that all essential components are supplied with the same system clock, so that work synchronously and thereby have a lower electromagnetic radiation than asynchronous systems. The system timer 57 is designed as a temperature-compensated oscillator, but has such a low power consumption, that he with the help of a backup battery, the correct system time also on power interruptions, z. B. when transporting the device can hold. This proves to be particularly advantageous in operations where no or only a weak satellite synchronization signal is present.

The analog part 30 sits as a breadboard on the digital motherboard 31 and can thus be easily replaced by another application-specific analog part, z. B. the processing device 11 as present as Magnetotellurik processing device 11 , but also be set up as a seismic processing facility.

The digital motherboard 31 was primarily designed for field use in geophysical applications and offers versatile uses. It is capable of data rates up to approximately 1 million readings per second, which can occur in seismic applications with many geophones in total. The power consumption depends on the maximum frequency of the measured variable and achieves values of <0.2 W at the very low frequencies in the magnetotelluric system.

The analog part 30 and the digital part 31 weigh together 300 to 500 g. With a suitably robust housing with dimensions of about 20 cm × 20 cm × 10 cm results in a weight of the processing device 11 from 1 to 3 kg.

The core of the real-time computer is a digital signal processor 40 , the data acquisition, calibration of the analog-to-digital converter 39 , Preprocessing of time series, data storage and transmission, time synchronization and monitoring essentially simultaneously.

On the digital signal processor 40 An assembler-optimized software is implemented that specializes exclusively in the above-mentioned tasks and is not based on commercially available real-time operating systems.

On the one hand, the data stream can be optimized to a minimum latency and to a maximum throughput, on the other hand one can make the best possible use of the power-saving functions of the signal processor in idle mode.

Thus, the transition times between idle mode and active mode, which are usually very short in signal processors, can be exploited in order to reduce power consumption with slowly changing measured variables and the associated low sampling frequencies. Other popular processor types for more general applications, which are generally suitable for battery-powered devices, usually have a factor of 100 to 1000 longer transition times and can therefore not or only inefficiently for those signal processing applications in which the power consumption is critical.

Less time-critical tasks, such. The operation of the TCP / IP stack is also implemented in the signal processor, which is unusual due to the limited memory resources of the signal processor, but in this case significantly contributes to the reduction of total power consumption, response time to external events, and circuit complexity. The minimalist DSP design makes the processing device smaller, lighter, and less prone to interference than more complex mixed processor systems.

For rapidly changing signals, it is necessary for measured data sets to be written to the data storage medium quickly and with a defined delay so that the data buffer can acquire new readings without loss of data. This is realized with the adapted file system, which essentially achieves the maximum write speed of the data carrier with negligible write delay.

For the Magnetotellurik be called magnetometer 34 for the range of long periods, triaxial saturable nuclear magnetometers 34 used to measure DC magnetic fields. The required operating voltage is supplied by the processing device 11 provided.

The variations of the electric fields are determined by measurements of the potential differences between two ground electrodes 35 recorded at intervals of 10 to 100 m. The bottom electrodes 35 are dependent on the application and are therefore not part of the processing facility 11 but the system 1 ,

From the above it has become clear that with the processing device according to the invention 11 , the method according to the invention and the system according to the invention 1 a flexible geophysical measuring system is provided for both basic research and industrial geophysics.

At the same time, the system meets the harsh conditions of basic research high dynamics and stability with low power consumption and on the other hand can increase the productivity in industrial geophysics because of the high reliability, the compact size, the low weight and the simplified operating concepts. Furthermore, it can also be used in a relatively inexpensive manner for seabed investigations in particular. The applications of the system 1 are not limited to the Magnetotellurik in all special forms such. As the Audiomagnetotellurik, the very low-frequency method or (in combination with active transmitters) the controlled source Magnetotellurik, but can also in the field of geoelectrics and geomagnetics, z. B. for archaeological prospection, are used. In addition, it can be configured as a seismic recorder. Finally, it can be easily adapted to different physical examination methods.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

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Cited non-patent literature

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• IEEE1394 [0025]
• IEEE1394 [0025]

Claims (10)

Processing device ( 11 ) for measurement data of geophysical investigation methods, in particular geoelectrics, magnetotellurics, seismics, seismology and the like, comprising an analogue part ( 30 ) with at least one input ( 32 . 33 ) for a geophysical sensor ( 34 . 35 ) and an analog-to-digital converter ( 39 ), a digital part ( 31 ) for further processing of the digitized signals and at least one power supply ( 48 . 49 ), characterized in that a digital signal processor ( 40 ) for controlling the functions of the analog part ( 30 ) and the digital part ( 31 ) is provided. Processing device ( 11 ) according to claim 1, characterized in that the analog part ( 30 ) has a low-pass filter which is adapted to essentially not filter artificial disturbances in the measurement data, so that they are digitized with the useful signal, and that the digital part ( 31 ) has a low-pass filter adapted to filter the artificial disturbances in the digitized signals (time series) and / or that the organization of the data storage on the data storage media is done with a customized file system with which the access times of the storage medium used do not pass Data block fragmentation and / or high overhead can be extended to prevent buffer overflows. Processing device ( 11 ) according to claim 1 or 2, characterized in that the digital signal processor ( 40 ) is adapted to control the analog part ( 30 ), a recording of the measured data and optionally further signal processing (preprocessing), as well as possibly a control of the data transmission and a data storage to process substantially simultaneously, wherein in particular it is provided that in the digital signal processor ( 40 ) software, in particular an assembler-optimized software, is implemented, which controls the analog part ( 30 ), the recording of the measured data, the further signal processing (preprocessing), a control of the data transmission and the data storage processes essentially simultaneously. Processing device ( 11 ) according to one of the preceding claims, characterized in that for analog part ( 30 ) and digital part ( 31 ) a common system clock ( 42 ) is provided, which in particular a temperature-compensated clock generator ( 42 ), and / or that the analog part ( 30 ) from the digital part ( 31 ), especially on the digital part ( 31 ) is pluggable, is formed. Processing device ( 11 ) according to one of the preceding claims, characterized in that a satellite synchronization device ( 44 ), the digital part ( 31 ) is preferably adjusted via the satellite synchronization device ( 44 ) Position data for the processing device ( 11 ) and / or a time reference to synchronize the system clock with their help. Processing device ( 11 ) according to one of the preceding claims, characterized in that at least two, preferably five inputs ( 32 . 33 ) for measurement data, in particular at least two telluric channels ( 33 ) and three magnetometer channels ( 32 ) are provided, which together with the analog-to-digital converter ( 39 ) and / or that at least one telluric amplifier is provided which has at least one zero-drift amplifier. Processing device ( 11 ) according to one of the preceding claims, characterized in that at least one input ( 33 ) has an input resistance of greater than or equal to 1 MΩ, preferably greater than or equal to 100 MΩ and in particular greater than or equal to 1 GΩ, and / or that to control elements except for a simple optional actuating means ( 205 ) is omitted and the control of the functions of the processing device via one or more interfaces, in particular Bluetooth, WLAN, LAN, GPRS, UMTS or Ethernet interfaces Processing device ( 11 ) according to one of the preceding claims, characterized in that at least one input ( 32 . 33 ) has a filtering against electromagnetic interference signals, in particular a multistage lightning protection and / or that means for retrieval are provided, preferably means for transmitting the position of the processing device and / or means for emitting light, in particular at least one flashlamp. Method for processing measurement data of geoelectrics, magnetotellurics, seismics, seismology and the like geophysical investigation methods, wherein the measured data are present in analogy and with the aid of a device ( 11 ) with an analog part ( 30 ), with an analog-to-digital converter ( 39 ) and a digital part ( 31 ) are converted into digitized signals, characterized in that the control of the functions of the analog part ( 30 ) and the digital part ( 31 ) using a digital signal processor ( 40 ), preferably a processing device ( 11 ) is used according to one of the preceding claims. Geophysical survey system ( 1 ) with one or more geophysical sensors ( 34 . 35 ), preferably magnetometer ( 34 ) and bottom electrodes ( 35 ) or geophones, and a facility ( 11 ) for processing of the sensors ( 34 . 35 ) generated measurement data, characterized in that a processing device ( 11 ) according to any one of claims 1 to 8 and preferably further comprises means ( 45 . 46 ) are provided for storing the processed measurement data.

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