RU2472178C1 - Method and device for determining position of underwater pipeline - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: disclosed is a method and a device for determining coordinates of an inspected section of a pipeline lying on flat ground in the world geodetic system WGS-84, based on vertical distribution of sound speed in an aquatic medium, adjustments for the location of the antenna of a side-scanning sonar on board the vehicle, delay between output of navigation data and reception of echo signals reflected from the bottom, location and orientation of a self-contained unmanned underwater vehicle in the WGS-84.

EFFECT: high accuracy of determining altitude and horizontal position of an underwater pipeline.

2 cl, 12 dwg

Description

The invention relates to the field of hydroacoustics and can be used to determine the horizontal and vertical position of an underwater pipeline located at the bottom above a layer of soil or on the ground.

The task of determining the exact position of the underwater pipeline is important to ensure its safe operation and extend the service life.

A device is known, as well as a method for determining the position of an underwater pipeline, consisting of emitting acoustic signals with a panoramic sonar, receiving backscattering echo signals from reflectors installed on the pipeline from each other at distances at which the pipe deflection should not exceed a given value, and calculating the coordinates of the voiced reflectors (RF patent No. 27670 U1, IPC F17D 1/00, 2002). The disadvantage of this analog solution is the necessary requirement for the installation of reflectors on the underwater pipeline located relative to each other at predetermined distances, which requires additional work immediately preceding the determination of the position of the underwater pipeline.

Also known is a method and device for determining the route of laying an underwater pipeline, based on measuring the parameters of secondary electromagnetic fields that are created by currents induced in the pipeline by a dipole radiation source (RF patent No. 2211464 C1, IPC G01V 3/08, G01V 3/165, 2002 ) This analog solution has a significant drawback: it is suitable only in the particular case, namely, only for the moments of underwater carrier passing directly above the pipeline.

The closest analogue in technical essence to the proposed method is a method for calculating the altitude position of an underwater pipeline relative to the bottom line and its planned position in the world geodetic coordinate system using side-scan sonar (Firsov Yu.G. Fundamentals of sonar and the use of hydrographic sonars. - St. Petersburg: Nestor-History, 2010 .-- p. 293). The method is based on the fact that using a transceiver antenna of side-scan sonar (HBO) mounted on an underwater carrier, acoustic pulses are emitted into the water volume with a predetermined sounding period, and backscattering echo signals are successively received from elementary sections of the bottom and exposed section of the pipeline, times are measured propagation of echo signals and calculate the slant ranges to each voiced section, determine the boundaries of the acoustic shadow zone from the exposed section of the pipeline, according to The measuring sonar taking into account the previously measured linear displacement of the beginnings of the “instrument” and “ship” coordinate systems determines the distance of the HBO antenna from the bottom, and then determines the height position of the pipeline relative to the bottom line by dividing the product of the length of the acoustic shadow from the pipeline by the distance of the HBO antenna from the bottom by the value inclined range to the end of the shadow, then, designing the inclined range to the point of the pipeline, which determines the height position of the pipeline on the bottom plane, determine the horizontal distance the distance to the pipeline in the “instrument” coordinate system, and then, taking into account the linear displacement of the beginnings of the “instrument” and “ship” coordinate systems, the coordinates of the underwater carrier and its course in the world geodetic system, measured by the navigation means of the underwater carrier, determine the planned position of the voiced section of the underwater pipeline in the world geodetic coordinate system.

Significant disadvantages of this prototype method are:

- the assumption that the beginning of the acoustic shadow zone from the exposed section of the pipeline coincides with the top of the pipeline, which is actually not true;

- there is no accounting for the position of the pipeline relative to the bottom line.

So, when examining a bare section of a pipeline, an acoustic beam defining the boundaries of the acoustic shadow zone passes along a tangent to the section of the pipeline. The beginning of the acoustic shadow zone does not coincide with the top of the pipeline, but lies at the point of contact of the acoustic beam with the cross section of the pipeline. When examining a sagging section of the pipeline, the beginning of the acoustic shadow zone does not lie at the point of contact of the acoustic beam with the cross section of the pipeline, but at the point where the beam falls on the bottom line.

The disadvantages of this prototype method also include:

- there is no adjustment of the inclined ranges to each voiced section and the boundary of the acoustic shadow zone from the exposed section of the pipeline according to a previously constructed vertical profile of the speed of sound in water;

- when determining the horizontal distance to the pipeline in the "instrument" coordinate system, use the height position of the pipeline relative to the bottom line, the definition of which has the disadvantages described above;

- when determining the planned position of the pipeline in the world geodetic coordinate system, there is no account of the angular mismatch of the “instrument” and “ship” coordinate systems and the delay between the issuance of navigation data and the reception of signals reflected from the bottom;

- when determining the planned position of the pipeline in the world geodetic coordinate system, there is no accounting for the orientation of the underwater carrier, determined by the roll and trim angles.

Lack of accounting for these phenomena gives a large error in determining the height position of the pipeline relative to the bottom line and the planned position of the pipeline in the world geodetic coordinate system.

The closest analogue to the proposed device is HBO "Tritech SeaKing ROV / AUV DST" (website address on the Internet http://www.tritech.co.uk/). The specified HBO is located on an underwater carrier, contains two transceiving antennas and a transceiver unit, including a generator (GU), pre-processing equipment (APO) for echo signals, a digital signal processing module (DSP), a power supply unit (PSU), while the terminals from the antennas are connected with APO of echo signals, while the PSU has a connector for receiving supply voltage from the board of the underwater carrier, and the DSP module is a connector for two-way data exchange with the computer complex (VK) of the underwater carrier, through which the DSP module is The initial parameters of operation of the HBO equipment are given, and hydroacoustic data and diagnostic information about the current state of the HBO are transferred back to the VC of the underwater carrier for subsequent processing, while the first, second and third outputs of the power supply are connected to the inputs of the APO of the echo signals, the GU and the DSP module, respectively, the output The GU is connected to the input of the APO of the echo signals, while the GU has two-way communication with the DSP module, which in turn has two-way communication with the APO of the echo signals, while the output of the DSP module is connected to the input of the PSU.

The prototype device has the following disadvantages:

- there is no device for accumulating and storing primary hydroacoustic information and diagnostic information about the current state of HBO equipment, as well as data coming from navigation devices of underwater media necessary to determine the height position of the pipeline relative to the bottom line, and the planned position of the pipeline in the world geodetic coordinate system.

The objective of the invention is to improve the accuracy of determining the height and planned position of the underwater pipeline. The technical result consists in taking into account the geometry of the section of the voiced section of the pipeline, the position of the pipeline relative to the bottom line, adjusting the inclined ranges and boundaries of the acoustic shadow zone according to a pre-built profile of the speed of sound in water, taking into account systematic errors in the angles of trim, yaw, roll and delay errors between issuing navigation data and reception of echo signals reflected from the bottom, the orientation of the underwater carrier, determined by the roll and trim angles, which ensures accurate measurement the height position of the pipeline relative to the bottom line and the position of the pipeline in the world geodetic coordinate system.

,

,

оси озвученного участка оголенного трубопровода в «приборной» системе координат и его высотное положение den относительно линии дна рассчитывают по формуламTo ensure the indicated technical result, a method for determining the position of an underwater pipeline, in which acoustic pulses are emitted into the water volume using a HBO transceiver antenna mounted on an underwater carrier with a predetermined sounding period, and backscattered echo signals are received sequentially from elementary sections of the bottom and exposed section of the pipeline , measure the propagation times of the echo signals and calculate the slant ranges to each voiced area, determine the boundaries of the ac zone -terrorist shade from the bared portion of the conduit, according sonar surveying given previously measured linear displacement began "dashboard" and "ship" coordinate systems is determined from the lag of the antenna HBO bottom. New features have been introduced into the known method, namely: HBO is calibrated first on a specially equipped training ground, determining constant systematic errors by the trim angle α, yaw angle γ, roll angle θ and the delay error between the output of navigation data and the reception of echoes reflected from the bottom, leaving to the working area of the water area, the distribution of the speed of sound in water is measured, according to which the inclined ranges to each voiced area and the boundary of the acoustic shadow zone from the exposed area are adjusted pipeline, and during shooting, the coordinates of the position and orientation angles of the underwater carrier (trim angle β, heading angle φ, roll angle η) are recorded in the world geodetic coordinate system WGS-84, and the coordinates

,

,

the axis of the voiced section of the exposed pipeline in the “instrument” coordinate system and its height position den relative to the bottom line are calculated by the formulas

где R_E, R_D - наклонные дальности до точек конца и начала зоны акустической тени соответственно, R_тр - внешний радиус трубы, H - отстояние антенны ГБО от дна, а координаты

,

,

оси озвученного участка провисающего трубопровода в «приборной» системе координат и его высотное положение sag относительно линии дна рассчитывают по формулам

where R _E , R _D are the inclined ranges to the points of the end and beginning of the acoustic shadow zone, respectively, R _Tr is the outer radius of the pipe, H is the distance of the HBO antenna from the bottom, and the coordinates

,

,

the axis of the voiced section of the sagging pipeline in the "instrument" coordinate system and its height position sag relative to the bottom line is calculated by the formulas

где R_E, R_A - наклонные дальности до точек конца и начала зоны акустической тени соответственно, а координаты озвученного участка подводного трубопровода в «судовой» системе координат с учетом линейного смещения начал «приборной» и «судовой» систем координат и с учетом постоянных систематических ошибок по углу дифферента α, углу рыскания γ, углу крена θ и ошибок задержки между выдачей навигационных данных и приемом отраженных от дна эхосигналов определяют на основе пространственных преобразований составляющих векторов, а затем с учетом координат положения и углов ориентации подводного носителя (угла дифферента β, угла курса φ, угла крена η) в системе координат WGS-84, а также положения оси озвученного участка подводного трубопровода в «судовой» системе координат на основе пространственных преобразований составляющих векторов определяют положение оси подводного трубопровода в мировой геодезической системе координат WGS-84.

where R _E , R _A are the inclined ranges to the points of the end and beginning of the acoustic shadow zone, respectively, and the coordinates of the voiced section of the underwater pipeline in the “ship” coordinate system, taking into account the linear displacement of the “instrument” and “ship” coordinate systems, and taking into account constant systematic errors in trim angle α, yaw angle γ, roll angle θ and delay errors between the output of navigation data and the reception of echo signals reflected from the bottom are determined based on spatial transformations of the component vectors, and then taking into account the coordinates of the position and orientation angles of the underwater carrier (trim angle β, heading angle φ, roll angle η) in the WGS-84 coordinate system, as well as the axis position of the voiced section of the underwater pipeline in the “ship” coordinate system based on the spatial transformations of the component vectors determine the axis position subsea pipeline in the world geodetic coordinate system WGS-84.

To achieve the specified technical result, the device for determining the position of the underwater pipeline, located on the underwater carrier, containing two transceiver antennas and a transceiver unit, including the GU, the APO of the echo signals, the DSP module, the PSU, while the conclusions from the antennas are connected to the APO of the echo signals, while the PSU has a connector for receiving supply voltage from the board of the underwater carrier, and the DSP module a connector for two-way data exchange with the VC of the underwater carrier, through which the initial parameters of the work are transferred to the DSP module HBO equipment, and back to the VC of the underwater carrier hydroacoustic data and diagnostic information about the current state of the HBO are transmitted for subsequent processing, while the first, second and third outputs of the PSU are connected to the inputs of the APO of the echo signals, the GU and the DSP module, respectively, the GU output is connected to the input APO of the echo signals, while the GU has two-way communication with the DSP module, which in turn has two-way communication with the APO of the echo signals, while the output of the DSP module is connected to the PSU input. The following new features have been introduced into the device: a device for storing and storing primary sonar information and diagnostic information about the current state of the HBO equipment, as well as data from navigation devices of the underwater carrier, the output of which is connected to the DSP module, is included in the transceiver unit.

We show the ability to achieve the specified technical result.

An autonomous uninhabited underwater vehicle (AUV) is used as an underwater carrier. When moving AUA - the carrier of HBO - along the pipeline, the sections of the bottom surface and the exposed pipeline are sequentially dubbed with acoustic pulses of short duration and the reception of signals reflected from them.

If the dimensions of the voiced section of the pipe surface exceed the resolution of the HBO in an inclined range, then an acoustic shadow zone is formed behind it. As a result, in the sonar image after the “bright” mark from the pipeline, an image of its shadow is obtained in the form of a zone with reduced intensity.

By analyzing the image of the acoustic shadow, it is possible to determine the coordinates of the voiced pipe section and evaluate the amount of exposure and sagging (the height position of the pipeline relative to the bottom line). Consider two possible situations:

- sonar survey of the exposed section of the pipeline;

- sonar survey of the sagging section of the pipeline.

и примем ее равной нулю.A graphical representation of the first situation is presented in figure 1. The beginning of the right-hand “instrument” coordinate system (coordinate system of the HBO antenna) X ^HBO Y ^HBO Z ^HBO is located in the phase center of the antenna (point 0). The X axis of the ^HBO lies in the active plane of the receiving surface of the antenna. The plane of ^HBO 0Z ^HBO passes through the cross section of the directivity (CH) in the vertical plane in the direction of the main maximum. Due to the fact that the width of the HB HBO in the horizontal plane is 0.5-2 degrees, we will consider the two-dimensional problem of estimating the size of the acoustic shadow zone. Fix the coordinate

and take it equal to zero.

The points of greatest interest are: B - the point of first contact of the pipeline with the wave front; D and E are the boundaries of the acoustic shadow zone. Under the condition of a flat bottom, selecting the indicated points, for example, using threshold processing methods, it is possible to determine the coordinates of the pipeline in the coordinate system of the HBO antenna

where R _E , R _D - slant ranges to points E and D, respectively, m;

R _tp is the outer radius of the pipe, m;

N - the distance of the HBO antenna from the bottom, m

The value of exposure (the height position of the exposed section of the pipe relative to the bottom line) is determined by the formula

Теперь точка А характеризует начало зоны акустической тени.A graphical representation of the second situation is presented in figure 2. In this case, the condition

Now point A characterizes the beginning of the acoustic shadow zone.

Then, provided the bottom is even, the coordinates of the pipeline in the coordinate system of the HBO antenna are determined from the expressions

where R _A is the slant range to point A, m

The amount of sagging (the height position of the sagging pipe section relative to the bottom line) is determined by the formula

Expressions (1) - (4) allow you to automatically calculate the coordinates of the voiced section of the pipeline in the "instrument" coordinate system, as well as the amount of exposure and sagging.

To determine the coordinates of the voiced pipe section in the world geodetic coordinate system WGS-84 X ^WGS-84 Y ^WGS-84 Z ^WGS-84, you need to know the position and orientation of the device in this system, as well as the mismatch (linear and angular) of the “instrument” and “ship "Coordinate systems (figure 3). The center of the right-hand “ship” coordinate system (coordinate system of the device) X ^ANPA Y ^ANPA Z ^{ANPA will} be placed at the installation point of the inertial navigation system (ANN). The X axis lies in the ^AUV buttock plane (the positive direction of the nose), Y axis ^AUV - theoretical waterline plane (the positive direction on the right side).

Prior to the survey, the coordinates of the beginning of the “instrument” coordinate system are determined in the coordinate system of the apparatus. Then, a calibration is carried out, the purpose of which is to determine constant systematic errors in four parameters: the angular mismatch of the “instrument” and “ship” coordinate systems (errors of the trim angle α, yaw γ and roll θ) and the delay (delay between the output of navigation data and the reception of reflected from bottom of the signals). Calibration of HBO is the performance of a special survey at a prepared training ground in special, most favorable external conditions.

After determining the linear displacement of the beginnings of the “instrument” and “ship” coordinate systems and calculating the corrections, the coordinates of the announced pipe section in the AUV coordinate system are determined using spatial transformations

- координаты трубопровода в системе координат антенны ГБО, определяемые из выражений (1), (3);Where

- the coordinates of the pipeline in the coordinate system of the HBO antenna, determined from expressions (1), (3);

[T] is the generalized matrix of spatial transformations.

The transformation matrix [T] can be represented as a sequence of transfers and rotations

where [T _i ] are a combination of linear displacement matrices (taking into account the linear displacement of the beginnings of the “instrument” and “ship” coordinate systems), transfer (delay correction), rotation around the Y-axis of the ^AUV (correction for the angle α), rotation around the z-axis of the ^AUV ( correction for the angle γ), rotation around the X axis of the ^AUV (correction for the angle θ).

The linear displacement matrix has the form (D. Rogers, J. Adams. Mathematical foundations of computer graphics. Moscow, Mir 2001. - p. 128.)

where the elements l, m and n are the coordinates of the center of the “instrument” coordinate system in the coordinate system of the device in the directions X ^ANPA , Y ^ANPA , Z ^ANPA, respectively.

The transformation matrix, taking into account the correction of the coordinates of the pipeline delay, is described by the expression (figure 4)

where V _AUV - the speed of movement of the AUV during calibration, m / s;

dT — delay correction, s;

- координаты точки С после учета линейного смещения;

- coordinates of point C after taking into account linear displacement;

- координаты точки С после учета поправки на запаздывания.

- coordinates of point C after taking into account the delay correction.

The transformation matrix, taking into account the error of the angle of the trim, is described by the expression (figure 5)

where α is the error of the angle of the trim, deg;

- координаты точки С после учета ошибки угла дифферента.

- coordinates of point C after taking into account the error of the angle of the trim.

The transformation matrix, taking into account the error of the yaw angle, is described by the expression (Fig.6)

where γ is the yaw angle error, deg;

- координаты точки С после учета ошибки угла рыскания.

- coordinates of point C after taking into account the yaw angle error.

The transformation matrix, taking into account the error of the roll angle (Fig.7)

where γ is the roll angle error, deg;

- координаты точки С после учета ошибки угла крена.

- coordinates of point C after taking into account the roll angle error.

The coordinates of the voiced pipeline section in the WGS-84 coordinate system are determined from the following expression:

where [P] is the generalized matrix of spatial transformations.

When tracking the pipeline, the trajectory of the apparatus and its orientation, determined by the course, heel and trim angles, vary depending on external conditions (currents, wave loads, obstacles in the direction of movement of the AUV). Then the transformation matrix [P] can be represented as a sequence of transfers and rotations

where [P _i ] are a combination of spatial transport matrices (ANPA coordinates in the WGS-84 coordinate system), rotation around the Y-axis of the ^ISMT (correction for the ANPA trim), rotations around the Z-axis of the ^ISPM (correction for the ANPA course), rotation around the X-axis of the ^ISPM (adjustment for AUV roll).

The spatial transport matrix is described by expression (7), where the elements l, m and n are already the coordinates of the apparatus in the coordinate system WGS-84 in the directions X ^WGS-84 , Y ^WGS-84 , Z ^WGS-84, respectively.

The transformation matrix, taking into account the AUV trim, is described by the expression (Fig. 8)

where β - trim AUV, deg;

- координаты точки С после учета линейного смещения начал «судовой» и мировой геодезической систем координат;

- coordinates of point C after taking into account the linear displacement of the beginnings of the “ship” and world geodetic coordinate systems;

- координаты точки С после учета дифферента АНПА.

- coordinates of point C after taking into account the AUV trim.

The transformation matrix, taking into account the correction for the AUV rate, is described by the expression (Fig. 9)

where φ is the AUV rate, deg;

- координаты точки С после поправки на курс АНПА.

- coordinates of point C after correction for the AUV rate.

The transformation matrix, taking into account the roll AUV (figure 10)

where η - roll AUV, city;

- координаты точки С после поправки на крен АНПА.

- the coordinates of point C after adjusting for the roll of the AUV.

Thus, knowing the diameter of the examined section of the pipeline, the distance of the HBO antenna from the bottom, the location of the HBO antenna on board the device, the location and orientation of the AUV in the WGS-84 coordinate system, you can determine the height (exposure and sagging) and the planned position of the voiced section using the length of the cast shadow pipeline in the coordinate system WGS-84.

When determining the inclined ranges, it is necessary to adjust the output data taking into account the curvature of the trajectory of acoustic rays in the aquatic environment.

To calculate the trajectory of rays in an inhomogeneous medium, the Snell law is applied, according to which the angle of incidence θ at depth z is found from the known angle of incidence θ _i at depth z _i (K. Clay, G. Medvin. Acoustic Oceanography. - M.: MIR, 1980. - p. 95)

where c (z _i ) is the speed of sound at a depth of z _i ;

and - beam parameter.

- наклонная дальность до трубопровода (точка D') до коррекции, R_D - наклонная дальность до трубопровода (точка D) после коррекции.The sequential application of Snell's law to the continuous distribution c (z) is illustrated in Fig. 11, where 1 is the path of the acoustic beam before correction, 2 is the path of the acoustic beam after correction,

- slant range to the pipeline (point D ') before correction, R _D - slant range to the pipeline (point D) after correction.

The horizontal distance to the announced section of the pipeline (point D) is the integral of dy when integrated along the path of the acoustic beam in the range from the initial depth z ₀ to the final z _C (K. Clay, G. Medvin. Acoustic Oceanography. - M .: MIR, 1980 . - p. 96)

This equation can be solved for a certain profile c (z) if the initial values z ₀ and θ _{0 are given} .

The slant range to the pipeline section (point D ') before correction is determined by the ratio

where c ₀ is the speed of sound at the HBO antenna, m / s;

Δt is the delay time of the echo signal relative to the radiation moment, s.

The angle of incidence θ ₀ is determined by the relation

The slant range to the voiced pipeline section (point D) after correction is determined by the expression

To calculate the integral (18), approximations of the real profile c (z) are used. Either piecewise linear approximation or stepwise approximation of the sound velocity profile is used.

In a piecewise linear approximation, the complex profile of the speed of sound is replaced by several sections, in each of which the gradient of the speed of sound in depth remains constant.

In the stepwise approximation of the sound velocity profile, the horizons at which it is measured are considered the boundaries of the layers, the sound velocity in each layer is considered constant and equal to the average value of the measurement results obtained at the upper and lower boundary of the layer.

The invention is illustrated figure 1-12, where figure 1 shows an examination of the exposed section of the pipe using HBO, figure 2 - examination of the sagging section of the pipe using HBO, figure 3 - determination of the coordinates of the pipeline in the system WGS-84, in Fig.4 - correction for delay, in Fig.5 - error of the trim angle, in Fig.6 - the error of the yaw angle, in Fig.7 - the error of the angle of heel, in Fig.8 - accounting trim AUA, in Fig.9 - accounting for the angle of the AUV course, in Fig.10 - accounting for the roll of the AUV, in Fig.11 - the profile of the speed of sound (left) and the trajectory of the acoustic beam on the right, vector di gram (bottom): ds distance element along the trajectory, expressed in terms of horizontal and vertical displacement dy and dz, Figure 12 - a device realizing the method.

The device that implements the method (Fig. 12, b)) contains two sonar transceiving antennas 1, 2, a transceiver unit 3 and a computer complex 4. Antennas are installed from two sides of the AUV (Fig. 12, a)), while the axes of the radiation patterns antennas are directed laterally perpendicular to the displacement vector and are slightly inclined towards the bottom by an angle of 10-20 degrees relative to the horizon. The findings from the antennas are connected to the equipment of the transceiver unit located in a sealed enclosure. The transceiver unit also has a connector for receiving power supply from the device and a connector for two-way data exchange with VKU AUV.

The structure of the transceiver unit HBO includes: generator device 5; equipment 6 preliminary processing of echo signals; digital signal processing module 7; power supply unit 8; drive 9.

PG provides the formation of a probe pulse simultaneously for the left and right side antennas. APO amplifies the echo signals of the left and right side antennas with bandpass filtering in the operating frequency range of the HBO, and performs analog-to-digital conversion. The DSP module provides data exchange with the AUVP VK, control the operation of the HBO equipment, the formation of sounding signals, digital signal processing, archiving data during the mission, pumping data to an external medium, diagnosing a malfunction of the transceiver unit and its components. The power supply unit receives power from the AUV board, converts the on-board voltage into the supply voltage of the electronic components of the unit and issues them to consumers when an external command to turn on the sonar is received. The flash drive provides storage of primary sonar information and diagnostic information about the current state of the HBO equipment, as well as navigation data coming from the AUVP VK. In VK ANPA, the height and planned position of the pipeline are determined according to the method.

The description of the method should be combined with a description of the operation of the device.

Before determining the position of the underwater pipeline, the linear displacement of the beginnings of the “instrument” and “ship” coordinate systems is determined, then the HBO is calibrated at a specially equipped training ground, determining constant systematic errors by the trim angle α, yaw angle γ, roll angle θ and delay errors between issuing navigation data and receiving reflected from the bottom of the echo signals (Fig.4, Fig.5, Fig.6, Fig.7). When applying power to the HBO, power is supplied to all electronic nodes of the transceiver unit. Parameter settings (type of signal, power of the emitted signal, scale, duration of the radiation pulse) are carried out both in automatic mode and according to commands received from the AUVA VK. When an external signal is supplied to begin operation of the gas equipment and data is received from the AUVA VK, a command is issued to launch the PG 5. After that, the antennas 1 or 2 emit sounding pulses into the aqueous medium (Fig. 1, Fig. 2). Simultaneously with the start of the control unit, a command for APO 6 is received. Echo signals received by the antenna 1 or 2 are amplified, bandpass filtering is performed, and then the signals are fed to analog-to-digital converters and, after conversion, are fed to the DSP module 7. In the DSP module 7, the signals are filtered and form complex signals. envelopes of received signals. The signals generated in the DSP module 7 are recorded in the drive 9, and also transmitted to the AUV VK for joint signal processing for several radiation-reception cycles. The ANPA VK also receives data from a sounding fish finder and a sound velocity sensor. In ANPA VK, the inclined ranges to each voiced section are calculated, the boundaries of the acoustic shadow zone from the exposed section of the pipeline are determined, the inclined ranges to each voiced area and the boundaries of the acoustic shadow area from the exposed section of the pipeline are adjusted according to the constructed distribution of the speed of sound in water (Fig. 11) , automatically calculate the coordinates of the pipeline in the "instrument" system and evaluate its altitude relative to the bottom line in real time. The processed data and the decisions made are also recorded in drive 9, along with the separation of the AUV from the bottom, the speed of the AUV movement, the coordinates and orientation of the AUV in the world geodetic coordinate system, and the vertical distribution of the speed of sound in water. The coordinates of the pipeline in the world geodetic coordinate system can be determined in real time in VK ANPA, or in the process of cameral processing, lifting the device on board the support vessel (JI). While the AUV is onboard the JI, the data recorded on the storage device is removed and then processed to calculate the coordinates of the pipeline in the WGS-84 world geodetic coordinate system using formulas (5) - (16) taking into account the AUV orientation in the WGS-84 coordinate system (Fig. .8, Fig. 9, Fig. 10) and constructing a sonar image of the examined section of the pipeline. The method and device allows to identify emergency sections of the pipeline, to identify and identify dangerous or unfavorable bottom objects near the pipeline, to detect the outflow of gas from micro fistula, to determine the geomorphological features of the bottom topography in the area of the pipeline.

Thus, the proposed method and device for determining the coordinates of the surveyed section of the pipeline, laid on a flat bottom, in the world geodetic system WGS-84, taking into account the vertical distribution of the speed of sound in the aquatic environment, corrections for the location of the HBO antenna on board the device, the delay between the issuance of navigation data and the reception of echoes reflected from the bottom, the location and orientation of the AUV in the WGS-84 system. A mathematical apparatus has been developed for calculating the height position of the pipeline relative to the bottom line and the position of the pipeline in the world geodetic coordinate system.

Real-time interpretation of HBO data to determine the height of the pipeline relative to the bottom line allows you to automatically detect the presence of an emergency (sagging section) and transmit the coordinates of this section through the sonar communication channel to the CO without raising the AUV. The error in determining the exposures and sagging of the surveyed section of the pipeline by the proposed method does not exceed several centimeters, which allows you to quickly conduct an additional examination of the emergency section and plan ahead to fix the problem before the pipeline system is damaged.

The inclusion of the developed method for determining the position of the pipeline in the world geodetic system in the software for off-site data processing of the AUV search and research tools complex allows to increase the productivity of the inspection of the technical condition of a bare pipeline laid on a flat bottom.

Thus, the technical result of the invention is achieved.

Claims (2)

1. A method for determining the position of an underwater pipeline, in which, using a side-scan sonar transceiver antenna mounted on an underwater carrier, acoustic pulses are emitted into the water volume with a given sounding period and the backscattered echo signals are successively received from elementary sections of the bottom and exposed section of the pipeline, measure the propagation times of the echo signals and calculate the slant ranges to each voiced area, determine the boundaries of the acoustic shadow zone from the bare According to the measured sonar, taking into account the previously measured linear displacement of the beginnings of the “instrument” and “ship” coordinate systems, the distance of the side-scan sonar antenna from the bottom is characterized by the fact that the side-scan sonar is preliminarily calibrated to determine the constant systematic errors in trim angle α, yaw angle γ, roll angle θ and delay errors between the output of navigation data and the reception of echo signals reflected from the bottom After entering the working area of the water area, they measure the distribution of the speed of sound in water, according to which the slant ranges to each voiced section and the boundary of the acoustic shadow zone from the exposed section of the pipeline are adjusted, and the position coordinates and orientation angles of the underwater carrier (angle trim β, heading angle φ, roll angle η) in the world geodetic coordinate system WGS-84, and the coordinates

the axis of the voiced section of the exposed pipeline in the “instrument” coordinate system and its height position den relative to the bottom line are calculated by the formulas

,
where R _E , R _D are the inclined ranges to the points of the end and beginning of the acoustic shadow zone, respectively, R _mp is the outer radius of the pipe, N is the distance of the side-scan sonar antenna from the bottom, and the coordinates

,

,

the axis of the voiced section of the sagging pipeline in the "instrument" coordinate system and its height position sag relative to the bottom line is calculated by the formulas

where R _E , R _A are the inclined ranges to the points of the end and the beginning of the acoustic shadow zone, respectively, and the coordinates of the voiced section of the underwater pipeline in the “ship” coordinate system taking into account the linear displacement of the beginnings of the “instrument” and “ship” coordinate systems and taking into account constant systematic errors in trim angle α, yaw angle γ, roll angle θ and delay errors between the output of navigation data and the reception of echo signals reflected from the bottom are determined based on spatial transformations of the component vectors, and then taking into account coordinates of the position and orientation angles of the underwater carrier (trim angle β, course angle φ, roll angle η) in the WGS-84 coordinate system, as well as the axis position of the voiced section of the underwater pipeline in the “ship” coordinate system based on the spatial transformations of the component vectors determine the axis position subsea pipeline in the world geodetic coordinate system WGS-84. 2. The device for determining the position of the underwater pipeline, placed on an underwater carrier, containing two transceiver antennas and a transceiver unit, including a generator device, pre-processing of echo signals, a digital signal processing module, a power supply, while the conclusions from the antennas are connected to the pre-processing equipment echo signals, while the power supply has a connector for receiving voltage from the underwater carrier, and the digital signal processing module has a connector for two communication with the underwater carrier computer complex, through which the initial parameters of the side-scan sonar equipment are transmitted to the digital signal processing module, and hydroacoustic data and diagnostic information about the current state of the side-scan sonar are transmitted back to the underwater carrier computer complex for subsequent processing, this the first, second and third outputs of the power supply are connected to the inputs of the equipment for pre-processing of echo signals, the gene the generator device and the digital signal processing module, respectively, the output of the generator device is connected to the input of the pre-processing equipment for echo signals, while the generator device has two-way communication with the digital signal processing module, which, in turn, has two-way communication with the pre-processing equipment signals, while the output of the digital signal processing module is connected to the input of the power supply, characterized in that the storage device is included in the transceiver unit and wound primary sonar information and diagnostic information about the current state of the side-scan sonar equipment, and data received from the underwater vehicle navigation device, the output of which is connected with the module of digital signal processing.

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