CN115032695A - Submarine pipe cable tracking type detection method based on acoustic side reflection - Google Patents

Submarine pipe cable tracking type detection method based on acoustic side reflection Download PDF

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CN115032695A
CN115032695A CN202210405913.6A CN202210405913A CN115032695A CN 115032695 A CN115032695 A CN 115032695A CN 202210405913 A CN202210405913 A CN 202210405913A CN 115032695 A CN115032695 A CN 115032695A
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submarine
cable
acoustic
pipe cable
method based
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CN115032695B (en
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安永宁
刘红军
刘俊涛
李晶
龙成
孙辉
田春和
季祥坤
杨柳
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Ocean University of China
Tianjin Research Institute for Water Transport Engineering MOT
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Tianjin Research Institute for Water Transport Engineering MOT
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
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    • Y02A90/30—Assessment of water resources

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Abstract

The invention discloses a submarine cable tracking type detection method based on acoustic side reflection, which belongs to the technical field of ocean mapping and comprises the following steps: step 1, a measuring ship gets on line from one side of a submarine pipe cable route, and if a slant-distance reflection signal of the submarine pipe cable is located below an acoustic profile signal of a stratum where the submarine pipe cable is located, data acquisition is started, and a global satellite navigation system marks synchronously; step 2, enabling the measuring ship to come on line from the other side of the submarine pipeline cable route, and executing the step 1 again; step 3, according to a stratum pickup method, depicting the plane position and the elevation of the same phase axis; step 4, interpolating and encrypting the picked data to pulse points one by one; step 5, constructing a linear equation set of pulse points one by one to obtain a final result diagram of submarine pipe cable detection; according to the submarine pipe cable tracking type detection method based on acoustic side reflection, the real position and the buried depth of the submarine pipe cable are obtained according to the space three-dimensional slant distance information of the position of the submarine pipe cable, and therefore the operation efficiency is remarkably improved.

Description

Submarine pipe cable tracking type detection method based on acoustic side reflection
Technical Field
The invention belongs to the technical field of ocean mapping, and particularly relates to a submarine cable tracking type detection method based on acoustic side reflection.
Background
The submarine cable is a life line of an offshore oil and gas field, the operation condition of the submarine cable is directly related to the safety of the offshore oil and gas field, the number of the submarine cables is increased with the development and utilization of offshore oil resources, the submarine cable plays a great role in the transportation of offshore oil and gas resources, in addition, the submarine cable is widely applied to offshore engineering such as sewage discharge, island-through water supply and power supply, communication and the like in coastal industrial areas, at present, the submarine cable detection and identification mainly depend on acoustic means, the shallow stratum profile detection method is the most common, compared with other auxiliary detection means such as side-scan sonar detection, ocean magnetic detection and the like, the shallow stratum profile detection can simultaneously detect the accurate position and the buried depth of the submarine cable, the acoustic side reflection phenomenon is caused by the side lobe effect of a shallow stratum profiler transducer, when the transducer is poor and serious, and the side reflection occurs on the reflection record, is easily interpreted as a reflected signal from the lower earth formation; when a topographic type or small and prominent underwater target object such as an underwater steep sill, a bank slope and the like exists in a beam angle irradiation range during shallow stratum profile detection, even if the position of the underwater target object is not positioned right below a transducer, the underwater target object still uses the characteristics of side reflection within the beam angle irradiation range to be recorded in acoustic reflection data, only the reflection time course is longer than the time course during the direct upward detection, a topographic side reflection signal is easily mistaken for a lower stratum reflection signal, but the side reflection characteristics of the target object such as a submarine cable and the like can be distinguished through the strength change of the reflection wave, if the reflection signal comes from the lower stratum, a part of energy in a frequency band is absorbed by sediment and obviously attenuated, and the strength of the side reflection signal is larger due to the fact that the side reflection signal comes from the surface of the target object, the wave impedance interface is clear, and the tracking and identification are easy.
The acoustic side reflection phenomenon is always regarded as measurement noise and is not positively utilized, according to the side reflection principle in acoustic shallow stratum profile detection, in the irradiation range of the beam angle of a transducer, if a small and convex target object exists, the small and convex target object can be reflected in a stratum profile data record in the form of an oblique reflection signal, and the oblique reflection time course is closely related to the real position and buried depth information of a submarine cable.
Disclosure of Invention
The invention aims to provide a submarine cable tracking type detection method based on acoustic side reflection, and aims to solve the problem that the traditional submarine cable acoustic profile detection and measurement operation efficiency is low.
In order to achieve the purpose, the invention provides the following technical scheme: a submarine cable tracking type detection method based on acoustic side reflection comprises the following steps:
step 1, a measuring ship gets on line from one side of a submarine pipe cable route, sails in parallel to the direction of the submarine pipe cable route along a planned measuring line on the same side, and starts to acquire data and a global satellite navigation system marks synchronously when an inclination distance reflection signal of the submarine pipe cable is positioned below an acoustic profile signal of a stratum where the inclination distance reflection signal is positioned;
step 2, enabling the measuring ship to come on line from the other side of the submarine pipeline cable route, and executing the step 1 again;
step 3, when the acoustic reflection image of the acquired data is an isolated continuous strong energy homophase axis, depicting the plane position and the elevation of the homophase axis according to a stratum pickup method;
step 4, interpolating and encrypting the picked data to pulse points one by one;
and 5, constructing a linear equation set of pulse points one by using the geometrical relationship between the time-course reflection curve and the flight path of the signal back-and-forth and the submarine pipe cable, and obtaining a final result diagram of submarine pipe cable detection.
Preferably, the detecting instrument for the acoustic profile signal of the stratum is a shallow stratum profiler.
Preferably, the method further comprises the steps of debugging the shallow profiler and operating in situ before step 1.
Preferably, the step of commissioning a shallow profiler comprises:
the method comprises the steps that a shallow stratum profiler is installed on a measuring ship, and the depth of the shallow stratum profiler entering water and the offset distance between the shallow stratum profiler and a ship-mounted navigation positioning GNSS antenna are recorded;
setting a beam angle of the shallow stratum profiler to be not less than 20 degrees, working main frequency to be not less than 12kHz, and vertical stratum resolution to be not less than 10 cm;
and enabling the distance between the planned survey line and the route central line to satisfy a relation that l is more than or equal to 0 and less than or equal to h.tg alpha, and respectively arranging the distances on two sides of the submarine cable route central line, wherein l is an offset distance, h is water depth, and alpha is a beam angle.
Preferably, the field operation step includes:
the sea condition of field operation is not more than 4 grades, the measured ship speed is not more than 5 knots, the acoustic pulse emission frequency of the shallow stratum profiler is 1Hz, and the track deviation error is not more than 5 m;
the dynamic plane positioning precision of the global satellite navigation system after beacon difference or satellite difference correction is less than 1.5 m.
Preferably, the step of constructing a pulse point-by-pulse point linear equation system in step 5 includes:
step 51, setting the position of the shallow profile instrument of the measuring ship to be O at any measuring position 1 (x 1i ,y 1i ) The plane point detected right below is O 1 '(x 1i ,y 1i ) With submarine cable at P (x) i ,y i ) Point, the depth of water right below the shallow profile instrument is set as D 0 The depth of water above the submarine pipeline is D p The distance between the P point where the pipe cable is located and the O' is delta xy, the buried depth of the pipe cable is delta z, and the sound velocity in seawater is c 1 The speed of sound in the earth formation being c 2 Total time of sound ray propagation in two passes is t, wherein t is in seawater 1 In the formation is t 2 ，θ i Is the included angle between the air trace line and the latitude line;
step 52, collecting x 1 、y 1 、D 0 、t、t 2 The result is substituted into a formula,
Figure BDA0003602148350000031
Figure BDA0003602148350000032
Figure BDA0003602148350000033
Figure BDA0003602148350000034
t＝t 1 +t 2 (5)
is provided with
D 0 ＝D p (6)
c 1 ＝c 2 (7)；
Step 53, applying mathematical functions to the formulas (1), (3), (4), (5), (6) and (7) to solve x i ,y i ,Δz i Three variables are drawn and displayed to form a three-dimensional space curved surface;
step 54, applying the mathematical functions to the formulas (2), (3), (4), (5), (6) and (7) to solve x i ,y i ,Δz i Three variables are drawn and displayed to form another three-dimensional space curved surface;
step 55, intersecting the two curved surfaces in the step 53 and the step 54, and applying a contourslice function of MATLAB software to calculate point-by-point coordinates of an intersecting line below the two curved surfaces to obtain a real plane coordinate group x of the submarine cable i ,y i Wherein Δ z i The actual buried depth of the submarine pipe cable;
step 56, solving the x obtained in the step 53 and the step 54 i ,y i ,Δz i Spreading the point by point in a computer aided drawing system to obtain a final result picture of submarine pipe cable detection.
Preferably, the computer aided drawing system is AutoCAD software.
Preferably, the mathematical function is a solve function of MATLAB software.
Preferably, in step 4, the method for obtaining the interpolation of the picked data includes: lagrange interpolation or newton interpolation.
The invention has the technical effects and advantages that: according to the submarine cable tracking type detection method based on acoustic side reflection, the irradiation range of the beam angle of the shallow stratum profiler is controlled, detection is carried out along the trend of a submarine cable, the spatial three-dimensional slant range information of the position of the submarine cable is obtained, and the real position and the buried depth of the submarine cable are obtained through inversion by a mathematical method, so that the operation efficiency is obviously improved;
on the basis of the existing instrument and equipment, new equipment does not need to be purchased, the purpose of efficient detection of the followed pipe cable is achieved, and the method has great economic benefit and popularization value undoubtedly.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of the beam angle of the transducer of the shallow profiler of the present invention;
FIG. 3a is a schematic plan layout diagram of a conventional method of the present invention;
FIG. 3b is a schematic diagram of the plan line layout of the side reflection method of the present invention;
FIG. 4 is an exemplary illustration of the present invention detecting the imaging of a subsea pipeline in an acoustic profile image;
FIG. 5 is a geometric relationship diagram of a detection time course curve according to the present invention;
FIG. 6 is a geometric relationship diagram of the spatial geographic information during detection according to the present invention;
FIG. 7 shows the inversion of x by a measuring line according to the present invention i 、y i 、Δz i A three-dimensional space curved surface equation graph;
FIG. 8 shows the inversion of x through two lines according to the present invention i 、y i 、Δz i A three-dimensional space curved surface equation graph;
fig. 9 is a diagram of the final detection result of the submarine umbilical formed by the invention.
In the figure: 1. sea floor surface; 2. a subsea umbilical; 3. elevation; 4. mileage pile number of the submarine pipe cable; 5. measuring a ship; 6. the actual flight path.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a submarine pipeline tracking type detection method based on acoustic side reflection, which comprises the following steps of:
firstly, debugging a shallow stratum profiler and performing field operation;
the step of debugging the shallow layer profiler comprises the following steps:
the method comprises the steps that a shallow stratum profiler is installed on a measuring ship, and the depth of the shallow stratum profiler entering water and the offset distance between the shallow stratum profiler and a ship-mounted navigation positioning GNSS antenna are recorded;
setting a beam angle of the shallow stratum profiler to be not less than 20 degrees, working main frequency to be not less than 12kHz, and vertical stratum resolution to be not less than 10 cm;
the distance between the planned survey line and the route central line satisfies the relation that l is more than or equal to 0 and less than or equal to h.tg alpha, and the distance is respectively arranged on two sides of the submarine cable route central line, wherein l is offset distance, h is water depth, and alpha is beam angle.
The field operation steps include:
the sea condition of field operation is not more than 4 grades, the measured ship speed is not more than 5 knots, the acoustic pulse emission frequency of the shallow stratum profiler is 1Hz, and the track deviation error is not more than 5 m;
the global satellite navigation system has the dynamic plane positioning accuracy smaller than 1.5m after beacon difference or satellite difference correction, and accesses acquisition software or navigation positioning software of a shallow stratum profiler in communication modes of RS232 or RS485 and the like after installation and debugging are finished;
step 1, a measuring ship gets on line from one side of a submarine pipe cable route, sails in parallel to the direction of the submarine pipe cable route along a planned measuring line on the same side, and starts to acquire data and a global satellite navigation system marks synchronously when an inclination distance reflection signal of a submarine pipe cable 2 is positioned below an acoustic profile signal of a stratum where the inclination distance reflection signal is positioned;
step 2, the measuring ship is brought on line from the other side of the submarine pipeline cable route, and the step 1 is executed again; after the field operation is finished, the whole workload is about 1/10 of the traditional 1:2000 survey scale workload and about 1/4 of the traditional 1:5000 survey scale workload;
step 3, when the acoustic reflection image of the acquired data is an isolated continuous strong energy event, in this embodiment, the acoustic reflection image is represented as a black line on a gray scale, and the plane position and the elevation of the event are depicted according to a stratum pickup method;
step 4, interpolating and encrypting the picked data to pulse points one by one; in the embodiment, according to the signal emission setting of the shallow stratum profiler, the picked data are interpolated and encrypted to pulse points one by one;
step 5, constructing a linear equation set of pulse points one by using a time-course reflection curve and a geometric relation between a flight path of a signal back and forth and the submarine pipe cable 2 to obtain a final result diagram of the submarine pipe cable 2 detection; in this embodiment, after extracting the position and elevation information of the slant-distance reflected signal of the submarine umbilical 2 in the acoustic profile detection interpretation software, the step of constructing a linear equation set of pulse points by calculating the true position and burial depth of the submarine umbilical 2 in reverse according to the geometric relationship of the acoustic time-course reflection curve includes:
step 51, setting the position of the shallow profile instrument of the measuring ship to be O at any measuring position 1 (x 1i ,y 1i ) The plane point detected right below is O 1 '(x 1i ,y 1i ) The submarine umbilical 2 is located at P (x) i ,y i ) Point, the depth of water right below the shallow profile instrument is set as D 0 The depth of water above the submarine cable 2 is D p The distance between the P point where the pipe cable is located and the O' is delta xy, the buried depth of the pipe cable is delta z, and the sound velocity in seawater is c 1 The speed of sound in the earth formation being c 2 Total time of sound ray propagation in two passes is t, wherein t is in seawater 1 In the formation is t 2 ，θ i Is the included angle between the air trace line and the latitude line;
step 52, collecting x 1 、y 1 、D 0 、t、t 2 The result is substituted into a formula,
Figure BDA0003602148350000071
Figure BDA0003602148350000072
Figure BDA0003602148350000073
Figure BDA0003602148350000074
t＝t 1 +t 2 (5)
is provided with
D 0 ＝D p (6)
c 1 ＝c 2 (7)；
Step 53, applying mathematical functions to the formulas (1), (3), (4), (5), (6) and (7) to solve x i ,y i ,Δz i Three variables are drawn and displayed to form a three-dimensional space curved surface;
step 54, applying the mathematical functions to the formulas (2), (3), (4), (5), (6) and (7) to solve x i ,y i ,Δz i Three variables are drawn and displayed to form another three-dimensional space curved surface;
step 55, intersecting the two curved surfaces in the step 53 and the step 54, applying contourslice function of MATLAB software to calculate point-by-point coordinates of intersecting lines below the two curved surfaces, and obtaining a real plane coordinate set x of the submarine cable 2 i ,y i Wherein Δ z i The actual buried depth of the submarine umbilical 2;
step 56, solving the x obtained in the step 53 and the step 54 i ,y i ,Δz i Spreading the point-by-point data into a computer aided drawing system to obtain a final result diagram of the detection of the submarine pipe cable 2;
in this embodiment, the computer aided drawing system is AutoCAD software; the mathematical function is a solution function of MATLAB software.
In this embodiment, the detecting instrument of the acoustic profile signal of the stratum is a shallow stratum profiler; the shallow profile instrument, i.e. the selection of the transducer, the seismic source should be acoustic pulses (acoustic pulses), and the functions of the transmitter and the receiver are integrated, in the parameters, the beam angle is the most important consideration factor, the larger the beam angle is, the better the beam angle is, as shown in fig. 2, the better the beam angle is greater than 20 degrees, the best working main frequency is 14kHz, the smaller the vertical formation resolution is, in this embodiment, the types of the shallow profile instrument are EdgeTech 3200XS 216 and GeoAcoustic T14K, the beam angles are 24 degrees and 40 degrees respectively, the operation requirements can be met, and when the shallow profile instrument is installed, the short axis direction of the ellipse of the beam angle irradiation range should be parallel to the trend of the submarine pipe cable 2;
the method comprises the following steps that a shallow stratum profiler is fixedly installed on a measuring ship, the beam angle is oval, the long axis direction is perpendicular to the route trend of a submarine pipeline, when in measuring operation, the route central line of a submarine pipeline cable 2 is taken as a reference, a planned measuring line is arranged in parallel to the route trend of the submarine pipeline cable 2, and the distance between the planned measuring line and the route central line satisfies the relation that l is more than or equal to 0 and less than or equal to h.tg alpha; as shown in fig. 3b, 2 planned survey lines are arranged, and are respectively located on two sides of the submarine pipe cable 2 and parallel to the trend of the submarine pipe cable 2, the length of the survey line is equal to the length of the submarine pipe cable 2, a Global Navigation Satellite System (GNSS) terminal is installed above or at other positions, and the draft of the transducer and the plane offset distance between the GNSS antenna and the transducer are measured;
related parameters of the shallow stratum profiler and the GNSS terminal are set in acquisition software or navigation positioning software, so that normal connection and smooth data communication are ensured;
starting a shallow stratum profiler, triggering an energy converter switch, confirming that an inclination distance reflection signal of the submarine cable 2 is on a lower stratum as shown in figure 4, starting a measuring ship to go up from one side of a submarine cable route, and sailing along a planned measuring line on the same side and parallel to the direction of the submarine cable route;
starting data record setting of acquisition software before online to enable the GNSS to mark synchronously, and stopping data record of the acquisition software after offline;
when the submarine pipe cable 2 is detected by applying an acoustic reflection measurement method, a mirror image measuring line is arranged on the other side of the submarine pipeline route, and another group of corresponding detection information is provided to jointly complete the final inversion of the position and the burial depth;
the target reflection signal detected by the acoustic side reflection method is the record of the oblique reflection time course, but not the record of the vertical reflection time course right below, so that the plane position and the burial depth information of the target are directly extracted, deviation exists, and mathematical correction is needed to obtain the real position and the burial depth information of the submarine cable 2:
setting the position of the shallow profile instrument at any measurement position as O 1 (x 1i ,y 1i ) The plane point detected right below the plane point is O 1 '(x 1i ,y 1i ) The submarine pipe cable 2 is positioned at a point P (xi, yi), and the depth of water right below the shallow stratum profiler is set as D 0 The depth of water above the submarine cable 2 is D p The distance between the P point where the pipe cable is located and the O' is delta xy, the buried depth of the pipe cable is delta z, and the sound velocity in seawater is c 1 The speed of sound in the earth formation being c 2 Total time of sound ray propagation in two passes is t, where t is in seawater 1 In the formation is t 2 ，θ i Is the included angle between the air track line and the latitude line;
in the parameter, x 1 、y 1 、D 0 、t、t 2 Acquired, x i 、y i 、Δz i The method is a result parameter needing inversion, and when the detection of a measuring line is completed, the following equation set or equation can be constructed according to the geometric relationship:
at any point on the measuring line, the space geographic geometrical relationship which is satisfied by the upper coordinate of the shallow stratum profiler and the real coordinate of the submarine pipe cable 2 is as follows:
Figure BDA0003602148350000091
the geometrical relationship that the reflection time course of the acoustic pulse emitted by the shallow stratum section plotter reaching the submarine umbilical 2 satisfies in the water body and in the stratum is as follows:
Figure BDA0003602148350000092
the distance between the projection point of the submarine cable 2 on the sea bottom surface and the projection point of the shallow stratum profiler on the sea bottom surface satisfies the relationship:
Figure BDA0003602148350000093
the total reflection time of the acoustic pulse emitted by the shallow stratum profiler reaching the submarine pipe cable 2 satisfies the relation: t ═ t 1 +t 2 ；
The water depth of the position of the shallow stratum profiler is assumed to be equal to that of the position of the submarine umbilical cable 2: d0 ═ Dp;
compared with the water depth, the burying depth of the submarine cable 2 is generally shallow, and the sound velocity of the acoustic pulse in the water body is assumed to be equal to the sound velocity in the stratum buried in the submarine cable 2: c. C 1 ＝c 2 ；
According to the relation, a solve function of MATLAB software is applied to solve x i 、y i 、Δz i Obtaining a group of three-dimensional space curved surface equations by the mutual relational expression;
when the detection of another measuring line is finished, the O on the measuring line is used 2 (x 2j ,y 2j ) Substituting the plane data into the above equation to solve x j 、y j 、Δz j The other group of three-dimensional space curved surface equations can be obtained through the mutual relational expression;
applying a contourslice function of MATLAB software to solve an intersection line of two three-dimensional space curved surface equations, wherein the intersection line below the two curved surfaces is the position and the burial depth of the submarine pipe cable 2;
drawing the calculated position and burial depth information of the submarine pipe cable 2 on an AutoCAD drawing to form a detection result diagram of the submarine pipe cable 2;
the method adopts a side reflection method for detection, because the reflection time interval is increased, the reflection signals of the submarine pipeline mostly appear in deeper reflection layers, the acoustic reflection energy of the deep layers is weak and uniform due to the attenuation of stratum signals and other reasons, and even if the target reflection of the submarine pipeline is weak, the submarine pipeline can be easily identified under the background of the acoustic image;
the invention expands the application range of the acoustic profile to detect the submarine target, the pipe diameter which can be detected can be further reduced, the materials which can be detected can be further enriched, and the invention can also confirm that when the pipeline is buried in dense coarse soil or coarse and fine mixed soil, the side reflection method can provide better detection effect than the traditional method;
on the other side of the submarine pipe cable 2, repeating the previous step to finish data acquisition of the other measuring line, and finishing field operation;
extracting the position and elevation information of the slant distance reflected signal of the submarine pipe cable 2 in each measuring line from the acoustic profile detection interpretation software;
applying a Lagrange interpolation method or a Newton interpolation method to interpolate all the picked data, and encrypting the data until each pulse point has plane position and vertical elevation information;
storing the plane position and vertical elevation information of all pulse points on a measuring line as a text file, wherein the text file comprises three rows of parameters x 1i ,y 1i ,Δz 1i Storing the plane position and vertical elevation information of all pulse points on the other measuring line as a text file, wherein the text file comprises three rows of parameters x 2j ,y 2j ,Δz 2j As a known quantity of mathematical inversion;
according to the geometrical relationship between the time course curve shown in FIG. 5 and the geographic position shown in FIG. 6, the MATLAB software is opened, and the software containing the parameter x is called 2j ,y 2j ,Δz 2j The linear equation set and the equation constructed according to a measuring line are solved by applying a solve function, and a target parameter x is obtained by inversion i 、y i 、Δz i Drawing a three-dimensional space surface graph as shown in FIG. 7;
solving the linear equation set and the equation constructed according to the other measuring line, and obtaining a target parameter x by inversion j 、y j 、Δz j Intersecting the three-dimensional space curved surface in the previous step, and drawing a three-dimensional space curved surface intersection graph shown in FIG. 8;
applying a contourslice function of MATLAB software to solve the intersection line of two three-dimensional space curved surfaces, and storing the plane coordinates and the burial depth information of the lower intersection line as a result file, namely the obtained real position and the burial depth of the submarine pipe cable 2;
performing median filtering on the points in the result file, spreading the points on an AutoCAD drawing point by point according to a suggested scale of 1:500, finishing the drawing, and forming a plane position diagram of the submarine cable 2 and a submarine cable 2 burying state diagram shown in FIG. 9 to form a final detection result;
the invention is applied to the conventional submarine pipeline detection service, does not need to purchase additional equipment, adopts the existing acoustic shallow stratum profiler, tracks and detects the position and the burial depth of the submarine pipeline along the pipeline by the side reflection principle, can obtain the effect superior to the traditional transverse pipeline detection, not only can obtain more continuous measured result data, but also can save the total measuring line length and the ship-moving time by times, also obviously improves the target identification effect, and enhances the detection effect under the conditions of small pipe diameter, light material, hard stratum and the like.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims (9)

1. A submarine cable tracking type detection method based on acoustic side reflection is characterized in that: the method comprises the following steps:
step 1, a measuring ship gets on the line from one side of a submarine pipe cable route, sails in parallel to the direction of the submarine pipe cable route along a planned measuring line on the same side, and starts to acquire data and synchronously marks a shipborne navigation positioning GNSS system when an inclination distance reflection signal of the submarine pipe cable is positioned below an acoustic profile signal of a stratum where the inclination distance reflection signal is positioned;
step 2, enabling the measuring ship to come on line from the other side of the submarine pipeline cable route, and executing the step 1 again;
step 3, when the acoustic reflection image of the acquired data is an isolated continuous in-phase axis with strong energy, depicting the plane position and elevation of the in-phase axis according to a stratum pickup method;
step 4, interpolating and encrypting the picked data to pulse points one by one;
and 5, constructing a linear equation set of pulse points one by using the geometrical relationship between the time-course reflection curve and the flight path of the signal back-and-forth and the submarine pipe cable, and obtaining a final result diagram of submarine pipe cable detection.
2. The submarine umbilical tracking detection method based on acoustic side reflection according to claim 1, wherein: and the detector of the acoustic profile signal of the stratum is a shallow stratum profiler.
3. The submarine umbilical tracking detection method based on acoustic side reflection according to claim 2, wherein: the method also comprises the steps of debugging the shallow profiler and operating on site before step 1.
4. The submarine umbilical tracking detection method based on acoustic side reflection according to claim 3, wherein: the step of debugging the shallow layer profiler comprises the following steps:
the method comprises the steps that a shallow stratum profiler is installed on a measuring ship, and the depth of the shallow stratum profiler entering water and the offset distance between the shallow stratum profiler and a ship-mounted navigation positioning GNSS antenna are recorded;
setting a beam angle of the shallow stratum profiler to be not less than 20 degrees, working main frequency to be not less than 12kHz, and vertical stratum resolution to be not less than 10 cm;
the distance between the planned survey line and the route central line satisfies the relation that l is more than or equal to 0 and less than or equal to h.tg alpha, and the distance is respectively arranged on two sides of the submarine cable route central line, wherein l is offset distance, h is water depth, and alpha is beam angle.
5. The submarine umbilical tracking detection method based on acoustic side reflection according to claim 4, wherein: the field operation steps include:
the sea condition of field operation is not more than 4 grades, the measured ship speed is not more than 5 knots, the acoustic pulse emission frequency of the shallow stratum profiler is 1Hz, and the track deviation error is not more than 5 m;
the dynamic plane positioning precision of the global satellite navigation system after beacon difference or satellite difference correction is less than 1.5 m.
6. The submarine umbilical tracking detection method based on acoustic side reflection according to claim 1, wherein: in step 5, the step of constructing a linear equation set of pulse points by pulse points comprises:
step 51, setting the position of the shallow profile instrument of the measuring ship to be O at any measuring position 1 (x 1i ,y 1i ) The plane point detected right below is O 1 '(x 1i ,y 1i ) With submarine cable at P (x) i ,y i ) Point, the depth of water right below the shallow profile instrument is set as D 0 The depth of water above the submarine pipeline is D p The distance between the P point where the pipe cable is located and the O' is delta xy, the buried depth of the pipe cable is delta z, and the sound velocity in seawater is c 1 The speed of sound in the earth formation being c 2 Total time of sound ray propagation in two passes is t, wherein t is in seawater 1 In the formation is t 2 ，θ i Is the included angle between the air trace line and the latitude line;
step 52, collecting x 1 、y 1 、D 0 、t、t 2 By substituting into the formula, the formula is shown,
Figure FDA0003602148340000021
Figure FDA0003602148340000022
Figure FDA0003602148340000023
Figure FDA0003602148340000024
t＝t 1 +t 2 (5)
is provided with
D 0 ＝D p (6)
C 1 ＝C 2 (7)；
Step 53, applying mathematical functions to the formulas (1), (3), (4), (5), (6) and (7) to solve x i ,y i ,Δz i Three variables are drawn and displayed to form a three-dimensional space curved surface;
step 54, applying the mathematical functions to the formulas (2), (3), (4), (5), (6) and (7) to solve x i ,y i ,Δz i Three variables are drawn and displayed to form another three-dimensional space curved surface;
step 55, intersecting the two curved surfaces in the step 53 and the step 54, and applying a contourslice function of MATLAB software to calculate point-by-point coordinates of an intersecting line below the two curved surfaces to obtain a real plane coordinate group x of the submarine cable i ,y i Wherein Δ z i The actual buried depth of the submarine pipe cable;
step 56, solving the x obtained in the step 53 and the step 54 i ,y i ,Δz i Spreading the point by point in a computer aided drawing system to obtain a final result picture of submarine pipe cable detection.
7. The submarine umbilical tracking detection method based on acoustic side reflection according to claim 6, wherein: the computer aided drawing system is AutoCAD software.
8. The submarine umbilical tracking detection method based on acoustic side reflection according to claim 6, wherein: the mathematical function is a solve function of MATLAB software.
9. The submarine umbilical tracking detection method based on acoustic side reflection according to claim 1, wherein: in step 4, the method for obtaining the interpolation of the picked data comprises: lagrange interpolation or newton interpolation.
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