CN115308801A - Method for positioning ocean bottom seismograph by using travel time and terrain data of direct waves and processing terminal - Google Patents
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Abstract
The invention discloses a method for positioning an ocean bottom seismograph by using travel time of direct waves and topographic data and a processing terminal, wherein the method comprises the following steps: method for establishing constrained interpolation function z by using seabed depth information r ＝z(x r ,y r ) (ii) a Wherein x is r ,y r ,z r Respectively the abscissa, the ordinate and the ordinate of the ocean bottom seismograph; converting the travel time of the direct wave into a function related to the abscissa and the ordinate of the ocean bottom seismograph and the root-mean-square speed of the seawater; establishing an objective function
And converting the objective function to x r ,y r ,v rms A function of three variables; solving the minimization problem of the objective function phi to find x r ,y r ,v rms According to x r ,y r And the constrained interpolation function calculates the coordinate value of the ocean bottom seismograph. The invention provides a method for positioning an ocean bottom seismograph by using travel time of direct waves and topographic data, which does not need to make non-collinear distribution assumption on seismic source points and solves the technical problems that the positioning method of the ocean bottom seismograph based on a global search method has large operation amount and needs to know the high-precision seawater speed.
Description
Technical Field
The invention relates to the technical field of positioning of an ocean bottom seismograph, in particular to a method for positioning an ocean bottom seismograph by using travel time of direct waves and topographic data and a processing terminal.
Background
An Ocean Bottom seismograph OBS (Ocean Bottom Sei Smometer) is a seismic data acquisition system placed on the Ocean Bottom, can be used for recording natural seismic events and artificial seismic exploration, and is widely applied to the fields of oil and gas exploration, earth deep structure exploration and the like. Because the instrument is positioned on the seabed, the instrument can simultaneously receive P-wave signals and S-wave signals, has low environmental noise, and realizes the acquisition of seabed seismic data with high signal-to-noise ratio, high resolution and high precision.
The method comprises the steps that a sinking-floating OBS connected with a sinking-coupling frame is thrown on the sea surface according to planned point positions, the buoyancy OBS freely falls to the sea bottom in sea water under the action of gravity of the sinking-coupling frame for data recording, the OBS is recovered after a planned task is completed, an acoustic instruction is sent on a ship during recovery, an underwater acoustic transducer of the OBS receives an acoustic release instruction, electrochemical fusing is carried out on a fusing steel wire, the OBS is separated from the sinking-coupling frame, and the OBS floats to the sea surface by utilizing the buoyancy of the OBS and is recovered.
Generally, OBS is deployed on the seafloor in a free-fall manner. Due to the influence of ocean waves and currents, the position of the OBS when submerged on the sea bottom will deviate from the position when just placed in the sea. When the sea bottom is deep or the flow velocity of the sea water is high, large OBS position deviation can be caused, and therefore the subsequent seismic data processing result and the quality and reliability of seismic section interpretation are seriously affected. Therefore, it is necessary to accurately locate the position of the OBS on the seabed by a certain method before seismic data processing.
Among the existing OBS positioning methods, a three-point positioning method is the most common method, which determines the coordinates of the OBS by using three non-collinear shot point coordinates and the travel time of a direct wave reaching the OBS. However, in actual processing, the results of the OBS coordinates calculated by different combinations of three shots are different, and the results are partly caused by errors such as travel time pickup and seawater speed, on the other hand, when the three shots are almost collinear, the offset of the depth z from the vertical line measuring direction y is difficult to distinguish, and huge errors are caused in coordinate calculation. The conventional method selects different three-shot-point combinations to calculate the OBS coordinates, analyzes the results and obtains the final positioning result, so that the method is not only complicated, but also has no determined standard when a plurality of groups of results are selected and has insufficient reliability. There are also methods that propose measuring information of the seafloor depth in combination with multi-beam in a three-point positioning method, but do not consider the change of water velocity.
In addition, the global search method and the positioning method based on the wave equation migration principle both have the problems of large operation amount and need of knowing the high-precision seawater speed. Especially, when the sea bottom is deep, the OBS is far away from the launching point, which may result in a large calculation range of the grid, and the seawater speed may also change with the depth.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, provides a method for positioning an ocean bottom seismograph by using direct wave travel time and topographic data and a processing terminal, and solves the technical problems that the traditional positioning method of the ocean bottom seismograph has large calculation amount and needs to know high-precision seawater speed.
To this end, the invention discloses a method for positioning an ocean bottom seismograph by using travel time and terrain data of direct waves, which comprises the following steps: acquiring travel time of direct waves of a plurality of shot points;
method for establishing constrained interpolation function z by using seabed depth information r ＝z(x r ,y r ) (ii) a Wherein x is r ,y r ,z r Respectively the abscissa, the ordinate and the ordinate of the ocean bottom seismograph;
converting the travel time of the direct wave into a function related to the abscissa and the ordinate of the ocean bottom seismograph and the root-mean-square speed of the seawater;
establishing an objective function
And converting the objective function to x r ,y r ,v rms A function of three variables; wherein i is the label of the shot point,
the observed travel time of the direct wave of the ith shot point is obtained;
calculating the travel time of the direct wave of the ith shot point predicted;
solving the minimization problem of the objective function phi to find x r ,y r ,v rms According to x r ,y r And the constrained interpolation function calculates the coordinate value of the ocean bottom seismograph.
Preferably, the time of flight of the direct wave is converted into a function of the abscissa and the ordinate of the ocean bottom seismograph and the root mean square velocity of the sea water; the method comprises the following steps:
assuming that the shot point is at the sea surface (x) s ,y s ,z s ) With ocean bottom seismographs at the ocean bottom (x) r ,y r ,z r ) Then, the travel time of the direct wave is expressed as:
will z r ＝z(x r ,y r ) Substitution into
The travel time of the direct wave is converted into a function: t is t D ＝t(x r ,y r ,v rms ) (ii) a I.e. t D As a function of three independent variables with respect to the ocean bottom seismograph abscissa, ordinate and the root mean square velocity of the seawater.
Preferably, the objective function is translated with respect to x r ,y r ,v rms A function of three variables, including: calculating the predicted travel time of the direct wave of the ith shot point:
will be provided with
Substitution into
To obtain
I.e. the objective function phi is one with respect to x r ,y r ,v rms A function of three variables.
Preferably, said solving the minimization problem of the objective function Φ to find x r ,y r ,v rms According to x r ,y r And the step of solving the coordinate value of the ocean bottom seismograph by the constrained interpolation function comprises the following steps:
setting an iteration initial value (x) 0 ,y 0 ,v 0 ) Wherein x is 0 ,y 0 The abscissa and ordinate, v, of the ocean bottom seismograph when launched on the sea surface 0 The initial speed of the seawater;
carrying out iterative solution on the objective function phi, and stopping iteration when the objective function phi is smaller than a preset value or the iteration times reach the preset value;
calculating the coincidence degree of the travel time of the predicted direct wave and the travel time of the direct wave of the actual value in each shot point data, and changing the iteration initial value (x) if the coincidence degree is less than the preset value 0 ,y 0 ,v 0 ) Repeating the iterative solution step; if the goodness of fit is greater than a preset value, x obtained at the moment is used r ,y r ,v rms And acquiring coordinate values of the ocean bottom seismograph.
Preferably, the iteratively solving the objective function Φ includes:
solving the optimization problem by using Newton's iteration method with the formula of
[x r ,y r ,v rms ] (k+1) ＝[x r ,y r ,v rms ] (k) -H -1 J；
Here, k is the number of iterations, H and J are respectively the hessian matrix and the jacobian matrix of the objective function:
wherein
Preferably, said
And
terms can be interpolated by a constrained interpolation function z of the depth of the sea floor r ＝z(x r ,y r ) To obtain, comprising: numerical solution by means of finite difference of grids
And with
I.e. for a given abscissa (x) r ,y r )，
The second purpose of the invention can be achieved by adopting the following technical scheme:
a processing terminal comprising a processor and a memory for storing a program executable by the processor, when executing the program stored in the memory, implementing a method of locating a marine seismograph using direct arrival travel time and terrain data as described above.
The OBS positioning method provided by the invention utilizes the seabed depth information to establish a constrained interpolation function z r ＝z(x r ,y r ) The sea bottom depth information is used as extra constraint, is suitable for approximately two-dimensional measuring lines, can process the situation that the OBS is far away from the vertical direction of the measuring lines, and converts the travel time of the direct wave into a function related to the horizontal coordinate, the vertical coordinate and the root-mean-square speed of the sea water of the ocean bottom seismograph; establishing an objective function
And converting the objective function to x r ,y r ,v rms A function of three variables; wherein i is the label of the shot point,
the observed travel time of the direct wave of the ith shot point is obtained;
calculating the travel time of the direct wave of the ith shot point predicted; solving a minimization problem of the objective function phi to find x r ,y r ,v rms According to x r ,y r And the constrained interpolation function calculates the coordinate value of the ocean bottom seismograph, simultaneously considers the change of the seawater speed, and can calculate the position of the OBS on the ocean bottom accurately.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a flow chart of a method of locating a marine seismograph using direct arrival travel time and terrain data in accordance with the present invention;
FIG. 2 is a flow chart of the solution objective function of a method of locating an ocean bottom seismograph using direct wave travel time and terrain data in accordance with the present invention;
fig. 3 is a block diagram of a processing terminal according to embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely 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 obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that all directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention discloses a method for positioning a submarine seismograph by using travel time and terrain data of direct waves, which comprises the following steps with reference to figures 1-2:
step 100, acquiring travel time of direct waves of a plurality of shot points;
specifically, travel time refers to the time that a seismic wave travels from a seismic source to an observation point or a shot point. The propagation velocities of the longitudinal waves and the transverse waves of the earthquake are different, the material composition of the passing part is different, and the travel time of the earthquake waves is also different. In the implementation, the number of the shot points can be selected according to actual needs, and only convenient measurement is needed. In addition, a direct wave refers to a seismic wave that travels directly from a seismic source along a medium to a receiving point, and if the propagation medium is constant in speed, the travel path is a straight line. In marine seismic exploration, since the propagation velocity of a sound wave in a water layer may not vary much, when the incident angle is close to vertical, the bending of the propagation path thereof can be approximately ignored and treated as a straight line.
200, establishing a constrained interpolation function z by using the seabed depth information r ＝z(x r ,y r ) (ii) a Wherein x is r ,y r ,z r Respectively the abscissa, the ordinate and the ordinate of the ocean bottom seismograph;
in particular, the topography of the sea floor is difficult to directly observe due to the concealment of the sea water. The ship uses the echo depth finder during navigation, can quickly measure the depth of the sea bed, and can reveal the true phase of the sea bed topography by combining with accurate positioning. In this embodiment, the depth information of the sea bottom is established, and the depth information of the sea bottom is usually a data list, and x can be known through the data list r ,y r ,z r Are respectively provided withThe relationship among the abscissa, the ordinate and the ordinate of the ocean bottom seismograph is shown.
step 400, establishing an objective function
And converting the objective function to x r ,y r ,v rms A function of three variables; wherein i is the label of the shot point,
the observed travel time of the direct wave of the ith shot point is obtained;
calculating the predicted travel time of the direct wave of the ith shot point;
step 500, solve the minimization problem of the objective function Φ to find x r ,y r ,v rms According to x r ,y r And the constrained interpolation function calculates the coordinate value of the ocean bottom seismograph.
The OBS positioning method provided by the invention utilizes the seabed depth information to establish a constrained interpolation function z r ＝z(x r ,y r ) The sea bottom depth information is used as extra constraint, is suitable for approximately two-dimensional measuring lines, can process the situation that the OBS is far away from the vertical direction of the measuring lines, and converts the travel time of the direct wave into a function related to the horizontal coordinate, the vertical coordinate and the root-mean-square speed of the sea water of the ocean bottom seismograph; establishing an objective function
And converting the objective function to x r ,y r ,v rms A function of three variables; wherein i is the label of the shot point,
the observed travel time of the direct wave of the ith shot point is obtained;
calculating the travel time of the direct wave of the ith shot point predicted; solving a minimization problem of the objective function phi to find x r ,y r ,v rms According to x r ,y r And the constrained interpolation function calculates the coordinate value of the ocean bottom seismograph, simultaneously considers the change of the seawater speed, and can calculate the position of the OBS on the ocean bottom accurately.
Preferably, step 300, the travel time of the direct wave is converted into a function of the horizontal coordinate, the vertical coordinate and the root mean square speed of the sea water of the ocean bottom seismograph; the method comprises the following steps:
step 310, assume that the shot point is at the sea surface (x) s ,y s ,z s ) With ocean bottom seismographs located at the ocean bottom (x) r ,y r ,z r ) Then, the travel time of the direct wave is expressed as:
step 320, adding z r ＝z(x r ,y r ) Substitution into
Step 330, converting the travel time of the direct wave into a function: t is t D ＝t(x r ,y r ,v rms ) (ii) a I.e. t D As a function of three independent variables with respect to the abscissa, the ordinate and the root mean square velocity of the water for the ocean bottom seismograph.
Preferably, the objective function is translated with respect to x r ,y r ,v rms A function of three variables, including: calculating the predicted travel time of the direct wave of the ith shot point:
will be provided with
Substitution into
To obtain
Preferably, step 500, the minimization problem of the objective function Φ is solved to find x r ,y r ,v rms According to x r ,y r And the step of solving the coordinate value of the ocean bottom seismograph by the constrained interpolation function comprises the following steps:
step 510, set iteration initial value (x) 0 ,y 0 ,v 0 ) Wherein x is 0 ,y 0 The abscissa and ordinate, v, of the ocean bottom seismograph when launched on the sea surface 0 The initial speed of the seawater;
specifically, the ocean bottom seismograph is sunk from the sea surface and freely falls to the sea bottom, and the throwing position and the landing position are relatively close to each other and can be used as an initial value of the required position; at the beginning, v 0 1500m/s can be selected.
Step 520, performing iterative solution on the objective function phi, and stopping iteration when the objective function phi is smaller than a preset value or the iteration times reach the preset value;
step 530, calculating the coincidence degree of the travel time of the direct wave predicted by calculation in each shot point data and the travel time of the direct wave of the actual value, and if the coincidence degree is less than a preset value, changing an iteration initial value (x) 0 ,y 0 ,v 0 ) Repeating the iterative solution step; if the goodness of fit is larger than the preset value, x obtained at the moment is used r ,y r ,v rms And acquiring coordinate values of the ocean bottom seismograph.
Specifically, the objective function Φ is one about x r ,y r ,v rms A function of three variables. In theory, when these three variables take the optimal solution,
and with
Should be equal, i.e. Φ equals 0. Therefore, we can find x by solving the minimization problem of Φ r ,y r ,v rms The optimum value of (c). And the specific value of the goodness of fit can be selected according to actual conditions.
Preferably, the iterative solution of the objective function Φ includes:
solving the optimization problem by using Newton's iteration method with the formula of
[x r ,y r ,v rms ] (k+1) ＝[x r ,y r ,v rms ] (k) -H -1 J；
Here, k is the number of iterations, H and J are respectively the hessian matrix and the jacobian matrix of the objective function:
wherein
The method solves the optimization problem by using a Newton iteration method, and simultaneously fits the travel time of all shot points, compared with a three-point method, a search method and other methods, the method is efficient and stable, small in calculated amount, simple and visual in operation flow, capable of processing in batches and capable of meeting the requirements of batch processing of seismic data.
Preferably, since the depth information of the sea bottom is usually a data list, and is not a simple analytical expression, we numerically solve the depth information by means of grid finite difference
And with
Wherein
And
the term can be defined by a constrained interpolation function z of the seafloor depth r ＝z(x r ,y r ) To obtain, comprising: numerical solution by means of finite difference of grids
And
i.e. for a given abscissa (x) and ordinate r ,y r )，
Example 2
The embodiment provides a processing terminal 601, which comprises a processor 602 and a memory 603 for storing programs executable by the processor 602, wherein when the processor 602 executes the programs stored in the memory 603, the processing terminal 601 realizes the method for positioning the ocean bottom seismograph by using the direct wave travel time and the terrain data of the embodiment 1, and the method comprises the following steps: acquiring travel time of direct waves of a plurality of shot points;
method for establishing constrained interpolation function z by using seabed depth information r ＝z(x r ,y r ) (ii) a Wherein x is r ,y r ,z r Respectively the abscissa, the ordinate and the ordinate of the ocean bottom seismograph;
converting the travel time of the direct wave into a function related to the abscissa and the ordinate of the ocean bottom seismograph and the root-mean-square speed of the seawater;
establishing an objective function
And converting the objective function to x r ,y r ,v rms A function of three variables; wherein i is the label of the shot point,
the observed travel time of the direct wave of the ith shot point is obtained;
calculating the travel time of the direct wave of the ith shot point predicted;
solving a minimization problem of the objective function phi to find x r ,y r ,v rms According to x r ,y r And the constrained interpolation function calculates the coordinate value of the ocean bottom seismograph
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A method for locating a marine seismograph using direct arrival travel time and terrain data, said method comprising:
acquiring travel time of direct waves of a plurality of shot points;
method for establishing constrained interpolation function z by using seabed depth information r ＝z(x r ,y r ) (ii) a Wherein x is r ,y r ,z r Respectively the abscissa, the ordinate and the ordinate of the ocean bottom seismograph;
converting the travel time of the direct wave into a function of the horizontal coordinate, the vertical coordinate and the root-mean-square speed of the seawater of the ocean bottom seismograph;
establishing an objective function
And converting the objective function to x r ,y r ,v rms A function of three variables; wherein i is the label of the shot point,
the observed travel time of the direct wave of the ith shot point is obtained;
calculating the predicted travel time of the direct wave of the ith shot point;
solving a minimization problem of the objective function phi to find x r ,y r ,v rms According to x r ,y r And the constrained interpolation function calculates the coordinate value of the ocean bottom seismograph.
2. A method for locating a marine seismograph using direct arrival travel time and terrain data according to claim 1, wherein said translating the travel time of said direct arrival into a function of the abscissa and ordinate of the marine seismograph and the root mean square velocity of the sea water; the method comprises the following steps:
assuming that the shot point is at the sea surface (x) s ,y s ,z s ) With ocean bottom seismographs located at the ocean bottom (x) r ,y r ,z r ) Then, the travel time of the direct wave is expressed as:
will z r ＝z(x r ,y r ) Substitution into
The travel time of the direct wave is converted into a function: t is t D ＝t(x r ,y r ,v rms ) (ii) a I.e. t D As a function of three independent variables with respect to the abscissa, the ordinate and the root mean square velocity of the water for the ocean bottom seismograph.
3. A method for locating an ocean bottom seismograph using direct wave travel time and terrain data as claimed in claim 2 wherein said objective function is transformed to x r ,y r ,v rms A function of three variables, including: calculating the predicted travel time of the direct wave of the ith shot point:
will be provided with
Substitution into
To obtain
I.e. the objective function phi is one with respect to x r ,y r ,v rms A function of three variables.
4. A method for positioning a marine seismograph using direct arrival travel time and terrain data as claimed in claim 3, wherein said solving the minimization problem of the objective function Φ to find x r ,y r ,v rms According to x r ,y r And the step of constraining the interpolation function to solve the coordinate value of the ocean bottom seismograph comprises the following steps of:
setting an iteration initial value (x) 0 ,y 0 ,v 0 ) Wherein x is 0 ,y 0 The abscissa and ordinate, v, of the ocean bottom seismograph when launched on the sea surface 0 The initial speed of the seawater;
carrying out iterative solution on the objective function phi, and stopping iteration when the objective function phi is smaller than a preset value or the iteration times reach the preset value;
calculating the coincidence degree of the travel time of the predicted direct wave and the travel time of the direct wave of the actual value in each shot point data, and changing the iteration initial value (x) if the coincidence degree is less than the preset value 0 ,y 0 ,v 0 ) Repeating the iterative solution step; if the goodness of fit is greater than a preset value, x obtained at the moment is used r ,y r ,v rms And acquiring coordinate values of the ocean bottom seismograph.
5. The method of claim 4, wherein the iterative solution to the objective function Φ comprises:
solving the optimization problem by using a Newton iteration method, wherein the iteration formula is
[x r ,y r ,v rms ] (k+1) ＝[x r ,y r ,v rms ] (k) -H -1 J；
Here, k is the number of iterations, H and J are respectively the hessian matrix and the jacobian matrix of the objective function:
wherein
6. A method of locating a marine seismograph using direct arrival travel time and terrain data according to claim 5, wherein said method is wherein
And
the term can be defined by a constrained interpolation function z of the seafloor depth r ＝z(x r ,y r ) To obtain, comprising: by passingNumerical solution of finite difference of grid
And with
I.e. for a given abscissa (x) and ordinate r ,y r )，
7. A processing terminal comprising a processor and a memory for storing processor-executable programs, the processing terminal performing the method of any of claims 1 to 6 when the processor executes the programs stored in the memory.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106443776A (en) * | 2016-06-07 | 2017-02-22 | 中国地质大学（北京） | Relocation method of ocean bottom seismometer based on time slice method |
| WO2019071504A1 (en) * | 2017-10-12 | 2019-04-18 | 南方科技大学 | Two-point ray tracing based seismic travel time tomography inversion method |
| CN110780350A (en) * | 2019-10-25 | 2020-02-11 | 中国海洋大学 | Submarine seismic detector dynamic positioning method and system and submarine seismic detector |
| CN111352160A (en) * | 2020-03-19 | 2020-06-30 | 中国科学院地质与地球物理研究所 | Automatic repositioning device and method for ocean bottom seismograph |
| CN111580165A (en) * | 2020-05-27 | 2020-08-25 | 中国科学院地质与地球物理研究所 | Device and method for positioning arrival time difference of ocean bottom seismograph |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106443776A (en) * | 2016-06-07 | 2017-02-22 | 中国地质大学（北京） | Relocation method of ocean bottom seismometer based on time slice method |
| WO2019071504A1 (en) * | 2017-10-12 | 2019-04-18 | 南方科技大学 | Two-point ray tracing based seismic travel time tomography inversion method |
| CN110780350A (en) * | 2019-10-25 | 2020-02-11 | 中国海洋大学 | Submarine seismic detector dynamic positioning method and system and submarine seismic detector |
| CN111352160A (en) * | 2020-03-19 | 2020-06-30 | 中国科学院地质与地球物理研究所 | Automatic repositioning device and method for ocean bottom seismograph |
| CN111580165A (en) * | 2020-05-27 | 2020-08-25 | 中国科学院地质与地球物理研究所 | Device and method for positioning arrival time difference of ocean bottom seismograph |
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