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Submarine cable route coordinate positioning method based on weak magnetic signals

A technology of coordinate positioning and magnetic signal, which is applied in the field of submarine cable positioning, can solve the problems of unable to collect magnetic signals and the distance between the sensor and the submarine cable, etc., and achieve the effect of improving the applicable area

Pending Publication Date: 2021-11-02
STATE GRID PUTIAN ELECTRIC POWER SUPPLY +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage is that the distance between the sensor and the submarine cable is not resolved when the detection is started. If the relative distance between the sensor and the submarine cable is long when the detection is started, effective magnetic signals cannot be collected. Subsequent routing and positioning no way to open

Method used

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  • Submarine cable route coordinate positioning method based on weak magnetic signals
  • Submarine cable route coordinate positioning method based on weak magnetic signals
  • Submarine cable route coordinate positioning method based on weak magnetic signals

Examples

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Effect test

Embodiment 1

[0083] A submarine cable route coordinate positioning method based on a weak magnetic signal, the coordinate positioning method uses an underwater robot as a platform, the bottom of the underwater robot is provided with a horizontal track, and the underwater robot is provided with two or three axis magnetic sensors , characterized in that,

[0084] The two three-axis magnetic sensors are respectively a coil sensor and a fluxgate sensor. The sensitivity of the coil sensor is higher than that of the fluxgate sensor, and the range of the fluxgate sensor is greater than that of the coil sensor. The signal attenuates quickly in seawater, resulting in a very large signal range span as the distance between the detection equipment and the submarine cable changes. The coil sensor is easier to make a high-sensitivity sensor, and the fluxgate sensor is easier to make a large-range sensor. In this embodiment, the coil sensor with higher sensitivity is selected to detect weak signals, and...

Embodiment 2

[0095] A submarine cable routing coordinate positioning method based on a weak magnetic signal. On the basis of the first embodiment, when the underwater robot is located in a no-signal area, the no-signal area detection is performed, and the no-signal area detection makes the The underwater robot enters the weak signal area; the no-signal area is the area where the coil sensor cannot collect or can only collect effective magnetic signals on some axes; the weak signal area is that each axis of the coil sensor can collect effective magnetic signals. magnetic signal, and the fluxgate sensor cannot collect or can only collect effective magnetic signal areas on some axes; the effective magnetic signal is that the information contained in the collected signal can be used to analyze the position of the submarine cable; the non- Signal area detection includes the following steps:

[0096] Make the underwater robot descend to a specific height, and collect the magnetic signal ε genera...

Embodiment 3

[0103] A submarine cable routing coordinate positioning method based on a weak magnetic signal. On the basis of the second embodiment, when the underwater robot is located in a weak signal area, the detection of the weak signal area is performed, and the detection of the weak signal area makes the The underwater robot enters the strong signal area; the strong signal area is the area where effective magnetic signals can be collected by each axis of the coil sensor and the fluxgate sensor; the detection of the weak signal area includes the following steps:

[0104] lowering the underwater vehicle to the seabed;

[0105] The magnetic signal ε generated by the submarine cable is collected through the X-axis and Y-axis of the coil sensor 1x and ε 1y , and calculate the angle θ between the Y axis of the coil sensor and the submarine cable route y ,refer to image 3 , the formula is as follows:

[0106]

[0107] According to the angle θ y Adjust the advancing direction of the...

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Abstract

The invention relates to a submarine cable route coordinate positioning method based on weak magnetic signals. According to the coordinate positioning method, an underwater robot is used as a platform; a horizontal crawler belt is arranged at the bottom of the underwater robot; the underwater robot is provided with two three-axis magnetic sensors, which are respectively a coil sensor and a fluxgate sensor; the Y axes of the two three-axis sensors point to the advancing direction of the underwater robot, and the advancing direction is determined by the crawler belt; and the Z axes of the two three-axis sensors are perpendicular to the crawler belt; the underwater robot is provided with a gyroscope, and the gyroscope is used for collecting attitude information of the underwater robot and correcting data of the two three-axis sensors to standard values according to the attitude information; According to the invention, a magnetic signal generated by a submarine cable is divided into three areas according to the receiving of a sensor, and a corresponding strategy is executed in each area, so that the sensor is finally close to the submarine cable, and the coordinates of the submarine cable are obtained.

Description

technical field [0001] The invention relates to a submarine cable routing coordinate positioning method based on a weak magnetic signal, and belongs to the technical field of submarine cable positioning. Background technique [0002] The positioning of submarine cables is an indispensable step in the operation process of submarine cable detection, maintenance, fault determination and upgrading. Quick and accurate positioning of submarine cables can not only shorten the construction time, but also improve construction efficiency. In the maintenance of submarine cable faults, it can also greatly reduce the losses caused by faults. Submarine cable laying and the seabed, compared with road cables, there are many specific difficulties in the positioning of submarine cables, and the difficulty is also higher. [0003] At present, the most widely used techniques in submarine cable detection are technical means based on physical principles such as sound, light, electricity and magn...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01V3/10G01V3/38G01B7/00
CPCG01V3/10G01V3/38G01B7/004
Inventor 李勃俞炜平黄文超林松青李振海黄汉权林宇澄陈臻旭吴宗泽
Owner STATE GRID PUTIAN ELECTRIC POWER SUPPLY
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