CN110824551B - OBS accurate positioning method based on acoustic ranging and multi-beam terrain - Google Patents

OBS accurate positioning method based on acoustic ranging and multi-beam terrain Download PDF

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CN110824551B
CN110824551B CN201911110946.2A CN201911110946A CN110824551B CN 110824551 B CN110824551 B CN 110824551B CN 201911110946 A CN201911110946 A CN 201911110946A CN 110824551 B CN110824551 B CN 110824551B
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柳云龙
陶春辉
丘磊
蔡巍
张国堙
周建平
梁锦
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Second Institute of Oceanography MNR
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    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/16—Receiving elements for seismic signals; Arrangements or adaptations of receiving elements
    • G01V1/18—Receiving elements, e.g. seismometer, geophone or torque detectors, for localised single point measurements
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Abstract

The invention discloses an OBS (on-board diagnostics) accurate positioning method based on underwater acoustic ranging and multi-beam terrain, which comprises the steps of firstly, ranging an OBS by using an acoustic communication machine in an effective range of an OBS release point; when the sound velocity profile is not considered, a nonlinear equation set is constructed through the relation between the slope distance from the OBS to the distance measuring point and the travel time, and the equation set is solved by utilizing a Newton iterative algorithm to obtain the seat bottom position of the OBS; when a sound velocity profile is considered, gridding the multi-beam submarine topography near the OBS release point, calculating the calculation travel time from each grid point to the ranging point by using a ray tracing method according to the sound velocity profile, and constructing a residual error equation set of the OBS and each ranging point in the calculation travel time and the observation travel time; and solving the optimal solution of the residual error equation set by using a grid search method, namely the sitting position of the OBS. The method has the characteristics of simple operation, time saving and accurate calculation, and realizes the accurate positioning of the free-fall launched OBS seabed.

Description

OBS accurate positioning method based on acoustic ranging and multi-beam terrain
Technical Field
The invention belongs to the technical field of ocean bottom earthquake observation, and relates to an accurate positioning method of an Ocean Bottom Seismograph (OBS) based on acoustic ranging and multi-beam terrain.
Background
The seabed passive source seismic observation technology is used for researching the middle ridge structure and the magma activity of the ocean by laying long-term observation of OBS stations on the seabed and utilizing natural seismic signals received by the OBS stations. Generally, the OBS is thrown to the seabed in a free-fall manner, and the seated position of the OBS deviates from the thrown position to a certain extent due to the influence of ocean currents. Deviations in OBS position will directly result in increased resulting errors in seismic positioning and therefore require OBS position correction prior to seismic data processing. For the active source submarine earthquake experiment, the position correction can be carried out in a mode of blasting by an air gun (or electric spark). However, for passive source seismic observation experiments, the active source blasting operation is not usually performed due to the limitation of ship time and expenses, and the OBS position is usually not well corrected.
Disclosure of Invention
The invention aims to provide a method for accurately positioning the sitting position of an OBS (on-board vehicle) based on the underwater acoustic ranging result of an acoustic communicator to the OBS and by combining an acoustic velocity profile and multi-beam terrain data. The principle is that the actual sitting position of the OBS is solved by the minimum residual error between the calculation travel time and the observation travel time between the ranging point and the OBS. The method can simultaneously position a plurality of OBSs in a research area by utilizing the short time of the ship and the distance measuring function of the acoustic communication machine for releasing the OBSs, and has good application effect.
The invention is realized by the following technical scheme: an OBS accurate positioning method based on underwater acoustic ranging and multi-beam terrain comprises the following steps:
(1) at OBS Point of delivery (x)0，y0，z0) N (n is more than or equal to 3) sea surface distance measuring points (x) in effective range1，y1，z1；x2，y2，z2；x3，y3，z3；...；xn，yn，zn) Performing acoustic ranging on OBS by using acoustic communication machine to obtain corresponding ranging result d1，d2，d3，...，dnThe unit m;
(2) the method is divided into two cases according to whether sound velocity profile data exists in the OBS release sea area or not to be considered: first, the sound velocity profile data is not considered; in the second case, the sound velocity profile data is considered;
(3) for the first case, according to the average sound velocity of 1500m/s, the shortest sound wave ray is propagated along a straight line, 3 distance measuring points are arbitrarily selected from the distance measuring points and combined with multi-beam submarine topography data, and through the relationship between the slope distance from the OBS to the distance measuring points and the travel time, a multivariate nonlinear equation set is constructed as follows:
Figure BDA0002272688350000021
where (x, y, z) is the OBS sit-bottom coordinates, the solution to the system of equations satisfies the multi-beam seafloor topography z ═ g (x, y) since the OBS is located on the seafloor;
(4) point coordinates (x) are placed with OBS0，y0，z0) As an initial value, equation set (1) is solved using a newton iterative algorithm to obtain an approximate solution (x)m，ym，zm) N sets of ranging data are obtained
Figure BDA0002272688350000022
An approximate solution of the system of equations, thereby obtaining an optimal solution of the OBS seat position;
(5) in the second case, the sound velocity profile is considered, the shortest acoustic ray path has a certain curvature, the bottom of the OBS is assumed to be (x, y, z ═ g (x, y)), the sound velocity profile is obtained from the CTD, and the travel time between the OBS and the distance measurement point n is calculated by using the ray tracing method
Figure BDA0002272688350000023
N actual travel time of observation at distance measuring point
Figure BDA0002272688350000024
Constructing a residual equation system of the calculated travel time and the observed travel time as follows:
Figure BDA0002272688350000025
wherein n is more than or equal to 3.
(6) Gridding the multi-beam submarine topography near the OBS release point, and obtaining the residual error in the equation set (2) by using a grid search method
Figure BDA0002272688350000026
And the position of the grid point at the minimum is the OBS sitting bottom position.
Further, in the step (1), since the maximum active slant range of the acoustic communication machine is 10km, the ranging points should be uniformly distributed around each direction within 5km of the OBS drop point.
Further, in the step (1), the longitude and latitude coordinates of the ship-borne GPS position are converted into a cartesian rectangular coordinate system, and the offset distance between the ship-borne GPS position and the acoustic communication machine is calculated to obtain the rectangular coordinates of the acoustic communication machine (distance measurement point).
Further, in the step (1), in order to ensure that the distance measuring signal is not shielded by the ship body, the transducer of the acoustic communication machine is usually placed in the water for 5-10 m.
Further, in the step (3), the nonlinear equation set (1) is constrained by the multi-beam topography data according to the OBS bed water depth z being a function of the multi-beam seafloor topography, z being g (x, y).
Further, in the step (4), an approximation method for linearizing the non-linear equation f (x) to 0 is used. B, converting f (x) to a point x0Is expanded into a Taylor series
Figure BDA0002272688350000031
Figure BDA0002272688350000032
Take its linear part (i.e. the first two terms of the Taylor expansion) and make it equal to 0, i.e. f (x)0)+f′(x0)(x-x0) 0 as an approximation of the non-linear equation f (x) 0, if f' (x)0) Not equal to 0, then it is solved as
Figure BDA0002272688350000033
Thus, an iterative relation of the Newton iteration method is obtained
Figure BDA0002272688350000034
Further, in the step (4), by
Figure BDA0002272688350000035
The optimal solution obtained by the approximate solution of the system equation is specifically as follows: and sequencing all the approximate solutions in an ascending/descending manner, and taking the average value of the middle part data as the optimal solution of the OBS bottom-sitting position.
Further, in the step (5), when the sound velocity profile is considered, the shortest acoustic ray path obtained by using the approximate curved ray tracing method has a slight curve, which is more accurate than the travel time result calculated by using a straight line.
Further, in the step (6), since the OBS sitting position is usually within 1km of the drop point, the positioning accuracy is 1m by performing equal-interval division with a grid interval of 1m within 2km × 2km centered on the drop point according to the multi-beam submarine topography.
The invention has the beneficial effects that: the invention utilizes the acoustic communication machine releasing the OBS to carry out ranging in the OBS array range, obtains the underwater acoustic ranging result from each ranging point to the OBS, accurately positions the OBS by combining the sound velocity profile and the multi-beam terrain data, and economically and efficiently solves the problem of correcting the sitting bottom position of the OBS of the passive source.
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FIG. 1 is a schematic diagram of underwater acoustic ranging of an OBS using an acoustic communicator;
FIG. 2 is a flow chart of a method of OBS fine positioning based on underwater acoustic ranging, sonic profiles, and multi-beam terrain;
FIG. 3 is a diagram of an underwater acoustic ranging point and OBS station launch point profile for an example of an OBS observation in a hydrothermal area of Dragon ;
FIG. 4 is a position where in the first case, the equation set of any 3 ranging point combinations obtains an approximate solution and an optimal solution for all combinations in the observation example of the Long hydrothermal block OBS;
FIG. 5 is a speed of sound profile obtained by a CTD and a speed of sound profile model for ray tracing near a Long hydrothermal block OBS mesh;
fig. 6 is a schematic diagram of the principle of meshing based on multi-beam seafloor topography and obtaining OBS sit-bottom positions using a mesh search method;
fig. 7 shows OBS localization results of two cases and comparison thereof in observation of hydrothermal area OBS of dragon .
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
The invention provides an OBS (on-board diagnostics) accurate positioning method based on underwater acoustic ranging and multi-beam terrain, which comprises the following steps:
at OBS Point of delivery (x)0，y0，z0) N (n is more than or equal to 3) sea surface distance measuring points (x) in effective range1，y1，z1；x2，y2，z2；x3，y3，z3；...；xn，yn，zn) Performing acoustic ranging on OBS by using acoustic communication machine to obtain corresponding ranging result d1，d2，d3，...，dnThe unit m;
the method is divided into two cases according to whether sound velocity profile data exists in the OBS release sea area or not to be considered: first, the sound velocity profile data is not considered; in the second case, the sound velocity profile data is considered;
the first case is specifically as follows:
according to the average sound velocity of 1500m/s, the shortest sound wave ray is transmitted along a straight line, 3 distance measuring points are randomly selected from the distance measuring points, multi-beam submarine topography data are combined, and a multivariate nonlinear equation set is constructed through the relation between the slope distance from the OBS to the distance measuring points and the travel time as follows:
Figure BDA0002272688350000051
where (x, y, z) is the OBS sit-bottom coordinates, the solution to the system of equations satisfies the multi-beam seafloor topography z ═ g (x, y) since the OBS is located on the seafloor;
point coordinates (x) are placed with OBS0，y0，z0) As an initial value, equation set (1) is solved using a newton iterative algorithm to obtain an approximate solution (x)m，ym，zm) N sets of ranging data are obtained
Figure BDA0002272688350000052
And (4) approximating a solution of the system of equations to obtain an optimal solution for the OBS seat position.
Is given by
Figure BDA0002272688350000053
Approximate solution derivation of the equation setOne implementation of the optimal solution, but is not limited thereto: and sequencing all the approximate solutions in an ascending/descending manner, taking the average value of the middle part of data as the optimal solution of the OBS sitting position, for example, eliminating the first 10% and the last 10% of the approximate solutions, and taking the average value of the middle 80% of the approximate solutions as the optimal solution of the OBS sitting position.
The second case is specifically as follows:
considering the sound velocity profile, the shortest acoustic ray path has certain bending, the sitting bottom position of the OBS is assumed to be (x, y, z is g (x, y)), the sound velocity profile is obtained according to the CTD, and the travel time calculation from the OBS to the distance measurement point n is calculated by using a ray tracing method
Figure BDA0002272688350000054
N actual travel time of observation at distance measuring point
Figure BDA0002272688350000055
Constructing a residual equation system of the calculated travel time and the observed travel time as follows:
Figure BDA0002272688350000056
wherein n is more than or equal to 3.
Gridding the multi-beam submarine topography near the OBS release point, and obtaining the residual error in the equation set (2) by using a grid search method
Figure BDA0002272688350000057
And the position of the grid point at the minimum is the OBS sitting bottom position.
Example 1 was carried out:
the principle of the OBS accurate positioning method based on underwater acoustic ranging, acoustic velocity profile and multi-beam terrain in the embodiment is shown in fig. 1: and at least 3 distance measuring points within a range of 5km near the OBS release point, using an acoustic communication machine to measure the distance of the OBS to obtain a distance measuring result, and solving a residual error equation set to obtain the accurate bottom-sitting position of the OBS by combining the sound velocity profile and the multi-beam submarine topography. According to whether the sound velocity profile is utilized or not, the method is divided into two cases, and the specific flow of the accurate positioning of the OBS based on the underwater acoustic ranging and the multi-beam terrain is shown in fig. 2.
According to the principle and the specific flow, the distance measurement data of 4 sets of OBSs in the ocean bottom seismic monitoring experiment carried out in the sea area near the 49.6-degree E-dragon hydrothermal area in the ocean of south-West India are selected in the example, and the sitting position of the OBS is positioned by respectively considering the two situations. The OBS is thrown in a free falling body mode, the throwing distance is 4km, 9 distance measuring points are designed near an OBS platform network, and the OBS throwing coordinates and the distance measuring point coordinates are shown in figure 3.
(1) Underwater acoustic distance measurement for acoustic communication machine
In the example, ray coverage of 4 OBSs in the OBS station network in all directions is realized only by designing 9 ranging points, the cruising distance is 25km, each ranging point carries out 3-time ranging, and the total ship time consumption is not more than 3 hours. The acoustic communicator adopts a deck unit TT801 used when the OBS is released, and has the characteristics of simple operation and stable ranging result. After reaching the ranging point, the transducer of the acoustic communication machine is placed into the water for 5-10 m, the transducer is guaranteed not to be shielded by the ship body, the ranging codes of 4 OBSs are respectively keyed in, 3 ranging results of each OBS are recorded, and the average value of the ranging results is taken as the result of the ranging point and is shown in table 1:
TABLE 1.4 average ranging results for 9 ranging points of OBS
Figure BDA0002272688350000061
Better ranging results for 4 OBSs were obtained at the remaining 8 ranging points, except that ranging point 1 returned only the ranging result for OBS 04.
And (3) correcting coordinates of the ranging points, namely converting longitude and latitude coordinates of the shipborne GPS antenna into a rectangular coordinate system with the OBS network center as an original point, and calculating actual rectangular coordinates of the ranging points by using offset distances between the positions of the GPS antenna and the underwater position of the acoustic communication machine (shown in figure 1).
(2) The first case: solving the OBS bottom position by a non-linear equation composing method by using a Newton iteration method without considering the CTD sound velocity profile;
according to the principle, at the 9 distance measuring pointsRandomly taking 3 distance measuring points and combining multi-beam terrain data to construct a multi-element nonlinear equation set as a formula (1), and putting in point coordinates (x) by OBS0，y0，z0) As an initial value, equation set (1) is solved using a newton iterative algorithm. The newton's iterative algorithm is an approximation process that linearizes a non-linear equation, obtaining an approximate solution (x)m，ym，zm) 9 sets of ranging data are available
Figure BDA0002272688350000071
The approximate solutions of the system equations (shown as gray points in fig. 4) are different, and the obtained approximate solutions of the system equations of every three distance measuring point combinations are usually distributed in the range of 1km near the OBS release point, which is related to the coverage angle of the distance measuring point to the OBS, and in order to eliminate the influence of the approximate solutions of the distance measuring point combinations with poor coverage, the approximate solutions are obtained
Figure BDA0002272688350000072
The group of approximate solutions are sorted in ascending/descending order, the approximate solutions of the top 10% and the bottom 10% are removed, and the average value of the approximate solutions of the middle 80% is taken as the optimal solution (shown as a triangle in fig. 4). The results show that the OBS seat position obtained by this method is typically within 200m around the drop point.
(3) The second case: considering the CTD sound velocity profile, and obtaining the OBS sitting position by using a method of solving a travel time residual error equation by using grid search;
in the actual sea area, the sound velocity varies with the water depth, and is called sound velocity profile. In this example, a one-dimensional velocity model required for ray tracing is extracted using as a reference a sound velocity profile acquired by the CTD in the sea area near the OBS drop point, as shown in fig. 5. Considering the sound velocity profile, the shortest acoustic ray path has a certain curvature. Assuming that the bottom of the OBS is (x, y, z ═ g (x, y)), the travel time between the OBS and the distance measurement point n is calculated by a ray tracing method based on the one-dimensional velocity model
Figure BDA0002272688350000073
The distance measurement point n actually observes the travel time as
Figure BDA0002272688350000074
Constructing a residual error equation set for calculating travel time and observing travel time as a formula (2), and obtaining the residual error in the equation set (2) by using a grid search method
Figure BDA0002272688350000075
The position of the smallest grid point is the actual landing position of the OBS (see fig. 6).
According to the research experience of the predecessors, the general drift distance of the OBS sitting position does not exceed 1km, so that the multi-beam terrain within the range of 2km multiplied by 2km with the OBS release point as the center is selected for gridding, the grid interval is 1m, and the actual sitting position of the OBS is obtained by utilizing a grid searching method.
(4) OBS sit-bottom position contrast obtained in two situations
Figure 7 shows that the OBS seated position is achieved in two situations. Overall, the OBS sitting position obtained in both cases has the same tendency to shift, and the horizontal distance from the drop point is generally no more than 200m, and the vertical distance is no more than 50 m. Case 2 considers the sound velocity profile to be more consistent with the actual situation, and therefore the result of case 2 is considered to be more accurate. By comparison, whether the sound velocity profile has a certain influence on the sitting bottom position of the OBS is considered, the approximate offset direction of the OBS can still be obtained under the condition that the sound velocity profile is not considered, and the offset distance error is about 80m on average.
The above implementation example proves the feasibility of the OBS precise positioning method based on underwater acoustic ranging, sound velocity profile and multi-beam terrain in practical application. The bottom of seat position of the OBS can be obtained in both cases, and the OBS positioning effect is better in the case of considering the sound velocity profile (case 2). Meanwhile, the OBS accurate positioning method based on the underwater acoustic ranging and the multi-beam terrain has the characteristics of simplicity in operation, time saving and accurate calculation, and is a practical and effective method for positioning the bottom of the OBS in a passive source OBS observation experiment under the condition of no air gun operation.

Claims (7)

1. An OBS accurate positioning method based on underwater acoustic ranging and multi-beam terrain is characterized by comprising the following steps:
(1) at OBS Point of delivery (x)0，y0，z0) N sea surface ranging points (x) within effective range1，y1，z1；x2，y2，z2；x3，y3，z3；…；xn，yn，zn) And n is more than or equal to 3, the OBS is subjected to acoustic ranging by using the acoustic communication machine, and the corresponding ranging result d is obtained1，d2，d3，...，dnThe unit m;
(2) the method is divided into two cases according to whether sound velocity profile data exists in the OBS release sea area or not to be considered: first, the sound velocity profile data is not considered; in the second case, the sound velocity profile data is considered;
(3) for the first case, according to the average sound velocity of 1500m/s, the shortest sound wave ray is propagated along a straight line, 3 distance measuring points are arbitrarily selected from the distance measuring points and combined with multi-beam submarine topography data, and through the relationship between the slope distance from the OBS to the distance measuring points and the travel time, a multivariate nonlinear equation set is constructed as follows:
Figure FDA0002616082030000011
where (x, y, z) is the OBS sit-bottom coordinates, the solution to the system of equations satisfies the multi-beam seafloor topography z ═ g (x, y) since the OBS is located on the seafloor;
(4) point coordinates (x) are placed with OBS0，y0，z0) As an initial value, equation set (1) is solved using a newton iterative algorithm to obtain an approximate solution (x)m，ym，zm) N sets of ranging data are obtained
Figure FDA0002616082030000014
An approximate solution of the system of equations, thereby obtaining an optimal solution of the OBS seat position;
(5) in the second case, considering the sound velocity profile, the shortest acoustic ray path has a certain curvature, and the acoustic velocity is determined by assuming that the seating position of the OBS is (x, y, z) g (x, y)Velocity profile utilizes ray tracing method to calculate travel time between OBS and distance measuring point n
Figure FDA0002616082030000012
N actual travel time of observation at distance measuring point
Figure FDA0002616082030000013
Constructing a residual equation system of the calculated travel time and the observed travel time as follows:
Figure FDA0002616082030000021
wherein n is more than or equal to 3;
(6) gridding the multi-beam submarine topography near the OBS release point, and obtaining the residual error in the equation set (2) by using a grid search method
Figure FDA0002616082030000022
And the position of the grid point at the minimum is the OBS sitting bottom position.
2. The method for accurately positioning the OBS based on underwater acoustic ranging and multi-beam terrain according to claim 1, wherein in the step (1), since the maximum range of the slant range of the acoustic communication machine is 10km, the ranging points are uniformly distributed around all directions within 5km of the OBS putting point.
3. The method for accurately positioning an OBS based on underwater acoustic ranging and multi-beam topography as claimed in claim 1, wherein in the step (3), the non-linear equation set (1) is constrained by the multi-beam topography data according to the OBS bed depth z being a function of the multi-beam seafloor topography z ═ g (x, y).
4. The method for accurately positioning an OBS based on hydroacoustic ranging and multi-beam topography as claimed in claim 1, wherein in step (4), an approximation of linearizing the non-linear equation f (x) to 0A method; b, converting f (x) to a point x0Is expanded into a Taylor series
Figure FDA0002616082030000023
Figure FDA0002616082030000024
Take its linear part (i.e. the first two terms of the Taylor expansion) and make it equal to 0, i.e. f (x)0)+f′(x0)(x-x0) 0 as an approximation of the non-linear equation f (x) 0, if f' (x)0) Not equal to 0, then it is solved as
Figure FDA0002616082030000025
Thus, an iterative relation of the Newton iteration method is obtained
Figure FDA0002616082030000026
5. The method for accurately positioning OBS based on underwater acoustic ranging and multi-beam terrain according to claim 1, characterized in that in the step (4), the OBS is accurately positioned by
Figure FDA0002616082030000027
The optimal solution obtained by the approximate solution of the system equation is specifically as follows: and sequencing all the approximate solutions in an ascending/descending manner, and taking the average value of the middle part data as the optimal solution of the OBS bottom-sitting position.
6. The method for accurately positioning an OBS based on underwater acoustic ranging and multi-beam terrain according to claim 1, wherein in the step (5), when a sound velocity profile is considered, the shortest acoustic ray path obtained by using an approximate curved ray tracing method has a slight curve, and is more accurate than a travel time result calculated by using a straight line.
7. The method for accurately positioning the OBS based on the underwater acoustic ranging and the multi-beam terrain according to claim 1, wherein in the step (6), the OBS sitting position is within 1km of the drop point, so that the positioning accuracy is 1m by performing equal-interval division with the grid interval of 1m within 2km x 2km centered on the drop point according to the multi-beam submarine terrain.
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