CN106501860B - A global solution and positioning method for marine geophysical exploration - Google Patents
A global solution and positioning method for marine geophysical exploration Download PDFInfo
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- CN106501860B CN106501860B CN201610900507.1A CN201610900507A CN106501860B CN 106501860 B CN106501860 B CN 106501860B CN 201610900507 A CN201610900507 A CN 201610900507A CN 106501860 B CN106501860 B CN 106501860B
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
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Abstract
本发明提出一种应用于海洋物探的全局解算定位方法，提供一种新的多频实时数据获取方式和全局解算方法，首先根据水下多缆声学网络定位系统的组网方式确定轮询方案，采用全局解算算法定位各水鸟位置，本发明所述多频实时数据获取技术的优点是：所有发射水鸟和接收水鸟可以同时进行工作，大大提高了拖缆系统的效率，缩短了定位解算的时间，采用全局解算算法减小了定位误差。
The invention proposes a global solution positioning method applied to marine geophysical exploration, and provides a new multi-frequency real-time data acquisition method and global solution method. First, polling is determined according to the networking mode of an underwater multi-cable acoustic network positioning system. The scheme uses a global solution algorithm to locate the position of each water bird. The advantages of the multi-frequency real-time data acquisition technology of the present invention are: all the transmitting water birds and the receiving water birds can work at the same time, which greatly improves the efficiency of the streamer system and shortens the positioning solution. The global solution algorithm is used to reduce the positioning error.
Description
Technical field
Localization method is resolved applied to the global of marine geophysical prospecting the present invention relates to a kind of, is belonged in marine seismic streamer system
More cable acoustic network positioning fields.
Background technique
Subaqueous multi-cable location technology is a key technology in offshore seismic exploration technology.Accurate towing cable positioning can be with
Guarantee higher 3-D seismics imaging precision, provides reliable foundation for the formulation of subsequent development scheme.But due at sea
When shaking data acquisition, streamer length reaches thousands of rice, is influenced by ocean current, and position is constantly all changing, and the depth that towing cable is laid
Spend shallower, the influence of sea surface reflection sound is obvious during acoustic propagation.
The prior art analyzes subaqueous multi-cable positioning principle, feature and the key technology in offshore oil exploration,
And establish the more cable location models of offshore seismic exploration, but for how in terms of effective anti multi path interference and Real time data acquisition compared with
It is related to less, aquatic bird position is positioned using gradually calculation method in document, the precision of acoustic network positioning can be influenced indirectly, reduce system
The Effect on Detecting of system.
Long baselines acoustic positioning technique requires accurately to obtain each reception aquatic bird and emits the relative distance of aquatic bird, and due to
Interval lays transmitting aquatic bird and receives aquatic bird on every towing cable, in the case where the number of towing cable is more, length is long, the number of aquatic bird
It is huge, and the depth that towing cable is laid is shallower, the influence of sea surface reflection sound is obvious during acoustic propagation, this is resulted in when transmitting aquatic bird
When working at the same time, each reception aquatic bird can receive a lot of pulse signal with several peak values, can not be a lot of from this
The through peak value that needs are accurately extracted in pulse signal leads to not global resolve and positions, and the precision of positioning calculation, which is not achieved, to be wanted
It asks.
Summary of the invention
Present invention solves the technical problem that are as follows: it overcomes the shortage of prior art, proposes a kind of overall situation applied to marine geophysical prospecting
Localization method is resolved, existing subaqueous multi-cable acoustic network positioning system anti multi path interference effect difference is avoided and positioning accuracy is not high
The shortcomings that, improve the precision of positioning calculation.
The technical solution that the present invention solves are as follows: a kind of to resolve localization method applied to the global of marine geophysical prospecting, steps are as follows:
(1) respectively emit aquatic bird to the acoustical signal for receiving aquatic bird transmitting different frequency；
(2) the through time t for receiving the acoustical signal for the transmitting aquatic bird transmitting that aquatic bird receives is obtainedi；
(3) according to step (2) through time tiAnd velocity of sound c, global clearing are carried out, determines and receives aquatic bird and transmitting aquatic bird
Relative distance；
(4) all reception aquatic birds are traversed, the linear distance between each reception aquatic bird and each transmitting aquatic bird is obtained.
The step (3) is according to step (2) through time tiAnd velocity of sound c, carry out global clearing, determine receive aquatic bird with
Emit aquatic bird relative distance, steps are as follows:
(1) three-dimensional system of coordinate O-x, y, z a three-dimensional orthogonal coordinate system is established, the vertical sea level of the positive direction of z is downward, x
Positive direction from towing cable head be directed toward tail portion, the positive direction of y is orthogonal on sea level with x, and z meets the right-hand rule, and origin O is arbitrarily set
It sets, sets the position of transmitting aquatic bird it is known that and setting the position coordinates of i-th of transmitting aquatic bird as Ti(xi,yi,zi)；
(2) acoustical signal for emitting aquatic bird sending according to step (2) directly reaches the time t for receiving aquatic bird from transmitting aquatic birdi,
If the position coordinates for receiving aquatic bird are (x, y, z), the distance between transmitting aquatic bird and reception aquatic bird RioAre as follows:
It enables, z=h, zi=hi, Δ Hi=h-hi, emit the depth h of aquatic birdiPass through installation respectively with the depth h for receiving aquatic bird
It is directly obtained in transmitting aquatic bird and the pressure sensor for receiving aquatic bird；
(3) formula (1) of step (2) is indicated are as follows:
In formula, N is the integer more than or equal to 3；
(4) formula (2) abbreviation is obtained: x2+y2-2xix-2yiY=(tic)2-(ΔHi)2-(xi)2-(yi)2(3)
Enable (tic)2-(ΔHi)2-(xi)2-(yi)2=Δi,
(5) i=1 ..., N is substituted into equation (3) and obtains N number of equation, the N number of solution of equation of simultaneous calculates the position for receiving aquatic bird
(x, y) obtains the three-dimensional location coordinates (x, y, z) for receiving aquatic bird further according to z=h；
The step (4) traverses all reception aquatic birds, obtains the straight line between each reception aquatic bird and each transmitting aquatic bird
Distance, steps are as follows:
All reception aquatic birds are traversed, three-dimensional coordinate of each reception aquatic bird relative to each transmitting aquatic bird are obtained, further according to respectively connecing
Receive aquatic bird relative to it is each transmitting aquatic bird three-dimensional coordinate, determine it is each reception aquatic bird and it is each transmitting aquatic bird between straight line away from
From.
Pulse width 0.5ms~1ms of the transmitting acoustical signal, direct signal, 0.5~1ms of multi-path signals pulse width.
The advantages of the present invention over the prior art are that:
(1) present invention is shortened the positioning calculation time, is improved the precision of positioning calculation using global computation.
(2) method of the invention is simple, and principle understands, can satisfy the requirement of towing cable system real time.
(3) present invention uses multifrequency Real time data acquisition model, and all aquatic birds can work at the same time, and improves towing cable system
Working efficiency.
(4) present invention uses anti multi path interference scheme, avoids failing to report direct signal.
Detailed description of the invention
Fig. 1 (a) is two kinds of 1 schematic diagrames of networking mode of subaqueous multi-cable acoustic network positioning system, (b) is subaqueous multi-cable sound
Learn two kinds of 2 schematic diagrames of networking mode of network positioning system；
Fig. 2 is anti multi path interference program flow chart of the present invention；
Fig. 3 is gradually to resolve scheme schematic diagram；
Fig. 4 is the global resolving scheme schematic diagram of the present invention；
Fig. 5 is Long baselines hydrolocation model schematic of the present invention；
Fig. 6 is the subaqueous multi-cable acoustic network positioning system schematic diagram of simple structure of the present invention；
Fig. 7 is that each aquatic bird of example of the present invention lays apart from schematic diagram；
(a), (b), (c), (d), (e), (f) of Fig. 8 is respectively the present invention 6 and receives the emulation fitting pulse that aquatic bird receives
Signal schematic representation；
Fig. 9 (a) is X-coordinate positioning result absolute error schematic diagram of the present invention, (b) exhausted for Y-coordinate positioning result of the present invention
To error schematic diagram.
Specific embodiment
The present invention proposes a kind of global resolving localization method applied to marine geophysical prospecting, provides the new multifrequency of one kind and counts in real time
According to acquisition modes and global calculation method, poll side is determined according to the networking mode of subaqueous multi-cable acoustic network positioning system first
The advantages of case positions each aquatic bird position using global computation, multifrequency Real time data acquisition technology of the present invention is: all
Transmitting aquatic bird and reception aquatic bird can work simultaneously, substantially increase the efficiency of towing cable system, shorten positioning calculation
Time reduces position error using global computation.
The invention will be described in further detail in the following with reference to the drawings and specific embodiments,
Marine streamer system is generally made of 3~4 towing cables, is laid in parallel between towing cable.It is fixed to the acoustic network of more cables
Position system is mainly made of transmitting aquatic bird and reception aquatic bird, and as the composition of every towing cable, there are mainly two types of networking modes, if
Towing cable is shorter (every towing cable is less than or equal to 1km), can place transmitting aquatic bird (i.e. acoustics bird) in streamer front end and end, centre is put
It sets and receives aquatic bird (i.e. horizontal bird), as shown in Fig. 1 (a)；If towing cable is longer (every towing cable is greater than 1km), due to high frequency sound signal
Decay larger, transmitting aquatic bird only lays in front end and end and will lead to intermediate reception aquatic bird and do not receive signal, generally takes
Transmitting receives the principle that aquatic bird interval is laid, and as shown in Fig. 1 (b), transmitting aquatic bird is filled circles, and reception aquatic bird is open circles, water
Data are transmitted by the connecting cable in towing cable between bird, according to the decaying size of high frequency sound signal, generally by the spacing of aquatic bird
It is set to 50 meters~100 meters.All transmitting aquatic birds and reception aquatic bird can be same in multifrequency Real time data acquisition scheme of the present invention
Shi Jinhang work, substantially increases the efficiency of towing cable system, shortens the time of positioning calculation, improves acoustic network positioning system
The anti multi path interference effect of system reduces position error using global computation.
Preferred embodiments of the present invention are as follows: a kind of subaqueous multi-cable acoustic network localization method, including determine subaqueous multi-cable acoustics
Networking mode stage, multifrequency Real time data acquisition stage, anti multi path interference stage and global resolve of network positioning system solve
The location information stage of all aquatic birds；
The networking mode stage etch of the determining subaqueous multi-cable acoustic network positioning system is as follows:
(1) it determines the transmitting aquatic bird in marine streamer system in number of streamers and every towing cable and receives the quantity of aquatic bird,
It determines the length of every towing cable, if the length of every towing cable is less than or equal to 1km, step (2) is carried out, if the length of every towing cable
Greater than 1km, then step (3) are carried out；The transmitting aquatic bird can emit acoustical signal, and acoustical signal can be received by receiving aquatic bird；If every
There are N number of transmitting aquatic bird and M reception aquatic bird on towing cable, is that identical transmitting is arranged frequently in the transmitting aquatic bird on same towing cable
Different acoustical signal tranmitting frequencies is arranged for the transmitting aquatic bird on different towing cables in rate；
(2) upon receipt of the instructions, unified starting impulse is issued to the transmitting aquatic bird of every towing cable and reception aquatic bird, made
Each transmitting aquatic bird of every towing cable and reception aquatic bird starting emit aquatic bird and receive water after receiving starting impulse signal
Bird is started to work, and the transmitting aquatic bird of every towing cable works at the same time, and issues the acoustical signal of different tranmitting frequencies, receives aquatic bird reception sound
Signal；When determining the relative distance between some reception aquatic bird of a certain towing cable and certain transmitting aquatic bird, which is received
The tranmitting frequency of acoustical signal that is emitted using the transmitting aquatic bird of acoustical signal pulse as center frequency, bandwidth 1kHz be filtered after again
Amplification, obtains the time domain impulsive signals of tranmitting frequency, the time domain impulsive signals of these tranmitting frequencies include that the transmitting aquatic bird is direct
The direct signal and transmitting aquatic bird that reach the reception aquatic bird do not reach the multi-path signals of the reception aquatic bird directly；Traverse all receptions
Aquatic bird obtains each time domain impulsive signals for receiving each transmitting aquatic bird transmitting that aquatic bird receives on towing cable；
The multifrequency Real time data acquisition stage etch is as follows:
(3) every towing cable is divided into N rank, first aquatic bird of every rank towing cable is transmitting aquatic bird, remaining aquatic bird of every rank is to connect
Receive aquatic bird；When being positioned to certain single order towing cable, except the transmitting aquatic bird of this single order, receive aquatic bird start to work in addition to, towing cable its
All transmitting aquatic birds of its rank and reception aquatic bird are closed, i.e., the transmitting aquatic bird in the first rank of all towing cables first emits acoustical signal, institute
There is the reception aquatic bird in the first rank of towing cable to receive acoustical signal, then the transmitting aquatic bird in the second-order of all towing cables emits sound again
Signal, the reception aquatic bird in the second-order of all towing cables receive acoustical signal, and so on, until in the n-th rank of all towing cables
Transmitting aquatic bird emit acoustical signal, the reception aquatic bird in the N rank of all towing cables receives acoustical signal；Determine a certain towing cable some
When receiving aquatic bird and emitting the relative distance between aquatic bird, the acoustical signal pulse which is received is with transmitting aquatic bird hair
The tranmitting frequency for the acoustical signal penetrated is center frequency, and bandwidth 1kHz amplifies again after being filtered, and obtains the time domain arteries and veins of tranmitting frequency
Rush signal, the time domain impulsive signals of these tranmitting frequencies include the transmitting aquatic bird directly reach the reception aquatic bird direct signal and
Transmitting aquatic bird does not reach the multi-path signals of the reception aquatic bird directly；All reception aquatic birds are traversed, are obtained each on every single order towing cable
Receive the time domain impulsive signals for each transmitting aquatic bird transmitting that aquatic bird receives；
(4) to the time domain impulsive signals and step for receiving each transmitting aquatic bird transmitting that aquatic bird receives each on step (2) towing cable
Suddenly on every single order towing cable that (3) obtain it is each receive aquatic bird receive each transmitting aquatic bird transmitting time domain impulsive signals time domain into
The direct signal in time domain impulsive signals that row judgement, even some each transmitting aquatic bird for receiving that aquatic bird receives emit is believed with more ways
It number can separate, carry out step (5) in the time domain；If receiving aquatic bird apart from (the time domain impulse of transmitting within 6.5 meters of sea level
When signal pulsewidth is 0.5ms) or receive aquatic bird apart from 9 meters of sea level (when the time domain impulsive signals pulsewidth of transmitting is 1ms)
Within, determine that some receives the direct signal and multi-path signals in the time domain impulsive signals for each transmitting aquatic bird transmitting that aquatic bird receives
It is overlapped in time domain；Receive aquatic bird on 6.5 meters of sea level (when the time domain impulsive signals pulsewidth of transmitting is 0.5ms) or
It receives aquatic bird and (when the time domain impulsive signals pulsewidth of transmitting is 1ms), is determining that some receives aquatic bird and receives on 9 meters of sea level
To each transmitting aquatic bird transmitting time domain impulsive signals in direct signal and multi-path signals time domain on can separate.
The anti multi path interference stage etch is as follows:
(5) time width of search window is set, the small Mr. Yu of the width of search window receives the time domain impulsive signals that aquatic bird receives
Duration, sampled to the time domain impulsive signals that receive of aquatic bird are received, the time domain impulsive signals that certain reception aquatic bird is received
The signal amplitude of all sampled points carries out statistical average, obtains average amplitude, the signal amplitude of each sampled point is averaged with this
Amplitude, which is done, to be compared, and the Amplitude Ratio of each sampled point is obtained；It is unit width after filter and amplification using the time width of the search window
Cyclic search is carried out on time domain impulsive signals, the maximum sampled point of Amplitude Ratio is found in the time width of each search window, so
The maximum sampled point of Amplitude Ratio will be found in the time width of each search window afterwards to arrange from big to small according to the value of Amplitude Ratio
Column take Amplitude Ratio to do big sampled point as direct signal, then it is that this connects that the Amplitude Ratio, which does the sampling time of big sampled point,
Receive the through time t of the acoustical signal for certain transmitting aquatic bird transmitting that aquatic bird receivesi, by the time t that goes directlyiCertain is obtained multiplied by velocity of sound c
Receive aquatic bird and certain transmitting aquatic bird relative distance；All reception aquatic birds are traversed, each reception aquatic bird and each transmitting aquatic bird are obtained
Between linear distance；
(6) time width of search window is set as the half of the time width of the search window of step (5), and upper amplitude limit is set
With amplitude lower limit, sampled to the time domain impulsive signals that aquatic bird receives are received, it is wide as unit of the time width of the search window
It spends on the time domain impulsive signals after filter and amplification and carries out cyclic search, to all samplings in the time width of each search window
The impulse amplitude of point is judged, if certain sampled point impulse amplitude is greater than upper amplitude limit, determines that the sampled point signal amplitude is greater than
The signal of upper amplitude limit is received pulse signal, and being then greater than the sampled point of upper amplitude limit using amplitude is starting point to time domain arteries and veins
It rushes width to be counted, gate time is the half of fire pulse width, occurs signal amplitude for the first time greater than upper amplitude limit
The received pulse signal of the sampled point is then directly determined as effective impulse, i.e. direct signal by sampled point；If the arteries and veins of certain sampled point
Amplitude is rushed less than upper amplitude limit, then by the impulse amplitude of the sampled point again compared with the amplitude lower limit of setting, if this received is adopted
The impulse amplitude of sampling point is greater than amplitude lower limit and then temporarily saves the received pulse signal of the sampled point, then judges that the sampled point connects
Whether there is the pulse of same amplitude to occur in the other half of the fire pulse width of the pulse signal of receipts, there are same amplitude pulses
Appearance then thinks that temporary pulse is effective impulse, this effective impulse is determined as direct signal, then the sampling of the direct signal
Time is the through time t of the acoustical signal for certain transmitting aquatic bird transmitting that the reception aquatic bird receivesi, by this go directly the time multiplied by
Velocity of sound c obtains certain and receives aquatic bird and certain transmitting aquatic bird relative distance；All reception aquatic birds are traversed, each reception aquatic bird and each is obtained
Linear distance between a transmitting aquatic bird；
The global location information stage etch for resolving all aquatic birds of solution is as follows:
(7) three-dimensional system of coordinate O-x, y, z a three-dimensional orthogonal coordinate system is established, the vertical sea level of the positive direction of z is downward, x
Positive direction from towing cable head be directed toward tail portion, the positive direction of y is orthogonal on sea level with x, and z meets the right-hand rule, and origin O is arbitrarily set
It sets, sets the position of all transmitting aquatic birds it is known that and setting the position coordinates of i-th of transmitting aquatic bird as Ti(xi,yi,zi), according to step
Suddenly the acoustical signal that (5) or step (6) transmitting aquatic bird issue is t from the time that transmitting aquatic bird directly reaches reception aquatic birdiIf receiving
The position coordinates of aquatic bird are (x, y, z), the distance between transmitting aquatic bird and reception aquatic bird RioAre as follows:
It enables, z=h, zi=hi, Δ Hi=h-hi, emit the depth h of aquatic birdiPass through installation respectively with the depth h for receiving aquatic bird
It is directly obtained in transmitting aquatic bird and the pressure sensor for receiving aquatic bird；
Formula (1) is indicated are as follows:
In formula, N is the integer more than or equal to 3；
Formula (2) abbreviation is obtained: x2+y2-2xix-2yiY=(tic)2-(ΔHi)2-(xi)2-(yi)2 (3)
Enable (tic)2-(ΔHi)2-(xi)2-(yi)2=Δi,
I=1 ..., N are substituted into equation (3) and obtain N number of equation, the N number of solution of equation of simultaneous calculate receive aquatic bird position (x,
Y), further according to z=h, the three-dimensional location coordinates (x, y, z) for receiving aquatic bird are obtained；All reception aquatic birds are traversed, each reception water is obtained
Three-dimensional coordinate of the bird relative to each transmitting aquatic bird.
The characteristics of according to above-mentioned marine streamer, more preferably a kind of subaqueous multi-cable acoustic network localization method of the present invention, step
It is rapid as follows:
(1) first step is the networking mode of determining subaqueous multi-cable acoustic network positioning system.
The transmitting aquatic bird in marine streamer system in number of streamers and every towing cable is determined first and receives the quantity of aquatic bird,
How many towing cable had altogether, how many transmitting aquatic bird and how many reception aquatic birds, then determine every towing cable above every
Length, if the length of every towing cable be less than or equal to 1km, carry out step (2), if the length of every towing cable be greater than 1km, into
Row step (3)；The transmitting aquatic bird can emit acoustical signal, and acoustical signal can be received by receiving aquatic bird；If having on every towing cable N number of
Emit aquatic bird and M reception aquatic bird, is that identical tranmitting frequency is arranged in the transmitting aquatic bird on same towing cable, is on different towing cables
Transmitting aquatic bird different acoustical signal tranmitting frequencies is set；
(2) upon receipt of the instructions, unified starting impulse is issued to the transmitting aquatic bird of every towing cable and reception aquatic bird, made
Each transmitting aquatic bird of every towing cable and reception aquatic bird starting emit aquatic bird and receive water after receiving starting impulse signal
Bird is started to work, and the transmitting aquatic bird of every towing cable works at the same time, and issues the acoustical signal of different tranmitting frequencies, receives aquatic bird reception sound
Signal；When determining the relative distance between some reception aquatic bird of a certain towing cable and certain transmitting aquatic bird, which is received
The tranmitting frequency of acoustical signal that is emitted using the transmitting aquatic bird of acoustical signal pulse as center frequency, bandwidth 1kHz be filtered after again
Amplification, obtains the time domain impulsive signals of tranmitting frequency, the time domain impulsive signals of these tranmitting frequencies include that the transmitting aquatic bird is direct
The direct signal and transmitting aquatic bird that reach the reception aquatic bird do not reach the multi-path signals of the reception aquatic bird directly；Traverse all receptions
Aquatic bird obtains each time domain impulsive signals for receiving each transmitting aquatic bird transmitting that aquatic bird receives on towing cable；Assuming that in towing cable network
Every towing cable has N number of transmitting aquatic bird and M reception aquatic bird, and in operation process, host software issues positioning measurement instruction, receives
It determines after to instruction in the transmitting-receiving task and sequence of each aquatic bird in network, sends an instruction in corresponding aquatic bird, to each
After a aquatic bird completes preparation, send a unified starting impulse, each aquatic bird after receiving transmitter trigger pulse signal,
Start respective work, i.e. (every streamer length is less than 1km), the transmitting water of every streamer front end and end when towing cable is shorter
Bird works at the same time, and intermediate reception aquatic bird receives acoustical signal and positions；When towing cable is longer (every streamer length is less than 1km),
Every towing cable is divided into N rank, first aquatic bird of every rank towing cable is transmitting aquatic bird, remaining is reception aquatic bird；Certain single order towing cable into
When row positioning, in addition to this single order opens transmitting aquatic bird, receives aquatic bird, all aquatic birds of other ranks of towing cable are closed, i.e. in the first rank
Transmitting aquatic bird first emit, reception aquatic bird in the first rank receives acoustical signal and simultaneously positions, and then the transmitting aquatic bird in second-order is again
Emitting, the reception aquatic bird in second-order receives acoustical signal and positions, and so on, until the transmitting aquatic bird transmitting in n-th rank,
Reception aquatic bird in N rank receives acoustical signal and positions, and completes the positioning of whole towing cable；
The acoustical signal that N number of transmitting aquatic bird on every towing cable emits N number of different frequency is set, M receives what aquatic bird received
It include the direct signal of N number of transmitting aquatic bird and the multi-path signals of sea surface reflection in pulse signal.When needing to obtain i-th of reception
When the relative distance of aquatic bird and j-th of transmitting aquatic bird (j=1.2 ... M, M are the integer more than or equal to N), it need to only be emitted with j-th
The corresponding frequency of aquatic bird receives the time-domain signal that aquatic bird receives to i-th and is filtered and amplifies the frequency signal, passes through
Direct signal and corresponding multi-path signals in pulse signal after filtering and enhanced processing only comprising j-th of transmitting aquatic bird.By
It is filtered in first, only retains the signal of same frequency, then the signal of this frequency is amplified, due to different frequency and transmitting water
Bird has corresponded, it is possible to determine which transmitting aquatic bird transmitting the pulse signal is)
(3) every towing cable is divided into N rank, first aquatic bird of every rank towing cable is transmitting aquatic bird, remaining aquatic bird of every rank is to connect
Receive aquatic bird；When being positioned to certain single order towing cable, except the transmitting aquatic bird of this single order, receive aquatic bird start to work in addition to, towing cable its
All transmitting aquatic birds of its rank and reception aquatic bird are closed, i.e., the transmitting aquatic bird in the first rank of all towing cables first emits acoustical signal, institute
There is the reception aquatic bird in the first rank of towing cable to receive acoustical signal, then the transmitting aquatic bird in the second-order of all towing cables emits sound again
Signal, the reception aquatic bird in the second-order of all towing cables receive acoustical signal, and so on, until in the n-th rank of all towing cables
Transmitting aquatic bird emit acoustical signal, the reception aquatic bird in the N rank of all towing cables receives acoustical signal；Determine a certain towing cable some
When receiving aquatic bird and emitting the relative distance between aquatic bird, the acoustical signal pulse which is received is with transmitting aquatic bird hair
The tranmitting frequency for the acoustical signal penetrated is center frequency, and bandwidth 1kHz amplifies again after being filtered, and obtains the time domain arteries and veins of tranmitting frequency
Rush signal, the time domain impulsive signals of these tranmitting frequencies include the transmitting aquatic bird directly reach the reception aquatic bird direct signal and
Transmitting aquatic bird does not reach the multi-path signals of the reception aquatic bird directly；All reception aquatic birds are traversed, are obtained each on every single order towing cable
Receive the time domain impulsive signals for each transmitting aquatic bird transmitting that aquatic bird receives；
(4) to the time domain impulsive signals and step for receiving each transmitting aquatic bird transmitting that aquatic bird receives each on step (2) towing cable
Suddenly on every single order towing cable that (3) obtain it is each receive aquatic bird receive each transmitting aquatic bird transmitting time domain impulsive signals time domain into
The direct signal in time domain impulsive signals that row judgement, even some each transmitting aquatic bird for receiving that aquatic bird receives emit is believed with more ways
It number can separate, carry out step (5) in the time domain；If some receives the time domain impulse letter for each transmitting aquatic bird transmitting that aquatic bird receives
Direct signal in number and multi-path signals Chong Die progress step (6) in the time domain；Receive aquatic bird apart from 1.5 meters of sea level with
It is interior, when determining that some receives direct signal and multi-path signals in the time domain impulsive signals for each transmitting aquatic bird transmitting that aquatic bird receives
It is overlapped on domain；It receives aquatic bird and on 1.5 meters of sea level, is determining that some receives each transmitting aquatic bird transmitting that aquatic bird receives
It can be separated on direct signal and multi-path signals time domain in time domain impulsive signals；(direct signal, multi-path signals pulse width 0.5
~1ms, if received direct signal, multi-path signals propagation distance difference less than 1.5 meters, may be defined as being overlapped in time domain；)
Two kinds of situations are separated and are overlapped mutually since direct wave exists in the time domain with sea surface reflection wave signal.For through
The differentiation of signal and sea surface reflection multi-path signals, first by search window determine in the pulse signal that receives all peak values and its
The time of generation distinguishes through letter according to number of peaks and its time of generation, and in conjunction with aquatic bird is received at a distance from sea
Number, whether multi-path signals and the two be superimposed.If the path difference of direct wave and sea surface reflection wave is larger, the two in the time domain can be with
Separate, set search window width be slightly less than transmitted pulse width (if although because occur direct signal and multi-path signals at a distance of compared with
Closely, but there is no overlapping such case, search window is too wide, cannot effectively distinguish two kinds of signals), and as unit of the width
It is recycled on treated time domain impulsive signals, it is specified according to whether the ratio between amplitude peak and average amplitude in search window meet
Threshold value is condition, finds out the time of all peak values and its generation in the pulse signal, finally minimum further according to the sound path of direct sound wave,
And the maximum principle of amplitude, determine that the time is forward and the maximum peak value of energy is direct signal, the time is rearward and energy is lesser
Peak value is multi-path signals, and the generation time t of direct signal is obtained with thisi, can be calculated and specified transmitting aquatic bird in conjunction with the velocity of sound
Relative distance Rio.(explanation: being still that straight line is most short between two o'clock under three-dimensional situation, through acoustic signal propagation time is centainly less than
By the acoustic signal propagation time of sea surface reflection, if reception aquatic bird is close from sea, then it will appear direct signal and more ways believed
Number overlapping)
If direct signal is be overlapped in the time domain with multi-path signals, handled using the scheme of following anti multi path interference.
(5) time width of search window is set (if a length of 10s when received time domain impulse, the time of preferably search window are wide
Degree is slightly less than 10s), the small Mr. Yu of the width of search window receives the duration for the time domain impulsive signals that aquatic bird receives, and receives to aquatic bird is received
To time domain impulsive signals sampled, the signal amplitude for all sampled points of time domain impulsive signals that certain reception aquatic bird is received
Statistical average is carried out, average amplitude is obtained, the signal amplitude of each sampled point is done with the average amplitude and is compared, obtain each sampling
The Amplitude Ratio of point；To be recycled on the time domain impulsive signals that the time width of the search window is unit width after filter and amplification
Search, finds the maximum sampled point of Amplitude Ratio in the time width of each search window, then that the time of each search window is wide
The maximum sampled point of Amplitude Ratio is found in degree to be arranged from big to small according to the value of Amplitude Ratio, and Amplitude Ratio is taken to do big sampled point
As direct signal, then the Amplitude Ratio do the sampling time of big sampled point be the reception aquatic bird receive certain transmitting aquatic bird
The through time t of the acoustical signal of transmittingi, by the time t that goes directlyiIt is opposite with certain transmitting aquatic bird that certain reception aquatic bird is obtained multiplied by velocity of sound c
Distance；All reception aquatic birds are traversed, the linear distance between each reception aquatic bird and each transmitting aquatic bird is obtained；
(6) set the time width of search window as the time width of the search window of step (5) half (search window halves,
If a length of 10s when received time domain impulse, preferably 1ms-5ms are first searched for once, 5ms-10ms is searched again for successively, entire to cover
Received time domain impulse duration), upper amplitude limit and amplitude lower limit are set, adopted to the time domain impulsive signals that aquatic bird receives are received
Sample, it is right to carry out cyclic search on the time domain impulsive signals that the time width of the search window is unit width after filter and amplification
The impulse amplitude of all sampled points in the time width of each search window is judged, if certain sampled point impulse amplitude is greater than width
The upper limit is spent, the signal for determining that the sampled point signal amplitude is greater than upper amplitude limit is received pulse signal, is then greater than with amplitude
The sampled point of upper amplitude limit is that starting point counts time domain pulse width, and gate time is the half of fire pulse width,
Occur the sampled point that signal amplitude is greater than upper amplitude limit for the first time, then the received pulse signal of the sampled point is directly determined as having
Imitate pulse, i.e. direct signal；If the impulse amplitude of certain sampled point be less than upper amplitude limit, by the impulse amplitude of the sampled point again with
The amplitude lower limit of setting compares, and temporarily saves the sampled point if the impulse amplitude of the received sampled point is greater than amplitude lower limit and connects
The pulse signal of receipts, then judge the fire pulse width of the received pulse signal of the sampled point the other half in whether have it is same
The pulse of amplitude occurs, and same amplitude pulses appearance then thinks that temporary pulse is effective impulse, this effective impulse is sentenced
It is set to direct signal, then the sampling time of the direct signal is the sound letter for certain transmitting aquatic bird transmitting that the reception aquatic bird receives
Number through time ti, which is obtained certain multiplied by velocity of sound c and receives aquatic bird and certain transmitting aquatic bird relative distance；Traversal institute
There is reception aquatic bird, obtains the linear distance between each reception aquatic bird and each transmitting aquatic bird；
Anti multi path interference scheme be data acquisition after, the most important signal processing that is carried out before positioning calculation.
Since the depth that towing cable is laid is shallower, the influence that sea surface reflection sound resolves positioning system during acoustic propagation is obvious, and the water surface is more
Way interference is the most important source of hydrolocation error, needs to take effective method removal water surface Multi-path interference.When sound source with
Receiving point horizontal distance farther out when, direct sound wave can be superimposed generation destructive interference with reflected sound signals, thus design water resistant face mostly way
Jamming program, to avoid direct sound wave is failed to report.
Anti multi path interference scheme is as shown in Fig. 2, mainly utilize logical decision combination narrow band envelope amplitude detection and the wide device that reflects
Demodulation method carries out joint-detection.The envelope by output signal after narrow band filter is sought first, a certain size width is set
It spends thresholding and carries out envelope detection, judge whether the amplitude of envelope signal sequence is greater than amplitude threshold.If certain moment envelope amplitude is big
In amplitude threshold, it is believed that be received pulse signal.Secondly, using this moment as starting point, using reflect wide device to the width of pulse into
Row counts.The width threshold of wide device of reflecting is set as two kinds of size, depending on pulse width of the big thresholding according to transmitting signal, is set as
It is slightly less than the pulse width of transmitting signal；Depending on small thresholding is according to the rule of superposed signal delay inequality, i.e., according to two signals
The rule of destructive interference is determined in conjunction with practical experience, is selected as desired time delay evaluated error here, such as emits signal arteries and veins
Rush the half etc. of width.When judgement, width counter and big width threshold ratio first have then directly been judged to greater than big width threshold
Imitate pulse；Less than then again compared with small width threshold, just temporarily saving pulse information if more than small width threshold, then judge it
Whether front and back is equal or slightly larger than in the time interval of a pulse width has similar pulse to occur, and has, thinks temporary arteries and veins
Punching is effective impulse.Finally, judging in conjunction with the two pulse informations, correcting direct pulse information, to improve the precision of ranging.
Through ping when direct sound wave and Multi-path interference superposition generate destructive interference, after destructive interference is gone out by the above logic judgment
With Multi-path interference pulse, the time difference between the two pulse front edges after destructive interference be equal to direct wave pulse it is wide
Degree.If do not overlapped therebetween, direct pulse information does not need to correct.
Finally using global computation (gradually computation and global computation are as shown in Figure 3 and Figure 4).
(7) three-dimensional system of coordinate O-x, y, z a three-dimensional orthogonal coordinate system is established, the vertical sea level of the positive direction of z is downward, x
Positive direction from towing cable head be directed toward tail portion, the positive direction of y is orthogonal on sea level with x, and z meets the right-hand rule, and origin O is arbitrarily set
It sets, sets the position of all transmitting aquatic birds it is known that and setting the position coordinates of i-th of transmitting aquatic bird as Ti(xi,yi,zi), according to step
Suddenly the acoustical signal that (5) or step (6) transmitting aquatic bird issue is t from the time that transmitting aquatic bird directly reaches reception aquatic birdiIf receiving
The position coordinates of aquatic bird are (x, y, z), the distance between transmitting aquatic bird and reception aquatic bird RioAre as follows:
It enables, z=h, zi=hi, Δ Hi=h-hi, emit the depth h of aquatic birdiPass through installation respectively with the depth h for receiving aquatic bird
It is directly obtained in transmitting aquatic bird and the pressure sensor for receiving aquatic bird；
Formula (1) is indicated are as follows:
In formula, N is the integer more than or equal to 3；
Formula (2) abbreviation is obtained: x2+y2-2xix-2yiY=(tic)2-(ΔHi)2-(xi)2-(yi)2 (3)
Enable (tic)2-(ΔHi)2-(xi)2-(yi)2=Δi,
I=1 ..., N are substituted into equation (3) and obtain N number of equation, the N number of solution of equation of simultaneous calculate receive aquatic bird position (x,
Y), further according to z=h, the three-dimensional location coordinates (x, y, z) for receiving aquatic bird are obtained；All reception aquatic birds are traversed, each reception water is obtained
Three-dimensional coordinate of the bird relative to each transmitting aquatic bird.
Global computation is carried out after the acquisition of all range data, is established by Long baselines acoustic positioning technique
The system equation that position resolves.Long baselines hydrolocation mathematical model is as shown in Figure 5.Emit array element Ti(xi,yi,zi) position
It is known that being t from the time that transmitting array element reaches reception array element Oi, the distance between two array elements
Since the array element depth information in subaqueous multi-cable positioning system is directly obtained by pressure sensor, can regard
To receive known to the one-dimension information in array element coordinate (i.e. depth z=h), the same depth information emitted in array element coordinate can also be with
(i.e. depth z is obtained by same procedurei=hi), but received depth is different from the transmitting depth of array element, acoustics at this moment is fixed
It is three-dimensional subject to the mathematical model of position.
Enable Δ Hi=h-hi, then formula (1) can be expressed as
Further abbreviation can be expressed as
x2+y2-2xix-2yiY=(tic)2-(ΔHi)2-(xi)2-(yi)2=Δ vi, i=1 ..., N (3)
Quadratic equation above is linearized and is solved, quadratic term is eliminated, obtains
Ax=b (4)
Wherein, A is the matrix of (N-1) × 2.For the linear equation, solve to obtain institute by Iterative Least Squares Method
There is the optimum solution of location information；
Lengthwise position most afterwards through radio compass verifying hydrolocation, it is a kind of orientation that radio compass, which is similar to compass,
Indicating equipment is mounted on each transmitting aquatic bird and receives on aquatic bird, is used for auxiliary positioning, after acoustics positioning, with reference to this
Kind compass equipment can verify positioning result, improve positioning accuracy.Final purpose is according to N number of known Ti(xi,yi,zi)
M unknown (x, y) are sought, h is depth information, is to be directly obtained by the pressure sensor on each aquatic bird, is known quantity.
The present invention overcomes there is error due to the sensors such as GPS, acoustic range, overcoming and positioning each time
Resolving can all generate certain error, cause to be transmitted in next step according to the location error that gradually resolving Scheme Solving obtains,
Error can be accumulated gradually, as the carry out error of resolving is increasing；The solution of position is in global resolving scheme of the invention
It is carried out after range data measurement, what is obtained is globally optimal solution, and the error that positioning calculation generates is generally consistent,
Error will not accumulate, so positioning result is more accurate.
Preferred embodiment are as follows: a kind of subaqueous multi-cable acoustic network localization method, steps are as follows:
The first step is the networking mode of determining subaqueous multi-cable acoustic network positioning system.
Process for simplifying the analysis constructs a simple subaqueous multi-cable acoustic network positioning system first, is sent out by 3
What jetting bird and 6 reception aquatic birds formed, as shown in Figure 6.Open circles are transmitting aquatic bird, and number is respectively 1,2, No. 3；Filled circles
To receive aquatic bird, number is respectively 1,2,3,4,5, No. 6, and each transmitting aquatic bird is emitted using different frequencies, it is assumed here that No. 1
The tranmitting frequency for emitting aquatic bird is 25kHz, and the tranmitting frequency of No. 2 transmitting aquatic birds is 30kHz, the tranmitting frequency of No. 3 transmitting aquatic birds
For 35kHz.
Second step is to devise a kind of multifrequency Real time data acquisition model.
Assuming that only considering that a sea mostly way is reflected, when three transmitting aquatic birds work at the same time, each reception aquatic bird will be received
To three direct signals and three sea multi-path signals, a total of six peak value.If needing to obtain No. 3 reception aquatic birds and 2 now
The relative distance of number transmitting aquatic bird, only need to be by No. 3 pulse signals that receive of reception aquatic birds according to centre frequency 30kHz (No. 2 transmittings
The tranmitting frequency of aquatic bird), bandwidth 1kHz is filtered and amplifies the frequency signal component, in pulse signal after treatment just
The only direct signal and corresponding multi-path signals of remaining 30kHz frequency.
If direct signal can separate in the time domain with multi-path signals, the width of search window is determined, and next with the width
Degree is to be recycled on the time domain impulsive signals of unit after the filtering, is according to the ratio between amplitude peak and average amplitude in search window
The no specified threshold that meets is condition, and finding out two in the pulse signal peak values, (one is direct signal, the other is more ways are believed
Number), finally further according to the shortest principle of point-to-point transmission straight line, the propagation distance of multi-path signals is greater than the propagation distance of direct signal,
Its corresponding decaying also can be bigger, so generation time is forward and the biggish peak value of amplitude is direct signal, generation time rearward and
The lesser peak value of amplitude is multi-path signals, and the generation time of direct signal is determined with this, can calculate No. 3 receptions in conjunction with the velocity of sound
Aquatic bird and No. 2 transmitting aquatic bird relative distances.If direct signal is be overlapped in the time domain with multi-path signals, using anti-in third step
Multi-path interference scheme is handled.
Third step is to devise the scheme of anti multi path interference.
Using the anti multi path interference scheme designed in Fig. 2, the direct wave and sea surface reflection wave receive to each aquatic bird is dry
It disturbs signal to be handled the case where anti-life is superimposed, firstly, an amplitude threshold is arranged to by output signal after narrow band filter
Envelope carries out detection, if certain moment envelope amplitude is greater than amplitude threshold, it is believed that be received pulse signal.Secondly, with this moment
It is counted for starting point pulse-width, if it is greater than big width threshold, is directly judged to effective impulse；Less than then again with small width
Degree thresholding compares, and just temporarily saves pulse information if more than small width threshold, then judges its preceding the latter transmitting signal pulsewidth
Inside whether there is similar pulse to occur, then thinks that temporary pulse is effective impulse.Finally, using the method in second step,
Judge direct-path signal and its arrival time.
4th step is using the global location information for resolving all aquatic birds of Scheme Solving.
For this example, altogether there are three emitting aquatic bird, the N in formula (3) that front derives is set as 3, formula (3) becomes:
By the x in (5) formula2+y2It eliminates, can acquire:
According to formula (6), (7), each reception aquatic bird can be positioned.
Illustrate: 1, depth h is directly obtained by the pressure sensor on each aquatic bird, is known quantity.
It after being positioned to each reception aquatic bird, is verified by radio compass, purpose mainly still verifies positioning result.
If laying distance as shown in fig. 7, emulating each received pulse signal of reception aquatic bird of fitting such as between each aquatic bird
Fig. 8 (a), (b), (c), (d), (e), (f) are shown, and horizontal axis is each time width for receiving the received pulse of aquatic bird, and the longitudinal axis is to connect
Receive the pulse amplitude that aquatic bird receives, it can be seen that maximum reach at first of amplitude is direct signal, is positioned absolutely accidentally
For difference as shown in Fig. 9 (a), (b), abscissa is the label for receiving aquatic bird, and 1.000 indicate that No.1 receives aquatic bird, and 6.000 indicate No. two
Aquatic bird is received, and so on, Fig. 9 (a) ordinate indicates X-axis error, and Fig. 9 (b) ordinate indicates Y-axis error, can therefrom see
It arrives, transmitting aquatic bird and the distance for receiving aquatic bird are about 35 meters~145 meters, and the maximum absolute error of positioning is 0.467 meter, average phase
To error less than 1%.
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| CN101482614A (en) * | 2008-01-07 | 2009-07-15 | 格库技术有限公司 | Sound propagation velocity modeling method, apparatus and system |
| CN101685164A (en) * | 2008-09-25 | 2010-03-31 | 嘉兴中科声学科技有限公司 | Subaqueous multi-cable positioning system and method thereof. |
| CN103176210A (en) * | 2011-12-19 | 2013-06-26 | 瑟塞尔公司 | Method and device for estimating an inter-node distance between nodes arranged along towed acoustic linear antennas |
| CN103197346A (en) * | 2013-04-08 | 2013-07-10 | 中国海洋石油总公司 | Processing method of towrope exploration navigational positioning data |
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| CN1279368C (en) * | 2001-12-10 | 2006-10-11 | 法国石油研究所 | Seismic Data Acquisition System Using Seabed Acquisition Station |
| CN101482614A (en) * | 2008-01-07 | 2009-07-15 | 格库技术有限公司 | Sound propagation velocity modeling method, apparatus and system |
| CN101685164A (en) * | 2008-09-25 | 2010-03-31 | 嘉兴中科声学科技有限公司 | Subaqueous multi-cable positioning system and method thereof. |
| CN103176210A (en) * | 2011-12-19 | 2013-06-26 | 瑟塞尔公司 | Method and device for estimating an inter-node distance between nodes arranged along towed acoustic linear antennas |
| CN103197346A (en) * | 2013-04-08 | 2013-07-10 | 中国海洋石油总公司 | Processing method of towrope exploration navigational positioning data |
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