顾及声线弯曲的浅海多目标水声定位算法
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摘要
本文简要介绍了浅海石油勘探中声学二次定位的原理,分析了大入射角情况下浅海声线弯曲误差对声学定位的影响。针对声速测量不准和大入射角观测的问题,提出了顾及声线弯曲的多目标序贯解算方法;根据多目标观测的原理和声线弯曲结构短期内的稳定性,设计了基于序贯最小二乘的参数估计方法;该方法按入射角设置阈值,构建新的声线弯曲模型,并利用模型和参数分段解算声线弯曲误差的改正数。采用仿真实验和南海实测试验对新算法进行验证,结果表明:新方法在声速测量不准且大入射角观测数据占比例较大情况下,可改善观测模型,显著提高定位精度。
In this paper,the influence of sound line bending error on acoustic positioning with large incidence angles is analyzed.To solve the problem of inaccurate sound velocity measurement with the large incident angle observation,a multi-objective sequential solution is proposed.New parameter estimation with sequential least squares is put forward based on the principle of multi-objective observation and the short-term similarity of acoustic line bending error.The thresholds are set with different incident angles,new acoustic line bending models are built,and the correction of acoustic line bending error is calculated with new models and parameter segments.The new algorithm has been tested on simulations and real data of the South China Sea.The results show that the proposed algorithm can improve the observation model and the positioning accuracy for a large proportion of the observation data with inaccurate acoustic velocity caused by large incidence angles.
In this paper,the influence of sound line bending error on acoustic positioning with large incidence angles is analyzed.To solve the problem of inaccurate sound velocity measurement with the large incident angle observation,a multi-objective sequential solution is proposed.New parameter estimation with sequential least squares is put forward based on the principle of multi-objective observation and the short-term similarity of acoustic line bending error.The thresholds are set with different incident angles,new acoustic line bending models are built,and the correction of acoustic line bending error is calculated with new models and parameter segments.The new algorithm has been tested on simulations and real data of the South China Sea.The results show that the proposed algorithm can improve the observation model and the positioning accuracy for a large proportion of the observation data with inaccurate acoustic velocity caused by large incidence angles.
引文
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[19] Fujita M,Ishikawa T,Mochizuki M,et al.GPS/Acoustic seafloor geodetic observation:method of data analysis and its application[J].Earth,Planets and Space,2006,58(3):265-275.
[20] 武汉大学测绘学院测量平差学科组.误差理论与测量平差基础[M].湖北武汉:武汉大学出版社,2003.
[2] 金翔龙.海洋地球物理研究与海底探测声学技术的发展[J].地球物理学进展,2007,22(4):1243-1249.JIN Xianglong.The development of research in marine geophysies and acoustic technology for submarine exploration[J].Progress in Geophysics,2007,22(4):1243-1249.
[3] 程元方,李素闪,张文栋,等.海底电缆资料处理关键技术及其应用[J].石油地球物理勘探,2017,52(增刊2):26-31.CHENG Yuanfang,LI Sushan,ZHANG Wendong,et al.Key techniques for OBC data processing[J].Oil Geophysical Prospecting,2017,52(S2):26-31.
[4] 方守川,秦学彬,任文静,等. 基于多换能器的声学短基线海底电缆定位方法[J]. 石油地球物理勘探,2014,49(5):825-828.FANG Shouchuan,QIN Xuebin,REN Wenjing,et al.Ocean buttom cable positioning based on multi-transducer short baseline acoustic method[J].Oil Geophysical Prospecting,2014,49(5):825-828.
[5] 易昌华,韩华,方守川,等. 海上地震勘探罗经鸟数据对拖缆空间位置的影响[J].石油地球物理勘探,2015,50(5):809-814.YI Changhua,HAN Hua,FANG Shouchuan,et al.Compass data influence on towed streamer positioning in marine seismic[J].Oil Geophysical Prospecting,2015,50(5):809-814.
[6] 易昌华,任文静,王钗.二次水声定位系统误差分析.石油地球物理勘探[J],2009,44(2):136-139.YI Changhua,REN Wenjing,WANG Chai.Analysis on error of secondary acoustic positioning system[J].Oil Geophysical Prospecting,2009,44(2):136-139.
[7] 赵爽,王振杰,吴绍玉,等.基于选权迭代的走航式水声差分定位方法[J].石油地球物理勘探,2017,52(6):1137-1145.ZHAO Shuang,WANG Zhenjie,WU Shaoyu,et al. A ship-board acoustic difference positioning method based on selection weight iteration[J].Oil Geophysical Prospecting,2017,52(6):1137-1145.
[8] Zhao Shuang,Wang Zhenjie,He Kaifei,et al. Investi-gation on underwater positioning stochastic model based on acoustic ray incidence angle[J].Applied Ocean Research,2018,77(8):69-77.
[9] 赵建虎,刘经南.多波束测深及图像数据处理[M].湖北武汉:武汉大学出版社,2008.
[10] Kido M,Osada Y,Fujimoto H.Temporal variation of sound speed in ocean:a comparison between GPS/acoustic and in situ measurements[J].Earth,Planets and Space,2008,60(3):229-234.
[11] 苏林,马力,宋文华,等.声速剖面对不同深度声源定位的影响[J].物理学报,2015,64(2):24302-024302.SU Lin,MA Li,SONG Wenhua,et al.Influences of sound speed profile on the source localization of dif-ferent depths[J].Acta Physica Sinica,2015,64(2):24302-024302.
[12] 王毅.石油勘探中水下高精度定位算法研究[D].山东青岛:中国石油大学(华东),2014.WANG Yi.Research on Algorithms of High-Precision Underwater Positioning in Petroleum Exploration[D].China University of Petroleum (East China),Qingdao,Shandong,2014.
[13] 方守川.海底电缆地震勘探导航定位关键技术研究及系统研制[D].湖北武汉:武汉大学,2014.
[14] Xu P,Ando M,Tadokoro K.Precise,three-dimensional seafloor geodetic deformation measurements using difference techniques[J].Earth,Planets and Space,2005,57(9):795-808.
[15] Chen H H.Travel-time approximation of acoustic ranging in GPS/Acoustic seafloor geodesy[J].Ocean Engineering,2014,84:133-144.
[16] Yang F,Lu X,Li J,et al.Precise positioning of underwater static objects without sound speed profile [J].Marine Geodesy,2011,34(2):138-151.
[17] Kido M.Detecting horizontal gradient of sound speed in ocean[J].Earth,Planets and Space,2007,59(8):e33-e36.
[18] Spiess F N,Chadwell C D,Hildebrand J A,et al.Precise GPS/Acoustic positioning of seafloor reference points for tectonic studies[J].Physics of the Earth and Planetary Interiors,1998,108(2):101-112.
[19] Fujita M,Ishikawa T,Mochizuki M,et al.GPS/Acoustic seafloor geodetic observation:method of data analysis and its application[J].Earth,Planets and Space,2006,58(3):265-275.
[20] 武汉大学测绘学院测量平差学科组.误差理论与测量平差基础[M].湖北武汉:武汉大学出版社,2003.
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