FR3000225B1 - Acoustic modem-based guiding method for autonomous underwater vehicle for marine seismic surveys - Google Patents

Acoustic modem-based guiding method for autonomous underwater vehicle for marine seismic surveys

Info

Publication number
FR3000225B1
FR3000225B1 FR1262458A FR1262458A FR3000225B1 FR 3000225 B1 FR3000225 B1 FR 3000225B1 FR 1262458 A FR1262458 A FR 1262458A FR 1262458 A FR1262458 A FR 1262458A FR 3000225 B1 FR3000225 B1 FR 3000225B1
Authority
FR
France
Prior art keywords
underwater vehicle
marine seismic
autonomous underwater
guiding method
seismic surveys
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
FR1262458A
Other languages
English (en)
Other versions
FR3000225A1 (fr
Inventor
Jonathan Grimsdale
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sercel SAS
Original Assignee
CGG Services SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CGG Services SAS filed Critical CGG Services SAS
Priority to FR1262458A priority Critical patent/FR3000225B1/fr
Priority to US14/440,241 priority patent/US9625597B2/en
Priority to PCT/EP2013/076890 priority patent/WO2014095854A1/fr
Publication of FR3000225A1 publication Critical patent/FR3000225A1/fr
Application granted granted Critical
Publication of FR3000225B1 publication Critical patent/FR3000225B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G01V1/3843—Deployment of seismic devices, e.g. of streamers
    • G01V1/3852—Deployment of seismic devices, e.g. of streamers to the seabed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/08—Propulsion
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/16—Receiving elements for seismic signals; Arrangements or adaptations of receiving elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/22—Transmitting seismic signals to recording or processing apparatus
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/24—Recording seismic data
    • 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
    • G01V1/3808—Seismic data acquisition, e.g. survey design
    • 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
    • G01V1/3817—Positioning of seismic devices
    • G01V1/3835—Positioning of seismic devices measuring position, e.g. by GPS or acoustically
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Environmental & Geological Engineering (AREA)
  • Geology (AREA)
  • Geophysics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Oceanography (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
FR1262458A 2012-12-20 2012-12-20 Acoustic modem-based guiding method for autonomous underwater vehicle for marine seismic surveys Expired - Fee Related FR3000225B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR1262458A FR3000225B1 (fr) 2012-12-20 2012-12-20 Acoustic modem-based guiding method for autonomous underwater vehicle for marine seismic surveys
US14/440,241 US9625597B2 (en) 2012-12-20 2013-12-17 Acoustic modem-based guiding method for autonomous underwater vehicle for marine seismic surveys
PCT/EP2013/076890 WO2014095854A1 (fr) 2012-12-20 2013-12-17 Méthode de guidage à base de modem acoustique pour un véhicule sous-marin autonome pour prospections sismiques marines

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1262458A FR3000225B1 (fr) 2012-12-20 2012-12-20 Acoustic modem-based guiding method for autonomous underwater vehicle for marine seismic surveys

Publications (2)

Publication Number Publication Date
FR3000225A1 FR3000225A1 (fr) 2014-06-27
FR3000225B1 true FR3000225B1 (fr) 2015-01-09

Family

ID=48083257

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1262458A Expired - Fee Related FR3000225B1 (fr) 2012-12-20 2012-12-20 Acoustic modem-based guiding method for autonomous underwater vehicle for marine seismic surveys

Country Status (3)

Country Link
US (1) US9625597B2 (fr)
FR (1) FR3000225B1 (fr)
WO (1) WO2014095854A1 (fr)

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US9381986B2 (en) 2012-11-21 2016-07-05 Seabed Geosolutions B.V. Jet-pump-based autonomous underwater vehicle and method for coupling to ocean bottom during marine seismic survey
US9457879B2 (en) 2012-12-17 2016-10-04 Seabed Geosolutions B.V. Self-burying autonomous underwater vehicle and method for marine seismic surveys
US10754352B1 (en) * 2014-06-25 2020-08-25 Santa Clara University Multi-robot gradient based adaptive navigation system
US10363656B1 (en) * 2014-06-25 2019-07-30 Santa Clara University Multi-robot gradient based adaptive navigation system
CN104199458A (zh) * 2014-08-15 2014-12-10 浙江大学 水下作业机器人
US10545253B2 (en) 2014-09-12 2020-01-28 Cgg Services Sas AUV based seismic acquisition system and method
CN107407739B (zh) * 2015-01-14 2020-05-19 离子地球物理公司 海洋传感器***
CA2923710A1 (fr) * 2015-03-13 2016-09-13 Kraken Sonar Systems Inc. Systeme de navigation sous-marine
CN104898594B (zh) * 2015-04-02 2018-03-13 山东省科学院海洋仪器仪表研究所 一种用于水下机器人群协同控制的通信装置与方法
CN105159313B (zh) * 2015-06-16 2017-11-21 哈尔滨工程大学 一种无人潜器操控装置及控制方法
CN105319534B (zh) * 2015-11-09 2018-08-17 哈尔滨工程大学 一种基于水声双程测距的多auv协同定位方法
CN106028278B (zh) * 2016-05-04 2019-06-14 哈尔滨工程大学 一种基于移动信标的分布式水下网络定位方法
CN106527454B (zh) * 2016-10-25 2019-07-02 西安兰海动力科技有限公司 一种无稳态误差的远程水下航行器定深控制方法
DE102017207231A1 (de) * 2017-04-28 2018-10-31 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Navigationssystem für Unterwasserfahrzeuge
CN107368086B (zh) * 2017-07-04 2020-09-11 哈尔滨工程大学 基于探测威胁域的无人潜航器路径规划装置及方法
CN107966145B (zh) * 2017-12-21 2020-12-15 中国船舶重工集团公司第七0七研究所 一种基于稀疏长基线紧组合的auv水下导航方法
CN108594834B (zh) * 2018-03-23 2020-12-22 哈尔滨工程大学 一种面向未知环境下多auv自适应目标搜索和避障方法
EP3797319B1 (fr) 2018-05-23 2023-08-30 Blue Ocean Seismic Services Limited Système d'acquisition de données autonomes
CN108844484B (zh) * 2018-07-13 2020-06-16 哈尔滨工程大学 一种全海深auv一体化控制舱及控制方法
US20220073175A1 (en) * 2018-09-14 2022-03-10 Kawasaki Jukogyo Kabushiki Kaisha Underwater vehicle system and working method
US11603175B2 (en) 2019-07-30 2023-03-14 Saudi Arabian Oil Company Autonomous underwater vehicle to generate seismic waves
RU2755001C1 (ru) * 2020-09-29 2021-09-08 Георгий Яковлевич Шайдуров Система подводной сейсморазведки на море
CN113029123A (zh) * 2021-03-02 2021-06-25 西北工业大学 一种基于强化学习的多auv协同导航方法
CN113155134B (zh) * 2021-04-27 2022-05-03 哈尔滨工程大学 一种基于惯性信息辅助的水声信道跟踪与预测方法
CN114518107B (zh) * 2022-02-16 2023-05-23 中国地质大学（北京） 一种基于无人机遥控震源的无线同步控制***
CN117125230B (zh) * 2023-08-28 2024-03-22 成都诸元天成智能装备有限公司 一种基于潜航设备的控制***及方法

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Also Published As

Publication number Publication date
WO2014095854A1 (fr) 2014-06-26
US20150276959A1 (en) 2015-10-01
FR3000225A1 (fr) 2014-06-27
US9625597B2 (en) 2017-04-18

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