GB2089043A - Determination of the Location of a Submerged Marine Seismic Streamer - Google Patents
Determination of the Location of a Submerged Marine Seismic Streamer Download PDFInfo
- Publication number
- GB2089043A GB2089043A GB8136899A GB8136899A GB2089043A GB 2089043 A GB2089043 A GB 2089043A GB 8136899 A GB8136899 A GB 8136899A GB 8136899 A GB8136899 A GB 8136899A GB 2089043 A GB2089043 A GB 2089043A
- Authority
- GB
- United Kingdom
- Prior art keywords
- vessel
- streamer
- transponders
- acoustic
- pulses
- 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.)
- Granted
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
- G01V1/3817—Positioning of seismic devices
- G01V1/3835—Positioning of seismic devices measuring position, e.g. by GPS or acoustically
-
- 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
- G01S15/87—Combinations of sonar systems
- G01S15/874—Combination of several spaced transponders or reflectors of known location for determining the position of a receiver
Landscapes
- Remote Sensing (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Oceanography (AREA)
- Acoustics & Sound (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The determination of the location of a submerged marine streamer 20 towed behind a seismic exploration vessel is effected by means of an array of at least three transponders 10, 12, 14 secured to the ocean floor which generate distinguishable acoustic pulses upon a command signal from the ship. These signals are received by acoustic receivers 34 housed in the streamer and by the ship. The distance to each acoustic receiver may be triangulated from the data generated. <IMAGE>
Description
SPECIFICATION
Apparatus and Method for the Determination of the Location of a Submerged Marine
Seismic Streamer
The present invention finds principal application within the field of marine seismic exploration. More particularly, the invention is concerned with means for accurately determining the position of a towed marine seismic streamer.
In marine seismic prospecting, an exploration vessel tows a seismic streamer having a plurality of pressure sensitive detectors, commonly referred to as hydrophones. A source of seismic energy, such as an air gun or an explosive charge, is used to propagate pressure waves through the water into the underlying sea floor. Part of the energy will be reflected by subfloor geological discontinuities and subsequently detected by the hydrophones as pressure variations in the surrounding water. The mechanical energy of these pressure variations is transformed into an electrical signal by the hydrophones and transmitted through the streamer to recording apparatus aboard the vessel. The collected data may then be interpreted by those skilled in the art to reveal information about the subsea geological formations.
For the signals to be meaningful, it is necessary to know the placement of the individual hydrophones at the time the pressure waves are detected. As the vessel is continuously moving and as the streamer may extend for thousands of feet behind the vessel, accurate location of the streamer hydrophones is difficult.
Various systems have been developed to provide accurate information as to the location of the vessel.
However, it is rare for the streamer to trail directly along the path of the vessel. While the streamer is attached to the stern of the vessel, the bulk of the streamer is submerged below the water surface through the action of depth controllers along the length of the streamer. As a result, the cross-track current velocity at the streamer depth may differ from the cross-track current affecting the vessel, thereby causing the streamer to trail at an angle to the vessel's course.
Other factors, which are not necessary to enumerate, may also create a variance in the path of the streamer when compared to the vessel track.
One method of estimating the location of the streamer disclosed in the prior art relies upon the addition of a tail buoy radar reflector located at the end of the streamer. On-board radar systems may then be used under optimal sea conditions to find the end of the streamer and the location of the individual hydrophones interpolated. Such systems are generally unreliable however, and render the required data suspect.
A second method taught by the art relies upon very sensitive and expensive apparatus to measure the yaw and pitch angles of the streamer end adjacent the vessel. These data, coupled with magnetic compass headings taken along the streamer and the known depth of the streamer, permit one to empirically calculate the hydrophone locations.
It is an object of this invention to provide an accurate, alternative means for locating the submerged streamer which overcomes the deficiencies of the prior art.
The present invention relates to apparatus for use in determining the location of a submerged marine streamer towed behind an exploration vessel. The system comprises: means for initiating an acoustic command signal from the vessel; at least three transponders spatially located in known positions on the sea floor so as to provide distinct acoustic paths to the vessel and streamer, each of said transponders capable of responding to the command signal from the vessel by emitting acoustic pulses of distinctly different frequencies; a plurality of spaced receivers carried by the streamer capable of receiving the different acoustic pulses emitted by the transponders and individually relaying distinct signals along the streamer to the vessel responsive to said acoustic pulses; a vessel receiver capable of receiving and distinguishing the different acoustic pulses emitted from the transponders; and means for measuring the time interval from initiation of the command signal to receipt of the signals relayed from the spaced receivers housed by the streamer and the time interval from initiation of the command signal to receipt of the pulses by the vessel receiver from the transponders.
Preferably, the transponders are placed in a non-colinear relationship and each streamer receiver is serviced by a separate channel housed in the streamer for relaying signals to the vessel.
The receivers may be either active or passive, but are preferably passive to minimize weight and expense. The apparatus may further comprise means for measuring the vessel's velocity with respect to the array of transponders situated on the ocean floor. Said means for measuring the vessel's velocity may include apparatus for measuring the Doppler shift in the frequency of the pulses generated by the transponders.
For a better understanding of the invention and to show how the same may be carried into effect, reference will now be made, by way of example, to the accompanying drawings, in which: Fig. 1 illustrates a transponder array shown in relationship to a surface exploration vessel towing a marine streamer; and
Fig. 2 diagrammatically illustrates the effect of shipment movement on the acoustic path between vessel and transponder.
The present invention required the placement of a plurality of acoustic transponders on, or adjacent, the ocean bottom. Preferably, the transponders will be positioned on the sea floor in noncolinear arrays of at least three transponders per array. Each transponder in a given triplet is preferably placed at a sufficient distance apart to give adequate range to the ship and streamer receivers in a given water depth. While the present invention is concerned with location of the vessel and streamer with respect to a given array and not with respect to the actual geographical location, the latter relationship may be established from knowledge of the transponder placement. Well known methods are described in the artfordetermination of the transponder placement and calibration and are therefore not to be considered here.
Referring to Fig. 1 of the drawings, there is shown a single array of three acoustic transponders, indicated generally by reference numerals 1 0, 12 and 14, positioned on the sea floor 1 6. An exploration vessel 1 8 is shown on the surface towing a streamer 20.
Transponders of the type required are commercially available and normally comprise a base plate 22, resting on the sea floor, and a cable 24 attached between the base plate 22 and the transponder body 26. A float 28 connected to the transponder body 26 by means of a cable 30 maintains the transponder body 26 at an attitude above the sea floor determined by the length of cable 24. Float 28 also provides a means of retrieval if cable 30 is severed.
Vessel 1 8 is equipped with an acoustic transceiver 32 for sending command or interrogation acoustic signals through the water to the transponders and, in turn, receiving responsive signals therefrom. Preferably, all transponders in the array will respond to a single frequency signal emitted by the vessel's transceiver, however, coded signals may be generated to actuate the individual transponders from the vessel, if desired.
The marine streamer 20 is submerged below the water surface by a plurality of conventional depth controllers (not shown) and will normally house hydrophones (not shown), and depth sensors (not shown) which may be interrogated from the vessel for information.
In addition, the streamer will also house a plurality of acoustic receivers 34 spaced along the length of the streamer. Receivers 34 are capable of detecting the signals generated by the transponders and relaying identifiable responses along the streamer to the vessel. Normally the streamer will have individual channels leading from each receiver to the vessel for transmitting the information. Although the receivers may be active, or powered, it is preferred that the receivers be passive.
To determine the location of receivers 34 and thus the streamer position, the vessel's acoustic transceiver 32 is triggered to send an acoustic command signal. Upon receipt of the signal, after the delay in transmission time through the water, each transponder transmits an acoustic pulse of a distinguishable frequency. These pulses are detected by transceiver 32 and by the acoustic receivers 34 housed in the streamer. For the sake of clarity, acoustic travel paths are only shown in
Fig. 1 of the drawing as dashed lines for the vessel transceiver, transponders, and a single receiver in the streamer. It should be understood, however, that similar paths could be drawn for each of the receivers housed in the streamer.
Arrows It, 12 and 13 represent the command pulse travelling along the dashed lines from the ship to the transponders, arrows Rç, R2, and R3 represent the responsive pulses from the transponders to the vessel and arrows R'1, R'2 and R'3 indicate the pulse lines of travel to the receiver housed in the streamer. Since the spatial positions of the transponders on the sea floor and the speed of sound through the water are known, the receiver position may be triangulated from knowledge of the travel time for each pulse from their respective transponders.
Suitable means aboard the vessel are provided to measure the time interval between the sending of the command signal and the receipt of the pulses from the transponders and the receivers.
In Fig. 2 of the drawings, there is illustrated a single vessel moving along the water's surface at time To and at a subsequent time T1. As shown therein, the vessel's transceiver initiates a pulse at time To which travels in a straight line along the indicated path to the transponder. Upon receipt of the signal at time Td the transponder transmits a pulse which is detected by the vessel transceiver at time T1. From the figure it may be derived that the time, Td, is given by the formula:- (T1-T0)
Td=To+ (1) 2 c wherein v is the vessel's velocity with respect to the transponder and c is the propagation speed of the acoustic pulses.
The
v
c ratio may be determined in a number of ways. A preferred method, however, relies upon the measurement of the Doppler shift in the received frequency from the transponder. Naturally, in order to determine the velocity in this manner, the transponders must be capable of generating pulses of very stable frequenciejs and the vessel receiver must be capable of measuring the apparent change in the frequency.
The ratio may also be calculated from the rate of change of range in the direction of the transponders and the vessel. This range rate may be determined readily from knowledge of the vessel's position and speed with respect to the transponders.
The ratio
v
c for normal ship speeds during seismic operations will usually be less than .002, since v is about 3 meters per second and c is about 1,500 meters per second. If the
v
c term is dropped then: (T,-T,)
Td=To+ 2 with an error of less 0.2%. An error of this magnitude may be acceptable for the ocean depths encountered in oil industry for some types of seismic operations.
Knowledge of the time td, for the initiation of the pulses from the transponders and the measured time of pulse detection by the receivers in the streamer as transmitted to the vessel permits the calculation of the distance from each transponder to each receiver. These distances may then be triangulated to give the location of each receiver in a streamer in real time by a shipboard computer or from the recorded data in post mission analysis.
Claims (10)
1. Apparatus for use in determining the location of a submerged marine seismic streamer as it is towed by a marine seismic exploration vessel, which comprises:- means for initiating an acoustic command signal from the vessel;
at least three transponders adapted to be spatially located in known positions on the sea floor so as to provide distinct acoustic paths to the vessel and streamer, each of said transponders being capable of responding to the command signal from the vessel by emitting acoustic pulses of distinctly different frequencies;
a plurality of receivers adapted to be carried in spaced apart relationship by the streamer and capable of receiving the different acoustic pulses emitted by the transponders and individually relaying distinct signals along the streamer to the vessel responsive to said pulses;;
a vessel receiver capable of receiving and distinguishing the different sonic pulses emitted from the transponders; and
means for measuring the time interval from initiation of the command signal to receipt of the signals relayed from the spaced receivers along the streamer and the time interval from initiation of the command signal to receipt of the pulses from the transponders by the vessel receiver.
2. Apparatus as claimed in Claim 1, wherein in use said transponders are in a non-colinear relationship.
3. Apparatus as claimed in Claim 1 or 2, wherein said plurality of receivers is passive.
4. Apparatus as claimed in Claim 1,2 or 3, wherein each of said plurality of receivers is adapted to be serviced by a separate channel in the streamer for relaying signals to the vessel.
5. Apparatus as claimed in Claim 1, 2, 3 or 4, and further comprising;
means for measuring the vessel's velocity with respect to said transponders.
6. Apparatus as claimed in Claim 5, wherein said means for measuring the vessel's velocity includes means for measuring the Doppler shift in the frequency of the pulses generated by the transponders.
7. Apparatus for use in determining the location of a submerged marine seismic streamer as it is towed by a marine seismic exploration vessel, substantially as hereinbefore described with reference to, and as shown in, the accompanying drawings.
8. A method of determining the location of a submerged marine seismic streamer towed by a marine seismic exploration vessel, which comprises:- generating an acoustic command signal from the vessel;
receiving said acoustic command signal by a plurality of at least three transponders spatially located in known positions on the sea floor, which respond to the acoustic command signal by emitting acoustic pulses of distinctly different frequencies;
detecting the transponder acoustic response pulses with a plurality of spaced receivers carried by the streamer which relay distinct signals along the streamer to the vessel responsive to said pulses;
receiving and distinguishing the transponder acoustic pulses at the vessel; and
measuring the time interval from generation of the acoustic command signal to receipt of the signals relayed from the spaced receivers along the streamer and the time interval from generation of the command signal to receipt of the pulses at the vessel.
9. A method according to Claim 8, and further comprising:- measuring the Doppler shift in the frequency of the pulses emitted by the transponders in order to determine the velocity of the vessel.
10. A method of determining the location of a submerged marine seismic streamer towed by a marine seismic exploration vessel, substantially as hereinbefore described with reference to the accompanying drawings.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US21519580A | 1980-12-10 | 1980-12-10 |
Publications (2)
Publication Number | Publication Date |
---|---|
GB2089043A true GB2089043A (en) | 1982-06-16 |
GB2089043B GB2089043B (en) | 1984-05-31 |
Family
ID=22802047
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB8136899A Expired GB2089043B (en) | 1980-12-10 | 1981-12-08 | Determination of the location of a submerged marine seismic streamer |
Country Status (15)
Country | Link |
---|---|
JP (2) | JPS57141571A (en) |
AU (1) | AU545131B2 (en) |
BR (1) | BR8107971A (en) |
CA (1) | CA1195762A (en) |
DE (1) | DE3149162A1 (en) |
DK (1) | DK161266C (en) |
ES (1) | ES507851A0 (en) |
FR (1) | FR2495783B1 (en) |
GB (1) | GB2089043B (en) |
IT (1) | IT1139931B (en) |
NL (1) | NL8105493A (en) |
NO (1) | NO156627C (en) |
NZ (1) | NZ199066A (en) |
YU (1) | YU42748B (en) |
ZA (1) | ZA818225B (en) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2530823A1 (en) * | 1982-07-21 | 1984-01-27 | Sintra Alcatel Sa | DEVICE FOR MEASURING ACOUSTIC ECARTOMETRY AND METHOD FOR IMPLEMENTING SAME |
FR2533706A1 (en) * | 1982-09-29 | 1984-03-30 | Baecker Donald | ASSEMBLY AND METHOD FOR LOCATING A TOWED MARINE OBJECT |
GB2138942A (en) * | 1983-04-29 | 1984-10-31 | Norske Stats Oljeselskap | Determining the position of a marine seismic receiver cable acoustically |
GB2173900A (en) * | 1985-04-22 | 1986-10-22 | Shell Int Research | Apparatus and method for locating towed seismic apparatus |
GB2186367A (en) * | 1985-12-31 | 1987-08-12 | Eliahu Igal Zeevi | Ultrasonic position location |
GB2209602A (en) * | 1987-09-09 | 1989-05-17 | Michael Owen | Phased arrays of ultrasonic emitters used with a mobile receiver |
US4855962A (en) * | 1986-07-01 | 1989-08-08 | Compagnie Generale De Geophysique | Method and system for locating and correcting the orientation of an autonomous mobile object and a non-autonomous mobile object |
FR2643463A1 (en) * | 1989-02-17 | 1990-08-24 | Software Based Systems | Method and device for determining the position of an underwater object in relation to an absolute frame of reference, and using a relay station providing a frame of reference in the surface |
WO2002077663A1 (en) * | 2001-03-22 | 2002-10-03 | Nautronix Ltd. | Positioning system |
GB2394045A (en) * | 2002-10-11 | 2004-04-14 | Westerngeco Seismic Holdings | Seismic sensor location using remote positioning devices |
AU2002238303B2 (en) * | 2001-03-22 | 2004-11-11 | Nautronix (Holdings) Plc | Positioning system |
AU2002238304B2 (en) * | 2001-03-22 | 2004-11-11 | Nautronix (Holdings) Plc | Improved underwater station |
GB2442749A (en) * | 2006-10-12 | 2008-04-16 | Electromagnetic Geoservices As | Acoustically determining the position of seabed electromagnetic receivers |
CN108535751A (en) * | 2018-03-06 | 2018-09-14 | 上海瑞洋船舶科技有限公司 | Underwater positioning device and localization method |
US20190339414A1 (en) * | 2017-02-15 | 2019-11-07 | Halliburton Energy Services, Inc. | Evaluating subsea geodetic data |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4641287A (en) * | 1984-04-30 | 1987-02-03 | Mobil Oil Corporation | Method for locating an on-bottom seismic cable |
JPS61228371A (en) * | 1985-04-01 | 1986-10-11 | Unyusho Daiyon Kowan Kensetsu Kyokucho | Apparatus for detecting position in water |
DE9108370U1 (en) * | 1991-07-02 | 1992-11-05 | Stiftung Alfred-Wegener-Institut für Polar- und Meeresforschung, 2850 Bremerhaven | Arrangement for anchoring measuring instruments in water currents |
JP2003019999A (en) * | 2001-07-09 | 2003-01-21 | Mitsui Eng & Shipbuild Co Ltd | Sea bottom stratum exploration system |
GB2409900B (en) | 2004-01-09 | 2006-05-24 | Statoil Asa | Processing seismic data representing a physical system |
GB2435693A (en) | 2006-02-09 | 2007-09-05 | Electromagnetic Geoservices As | Seabed electromagnetic surveying |
GB2439378B (en) | 2006-06-09 | 2011-03-16 | Electromagnetic Geoservices As | Instrument for measuring electromagnetic signals |
GB2445582A (en) | 2007-01-09 | 2008-07-16 | Statoil Asa | Method for analysing data from an electromagnetic survey |
CN102854217B (en) * | 2012-09-11 | 2014-07-16 | 西安近代化学研究所 | Assembling and disassembling device of calorimetric cover used in explosion heat measurement |
CN106990431B (en) * | 2017-05-18 | 2023-08-15 | 国家***第一海洋研究所 | Offshore bottom hydrate detection system |
CN112433218B (en) * | 2020-11-17 | 2024-02-13 | 海鹰企业集团有限责任公司 | Method for realizing ship conformal array virtual baffle |
DE102022205472A1 (en) | 2022-05-31 | 2023-11-30 | Atlas Elektronik Gmbh | Hydroacoustic sound transmitter array |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2123049B1 (en) * | 1970-08-07 | 1974-02-01 | Electronique Appliquee | |
US3860900A (en) * | 1973-02-21 | 1975-01-14 | Western Electric Co | Method of monitoring the position of towed underwater apparatus |
FR2218571B1 (en) * | 1973-02-21 | 1976-05-14 | Erap | |
JPS5646110B2 (en) * | 1973-07-07 | 1981-10-30 | ||
US4037189A (en) * | 1975-10-20 | 1977-07-19 | Western Gear Corporation | Method and apparatus for determining the profile of an underwater pipeline |
JPS52140357A (en) * | 1976-05-15 | 1977-11-22 | Sanders Associates Inc | Selffdriven array system |
NO147618L (en) * | 1976-11-18 | |||
DE2750942A1 (en) * | 1977-11-15 | 1979-05-17 | Texaco Development Corp | Offshore marine seismic source tow system - maintain a predetermined distance between a paravane and a geophone streamer cable |
US4229809A (en) * | 1979-01-29 | 1980-10-21 | Sperry Corporation | Acoustic under sea position measurement system |
-
1981
- 1981-11-25 NZ NZ199066A patent/NZ199066A/en unknown
- 1981-11-26 ZA ZA818225A patent/ZA818225B/en unknown
- 1981-12-02 FR FR8122573A patent/FR2495783B1/en not_active Expired
- 1981-12-04 IT IT25479/81A patent/IT1139931B/en active
- 1981-12-07 NL NL8105493A patent/NL8105493A/en not_active Application Discontinuation
- 1981-12-08 DE DE19813149162 patent/DE3149162A1/en active Granted
- 1981-12-08 BR BR8107971A patent/BR8107971A/en unknown
- 1981-12-08 GB GB8136899A patent/GB2089043B/en not_active Expired
- 1981-12-09 YU YU2893/81A patent/YU42748B/en unknown
- 1981-12-09 DK DK545781A patent/DK161266C/en not_active IP Right Cessation
- 1981-12-09 AU AU78415/81A patent/AU545131B2/en not_active Ceased
- 1981-12-09 CA CA000391897A patent/CA1195762A/en not_active Expired
- 1981-12-09 NO NO814197A patent/NO156627C/en unknown
- 1981-12-10 ES ES507851A patent/ES507851A0/en active Granted
- 1981-12-10 JP JP56199459A patent/JPS57141571A/en active Pending
-
1990
- 1990-01-22 JP JP1990004561U patent/JPH0339742Y2/ja not_active Expired
Cited By (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2530823A1 (en) * | 1982-07-21 | 1984-01-27 | Sintra Alcatel Sa | DEVICE FOR MEASURING ACOUSTIC ECARTOMETRY AND METHOD FOR IMPLEMENTING SAME |
EP0101883A1 (en) * | 1982-07-21 | 1984-03-07 | SINTRA-ALCATEL Société Anonyme dite: | Method for acoustical position deviation measurement |
US4590591A (en) * | 1982-07-21 | 1986-05-20 | Sintra-Alcatel | Acoustic distance measuring apparatus and method of use |
GB2128328A (en) * | 1982-09-29 | 1984-04-26 | Donald Ray Baecker | Locating a towed marine object acoustically |
US4532617A (en) * | 1982-09-29 | 1985-07-30 | Baecker Donald Ray | System for locating a towed marine object |
FR2533706A1 (en) * | 1982-09-29 | 1984-03-30 | Baecker Donald | ASSEMBLY AND METHOD FOR LOCATING A TOWED MARINE OBJECT |
GB2138942A (en) * | 1983-04-29 | 1984-10-31 | Norske Stats Oljeselskap | Determining the position of a marine seismic receiver cable acoustically |
US4870626A (en) * | 1983-04-29 | 1989-09-26 | Den Norske Stats Oljeselskap A.S | Method for determining the position of a marine seismic receiver cable |
GB2173900A (en) * | 1985-04-22 | 1986-10-22 | Shell Int Research | Apparatus and method for locating towed seismic apparatus |
GB2186367A (en) * | 1985-12-31 | 1987-08-12 | Eliahu Igal Zeevi | Ultrasonic position location |
GB2186367B (en) * | 1985-12-31 | 1990-10-17 | Eliahu Igal Zeevi | Distance measuring apparatus |
US4855962A (en) * | 1986-07-01 | 1989-08-08 | Compagnie Generale De Geophysique | Method and system for locating and correcting the orientation of an autonomous mobile object and a non-autonomous mobile object |
GB2209602A (en) * | 1987-09-09 | 1989-05-17 | Michael Owen | Phased arrays of ultrasonic emitters used with a mobile receiver |
FR2643463A1 (en) * | 1989-02-17 | 1990-08-24 | Software Based Systems | Method and device for determining the position of an underwater object in relation to an absolute frame of reference, and using a relay station providing a frame of reference in the surface |
WO2002077663A1 (en) * | 2001-03-22 | 2002-10-03 | Nautronix Ltd. | Positioning system |
US7379388B2 (en) | 2001-03-22 | 2008-05-27 | Nautronix (Holdings) Plc. | Positioning system |
EP1381878A4 (en) * | 2001-03-22 | 2004-06-16 | Nautronix Ltd | Positioning system |
AU2002238303B2 (en) * | 2001-03-22 | 2004-11-11 | Nautronix (Holdings) Plc | Positioning system |
AU2002238304B2 (en) * | 2001-03-22 | 2004-11-11 | Nautronix (Holdings) Plc | Improved underwater station |
US7382687B2 (en) | 2001-03-22 | 2008-06-03 | Nautronix (Holdings) Plc. | Underwater station |
WO2002077664A1 (en) * | 2001-03-22 | 2002-10-03 | Nautronix Ltd. | Improved underwater station |
GB2394045A (en) * | 2002-10-11 | 2004-04-14 | Westerngeco Seismic Holdings | Seismic sensor location using remote positioning devices |
WO2004034091A1 (en) * | 2002-10-11 | 2004-04-22 | Westerngeco Seismic Holdings Limited | Method and apparatus for positioning of seismic sensing cables |
GB2394045B (en) * | 2002-10-11 | 2006-07-26 | Westerngeco Seismic Holdings | Method and apparatus for positioning of seismic sensing cables |
WO2008044042A2 (en) * | 2006-10-12 | 2008-04-17 | Electromagnetic Geoservices Asa | Positioning system |
GB2442749A (en) * | 2006-10-12 | 2008-04-16 | Electromagnetic Geoservices As | Acoustically determining the position of seabed electromagnetic receivers |
WO2008044042A3 (en) * | 2006-10-12 | 2009-01-22 | Electromagnetic Geoservices As | Positioning system |
GB2442749B (en) * | 2006-10-12 | 2010-05-19 | Electromagnetic Geoservices As | Positioning system |
US8913463B2 (en) | 2006-10-12 | 2014-12-16 | Electromagnetic Geoservices Asa | Positioning system |
US20190339414A1 (en) * | 2017-02-15 | 2019-11-07 | Halliburton Energy Services, Inc. | Evaluating subsea geodetic data |
CN108535751A (en) * | 2018-03-06 | 2018-09-14 | 上海瑞洋船舶科技有限公司 | Underwater positioning device and localization method |
Also Published As
Publication number | Publication date |
---|---|
BR8107971A (en) | 1982-09-14 |
NZ199066A (en) | 1985-08-30 |
GB2089043B (en) | 1984-05-31 |
NO156627C (en) | 1987-10-21 |
DK161266C (en) | 1991-12-02 |
NL8105493A (en) | 1982-07-01 |
NO814197L (en) | 1982-06-11 |
DK545781A (en) | 1982-06-11 |
JPS57141571A (en) | 1982-09-01 |
AU7841581A (en) | 1982-09-23 |
FR2495783B1 (en) | 1986-05-23 |
DE3149162A1 (en) | 1982-08-12 |
NO156627B (en) | 1987-07-13 |
YU42748B (en) | 1988-12-31 |
DE3149162C2 (en) | 1990-02-15 |
JPH02105176U (en) | 1990-08-21 |
ES8301032A1 (en) | 1982-11-01 |
DK161266B (en) | 1991-06-17 |
IT1139931B (en) | 1986-09-24 |
AU545131B2 (en) | 1985-07-04 |
CA1195762A (en) | 1985-10-22 |
IT8125479A0 (en) | 1981-12-04 |
FR2495783A1 (en) | 1982-06-11 |
YU289381A (en) | 1983-12-31 |
ES507851A0 (en) | 1982-11-01 |
ZA818225B (en) | 1982-10-27 |
JPH0339742Y2 (en) | 1991-08-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US4635236A (en) | Submerged marine streamer locator | |
CA1195762A (en) | Submerged marine streamer locator | |
US4532617A (en) | System for locating a towed marine object | |
US4669067A (en) | Method and apparatus for locating a submerged marine streamer | |
US4376301A (en) | Seismic streamer locator | |
US8913463B2 (en) | Positioning system | |
US5668775A (en) | Methods for determining the position of seismic equipment, and applications of the methods | |
US5128904A (en) | Method for estimating the location of a sensor relative to a seismic energy source | |
US4446538A (en) | Marine cable location system | |
US4555779A (en) | Submerged marine streamer locator | |
US3906352A (en) | Method of making a three-dimensional seismic profile of ocean floor | |
US10310125B2 (en) | System and method for refining positions of marine seismic receivers | |
GB2429529A (en) | Determining sound velocity profile using an acoustic transmitter and acoustic receivers | |
JPS60500383A (en) | Device in hydrophone cable for marine seismic exploration | |
US4513401A (en) | Marine cable location system | |
US4970698A (en) | Self-calibrating sonar system | |
US4709356A (en) | Seismic array positioning | |
Boegeman et al. | Precise positioning for near-bottom equipment using a relay transponder | |
US20100102985A1 (en) | Receiver orientation in an electromagnetic survey | |
USH549H (en) | Apparatus and method for locating towed seismic apparatus | |
CN101469982A (en) | Depth measurement for sound impulse emitter by utilization of seismic spread | |
AU688825C (en) | Methods for determining the position of seismic equipment, and applications of the methods | |
Court | Applications of acoustics to streamer/source positioning |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PCNP | Patent ceased through non-payment of renewal fee |
Effective date: 19921208 |