CN114688955B - Rapid cross positioning method for underwater electric field source - Google Patents
Rapid cross positioning method for underwater electric field source Download PDFInfo
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- CN114688955B CN114688955B CN202210204954.9A CN202210204954A CN114688955B CN 114688955 B CN114688955 B CN 114688955B CN 202210204954 A CN202210204954 A CN 202210204954A CN 114688955 B CN114688955 B CN 114688955B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention belongs to the technical field of position measurement, and discloses a method for quickly positioning an underwater electric field source in a crossed manner, which comprises the following steps: and carrying the electric field measuring device by using the carrying tool to move on the water surface, and measuring the horizontal component of the underwater electric field source by using the electric field measuring device to position the underwater target. The invention provides the rapid and accurate positioning of the underwater electric field source, and the rapid positioning of the underwater electric field source can be realized under the condition of lower cost; the method can be used for positioning electric field sources such as submarine cable breakpoints and underwater current leakage points. The invention has high positioning precision, the laboratory tests verify that the positioning precision can reach 0.1m, and the offshore tests prove that the precision can reach 1m. The invention is simple and easy to operate, and the core of the system is an electric field measuring device which can be carried on various navigation tools such as yachts, USVs and the like. The invention has fast positioning speed, only needs to fast navigate along the direction of a cable or other electric field sources when the positioning is started, and can accurately position by navigating along an orthogonal or large-angle intersection track after an abnormal point is found.
Description
Technical Field
The invention belongs to the technical field of position measurement, and particularly relates to a rapid cross positioning method for an underwater electric field source.
Background
At present, with the further development and utilization of ocean resources, a large number of wind power plants, tidal power plants, oil drilling platforms and the like exist in the ocean, so that a large number of power transmission cables, connection devices and communication cables exist on the ocean floor, the cables on the ocean floor often break due to the activity of submarine geology, typhoons, fishing boat activities and the like, and only a fast positioning breakpoint can be maintained in time after the ocean cables break, so that the economic loss is reduced to the minimum. At present, an underwater robot is mainly adopted for searching and positioning, and the underwater robot has low navigation speed, low searching efficiency and high cost.
Through the above analysis, the problems and defects of the prior art are as follows: the prior art has the disadvantages of low searching efficiency, low positioning speed, low positioning precision and high cost.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method for quickly positioning an underwater electric field source in a crossing manner.
The invention is realized in such a way that the method for quickly positioning the crossing of the underwater electric field source comprises the following steps:
and carrying the electric field measuring device by using the carrying tool to move on the water surface, and measuring the horizontal component of the underwater electric field source by using the electric field measuring device to position the underwater target.
Further, the method for rapidly positioning the crossing of the underwater electric field source comprises the following steps:
carrying an electric field measuring device by using a carrying tool to move along the direction of a cable or the approximate trend of an underwater electric field source on the water surface, and collecting the horizontal component of the electric field in real time by using the electric field measuring device;
judging whether the collected electric field horizontal component has a characteristic point, and determining the longitudinal position of the underwater electric field source based on the position where the characteristic point appears;
selecting a new motion measurement track based on the position of the characteristic point as a reference; carrying the electric field measuring device by using a carrying tool to move along a new orthogonal or large-angle intersecting track;
acquiring electric field data by using an electric field measuring device, searching the position where the characteristic value appears, and determining to obtain a straight line where the other electric field source is located;
and fifthly, determining the position of the underwater electric field source based on the longitudinal position of the underwater electric field source determined in the second step and the straight line where the other electric field source is located obtained in the fourth step.
Further, the feature points include: electric field level maxima, or zero crossings between maxima and minima.
Further, the selecting a new motion measurement trajectory includes: and selecting the position of the new motion measurement track as close as possible to the position where the characteristic point appears.
Further, the determining the position of the underwater electric field source based on the longitudinal position of the underwater electric field source and the obtained straight line of the other electric field source comprises:
the intersection point of the longitudinal position of the underwater electric field source and the straight line where the other electric field source is located is the position where the underwater electric field source is located.
Another object of the present invention is to provide a system for rapidly positioning an underwater electric field source by performing the method for rapidly positioning an underwater electric field source by crossing, the system comprising:
the electric field measuring device is used for measuring the horizontal component of the underwater electric field source;
the carrying tool is used for carrying the electric field measuring device to move on the water surface; simultaneously used for recording the flight path;
and the positioning module is used for positioning the underwater target based on the measured horizontal component.
Further, the horizontal component of the underwater electric field source comprises: two horizontal components of Ex and Ey.
Another object of the present invention is to provide a program storage medium for receiving a user input, the stored computer program causing an electronic device to execute the method for fast cross-locating an underwater electric field source, comprising the steps of:
carrying an electric field measuring device on a water surface by using a carrying tool to move along the cable direction or the approximate trend of an underwater electric field source, and collecting the horizontal component of an electric field in real time by using the electric field measuring device;
judging whether the collected electric field horizontal component has a characteristic point, and determining the longitudinal position of the underwater electric field source based on the position of the characteristic point;
selecting a new motion measurement track based on the position of the characteristic point as a reference; carrying the electric field measuring device by using a carrying tool to move along a new orthogonal or large-angle intersecting track;
acquiring electric field data by using an electric field measuring device, searching the position where the characteristic value appears, and determining to obtain a straight line where the other electric field source is located;
and fifthly, determining the position of the underwater electric field source based on the longitudinal position of the underwater electric field source determined in the second step and the straight line where the other electric field source is located obtained in the fourth step.
It is another object of the present invention to provide a computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the method for fast cross-positioning of underwater electric field sources when executed on an electronic device.
Another object of the present invention is to provide an information data processing terminal, wherein the information data processing terminal is configured to implement the method for fast cross-locating the underwater electric field sources.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention provides the rapid and accurate positioning of the underwater electric field source, and the rapid positioning of the underwater electric field source can be realized under the condition of lower cost; the method can be used for positioning electric field sources such as submarine cable breakpoints and underwater current leakage points.
The required equipment is electric field measurement general equipment and a track recording instrument, no additional equipment is needed, a water surface vehicle is used for carrying and rapidly passing through a suspected area, the straight line of the underwater electric field source is preliminarily determined, and then the underwater electric field source is operated along the crossed track to determine the accurate position of the electric field source.
The positioning device is used for positioning the underwater electric field source, the positioning precision of a laboratory test can reach 0.1m, the offshore test proves that the precision can reach 1m, only an electric field measuring system and a track recording device are needed, the cost is low, the device can horizontally and quickly move, the positioning efficiency is high, and the positioning device can be widely applied to positioning electric field sources such as a submarine cable breakpoint, an underwater current leakage point and the like.
The invention has high positioning precision, the laboratory tests verify that the positioning precision can reach 0.1m, and the offshore tests prove that the precision can reach 1m.
The invention is simple and easy to operate, and the core of the system is an electric field measuring device which can be carried on various navigation tools such as yachts, USVs and the like.
The invention has fast positioning speed, only needs to fast navigate along the direction of a cable or other electric field sources when the positioning is started, and can accurately position by navigating along an orthogonal or large-angle intersection track after an abnormal point is found.
Drawings
Fig. 1 is a flow chart of a method for fast cross-locating an underwater electric field source according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the distribution of the horizontal electric dipole along the longitudinal electric field provided by the embodiment of the invention.
Wherein, fig. 2 (a) shows the measured component of the electric field Ex; FIG. 2 (b) measured electric field Ey component; FIG. 2 (c) shows the measured Ez component of the electric field.
Fig. 3 is a schematic diagram of a positioning process according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a cross-positioning process provided by an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a method for quickly positioning an underwater electric field source in a crossing manner, and the invention is described in detail below with reference to the accompanying drawings.
The method for rapidly cross-locating the underwater electric field source provided by the embodiment of the invention comprises the following steps:
and carrying the electric field measuring device by using the carrying tool to move on the water surface, and measuring the horizontal component of the underwater electric field source by using the electric field measuring device to position the underwater target.
As shown in fig. 1, the method for fast cross-locating an underwater electric field source provided by the embodiment of the present invention includes the following steps:
s101, carrying an electric field measuring device by using a carrying tool to move along the direction of a cable or the approximate trend of an underwater electric field source on the water surface, and collecting the horizontal component of the electric field in real time by using the electric field measuring device;
s102, judging whether the collected electric field horizontal component has a characteristic point, and determining the longitudinal position of the underwater electric field source based on the position where the characteristic point appears;
s103, selecting a new motion measurement track based on the position of the feature point as a reference; carrying the electric field measuring device by using a carrying tool to move along a new orthogonal or large-angle intersecting track;
s104, collecting electric field data by using an electric field measuring device, searching for the position where the characteristic value appears, and determining to obtain a straight line where the other electric field source is located;
and S105, determining the position of the underwater electric field source based on the longitudinal position of the underwater electric field source determined in the step S102 and the straight line where the other electric field source is located obtained in the step S104.
The characteristic points provided by the embodiment of the invention comprise: electric field level maxima, or zero crossings between maxima and minima.
The selection of a new motion measurement trajectory provided by the embodiment of the invention comprises the following steps: and selecting the position of the new motion measurement track as close as possible to the position where the characteristic point appears.
The method for determining the position of the underwater electric field source based on the longitudinal position of the underwater electric field source and the obtained straight line of the other electric field source provided by the embodiment of the invention comprises the following steps:
the intersection point of the longitudinal position of the underwater electric field source and the straight line where the other electric field source is located is the position where the underwater electric field source is located.
The fast crossing positioning system of the underwater electric field source provided by the embodiment of the invention comprises:
the electric field measuring device is used for measuring the horizontal component of the underwater electric field source;
the carrying tool is used for carrying the electric field measuring device to move on the water surface; simultaneously used for recording the flight path;
and the positioning module is used for positioning the underwater target based on the measured horizontal component.
The horizontal component of the underwater electric field source provided by the embodiment of the invention comprises: two horizontal components of Ex and Ey.
The working principle of the invention is as follows: the invention utilizes the electric field distribution characteristic of an underwater electric field source, namely an underwater electric field radiation source can be equivalently used as a standard dipole source or a point charge array source, taking a standard dipole as an example, the electric field distribution is obvious and regular, the three-component electric field of a horizontal electric dipole is distributed along the longitudinal distance as shown in the figure (the dipole is positioned at the position of the origin of coordinates), and the figure shows that the waveform of an electric field measuring device has obvious characteristics when passing through the dipole, namely the x-axis component reaches the maximum value, and the y-axis and z-axis components have zero crossing points at the positions of the dipole. The principle of the invention is that even if a speedboat or other vehicles carry an electric field measuring system on the water surface to quickly sweep the area where the submarine cable is located, the measured electric field envelope characteristic is utilized to realize the quick positioning of the underwater electric field source.
The technical solution of the present invention is further illustrated by the following specific examples.
Example 1:
the invention relates to a rapid cross positioning method of an underwater electric field source, which comprises the following steps:
step 1: the method comprises the steps that an electric field measuring system with two horizontal components of an electric field Ex and an Ey and a carrying tool with a track recording function are built on the water surface, the electric field measuring system is used for measuring the horizontal component of an underwater electric field source, and the carrying tool is used for carrying the electric field measuring system to move on the water surface so as to position an underwater target;
step 2: carrying an electric field measurement system carrier, moving along the direction of a cable or along the approximate trend of an underwater electric field source on the water surface, and acquiring an electric field in real time, wherein if the electric field level has a maximum value as shown in fig. 2 or a zero crossing point between the maximum and minimum values, namely, according to the position of the characteristic point, the longitudinal position of the underwater electric field source can be determined, as shown in fig. 3, the motion track of the measurement system is represented in fig. 3, a circle represents the position of the maximum value or the zero crossing point, and the underwater electric field source exists at a certain point on a dotted line in the figure; wherein, fig. 2 (a) shows the measured component of the electric field Ex; FIG. 2 (b) measured electric field Ey component; FIG. 2 (c) shows the measured Ez component of the electric field.
And step 3: and (3) taking the position where the characteristic value appears in the step (2) as a reference, selecting a new motion measurement track, wherein the selected distance of the track is as close as possible to the position where the characteristic value appears in the arrangement (2) so as to improve the signal-to-noise ratio, and in the motion process of the measurement system along the linear orthogonal or large-angle intersecting track, repeating the step (2), namely acquiring electric field data, searching the position where the characteristic value appears, and determining a straight line where another electric field source is located, as shown in fig. 4.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided on a carrier medium such as a disk, CD-or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A rapid cross positioning method for an underwater electric field source is characterized by comprising the following steps: carrying an electric field measuring device by using a carrying tool to move on the water surface, and measuring two horizontal components of an underwater electric field source by using the electric field measuring device to position an underwater target;
the rapid cross positioning method of the underwater electric field source comprises the following steps: carrying an electric field measuring device on a water surface by using a carrying tool to move along the cable direction or the approximate trend of an underwater electric field source, and collecting the horizontal component of an electric field in real time by using the electric field measuring device;
judging whether the collected electric field horizontal component has a characteristic point, and determining the longitudinal position of the underwater electric field source based on the position of the characteristic point;
selecting a new motion measurement track based on the position of the characteristic point as a reference; carrying the electric field measuring device by using a carrying tool to move along a new orthogonal or large-angle intersecting track;
acquiring electric field data by using an electric field measuring device, searching a position where the characteristic value appears, and determining to obtain a straight line where the other electric field source is located;
and fifthly, determining the position of the underwater electric field source based on the longitudinal position of the underwater electric field source determined in the second step and the straight line where the other electric field source is located obtained in the fourth step.
2. The method for fast cross-locating an electric field source under water of claim 1, wherein the feature points comprise: electric field level maxima, or zero crossings between maxima and minima.
3. The method for fast cross-locating an underwater electric field source as recited in claim 1, wherein said selecting a new motion measurement trajectory comprises: and selecting the new motion measurement track to be close to the position where the characteristic point appears.
4. The method for fast cross-locating an underwater electric field source as claimed in claim 1, wherein said determining the location of the underwater electric field source based on the determined longitudinal location of the underwater electric field source and the obtained straight line of the other electric field source comprises:
the intersection point of the longitudinal position of the underwater electric field source and the straight line of the other electric field source is the position of the underwater electric field source.
5. An underwater electric field source rapid cross-location system for implementing the method of any one of claims 1 to 4, comprising:
the electric field measuring device is used for measuring the horizontal component of the underwater electric field source;
the carrying tool is used for carrying the electric field measuring device to move on the water surface; simultaneously used for recording the flight path;
and the positioning module is used for positioning the underwater target based on the measured horizontal component.
6. The system for rapid cross-location of an electric field source under water of claim 5, wherein the horizontal component of the electric field source under water comprises: two horizontal components of Ex and Ey.
7. A program storage medium for receiving user input, the stored computer program causing an electronic device to perform the method for fast cross-referencing underwater electric field sources as claimed in any one of claims 1-4, comprising the steps of:
carrying an electric field measuring device on a water surface by using a carrying tool to move along the cable direction or the approximate trend of an underwater electric field source, and collecting the horizontal component of an electric field in real time by using the electric field measuring device;
judging whether the collected electric field horizontal component has a characteristic point, and determining the longitudinal position of the underwater electric field source based on the position of the characteristic point;
selecting a new motion measurement track based on the position of the characteristic point as a reference; carrying the electric field measuring device by using a carrying tool to move along a new orthogonal or large-angle intersecting track;
acquiring electric field data by using an electric field measuring device, searching the position where the characteristic value appears, and determining to obtain a straight line where the other electric field source is located;
and step five, determining the position of the underwater electric field source based on the longitudinal position of the underwater electric field source determined in the step two and the straight line where the other electric field source obtained in the step four is located.
8. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface for implementing the method for fast cross-positioning of underwater electric field sources as claimed in any one of claims 1 to 4 when executed on an electronic device.
9. An information data processing terminal, characterized in that the information data processing terminal is used for implementing the method for fast cross-positioning underwater electric field sources as claimed in any one of claims 1 to 4.
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