Method and device for positioning seabed detector based on ship propeller noise

Abstract

The invention discloses a method for positioning a submarine detector based on ship propeller noise. The method comprises the following steps: acquiring navigation information of a plurality of ships of which the navigation routes and the measuring line directions of underwater detectors meet preset conditions; picking up the time corresponding to the maximum amplitude of the rotating speed of the propeller in the continuous records of the detector, and calculating the underwater travel time of the ship propeller noise in combination with the navigation information; based on the underwater travel time, the ship navigation coordinates and the reference coordinates when the detector is released, calculating the vector relation of the underwater detector relative to the reference coordinates; and calculating the actual position coordinates of the detector by using a vector convergence mathematical method based on the vector relationship between the plurality of groups of underwater detectors and the reference coordinates. The invention further provides a device applying the method. The problem that an existing positioning method depends on the number of positioning devices and the quality of first-motion wave data is solved, and the positioning precision and the production efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of marine seismic exploration, and in particular to a method and device for positioning a seabed geophone based on ship propeller noise. Background Art

[0002] In seafloor seismic exploration, node geophones, serving as the primary signal receiving equipment, are deployed on the seafloor to collect seismic signals. During their operation, node geophones are inevitably subject to one or more movements due to factors such as the tilted seafloor topography and the drag of fishing boats and nets. Each movement of a node geophone is accompanied by an update of its coordinates. Accurately obtaining the coordinates of each node geophone movement directly impacts the validity of the data collected by the node geophones.

[0003] There are two common methods for geophone positioning in seismic exploration: one is the navigation acoustic positioning system, which uses an ultra-short baseline positioning system. Acoustic signal transmitters and receivers are installed on board, as well as transponders on underwater geophones. The relative orientation and distance of the underwater geophones are measured by the return of acoustic signals. The other is secondary positioning using first-arrival linear correction. The arrival time of the first-arrival wave in the seismic data is used to infer the distance between the shot point and the geophone, and the position of the underwater geophone is calculated. However, the navigation acoustic positioning system cannot guarantee that every seabed geophone is equipped with a positioning device. Therefore, positioning devices are only placed every few geophones, which affects positioning accuracy. The first-arrival wave secondary positioning technology has requirements for both data quality and the number of shot points.

[0004] Therefore, there is a need in the prior art for improving the detector positioning method. Summary of the Invention

[0005] In view of this, the purpose of an embodiment of the present invention is to propose a method for locating seabed detectors based on ship propeller noise. By collecting the noise signal emitted by the ship propeller and using a signal processing method to calculate the position of the underwater detector, the source position of the seismic signal can be accurately located, which solves the problem that the current positioning method depends on the number of positioning devices and the quality of the first-arrival wave data, thereby improving positioning accuracy and production efficiency.

[0006] Based on the above objectives, an embodiment of the present invention provides a method for locating a seabed geophone based on ship propeller noise, comprising the following steps:

[0007] Obtain navigation information of multiple ships whose navigation routes and underwater geophone line directions meet preset conditions;

[0008] The time corresponding to the maximum amplitude of the propeller speed is picked up from the continuous recording of the detector, and the underwater travel time of the ship's propeller noise is calculated in combination with the navigation information;

[0009] Calculate the vector relationship of the underwater detector relative to the reference coordinates based on the underwater travel time, the ship's navigation coordinates, and the reference coordinates when the detector is deployed;

[0010] Based on the vector relationship between multiple groups of underwater geophones and reference coordinates, the actual position coordinates of the geophones are calculated using vector convergence mathematical methods.

[0011] In some embodiments, calculating the underwater travel time of the ship propeller noise in combination with the navigation information includes:

[0012] Within the time range of multiple ships passing the geophone, find the peak time t of propeller speed change based on navigation information. in , and pick up the corresponding amplitude peak time t in the continuous record of the detector jn , based on the peak moment t of the propeller speed change in And the corresponding amplitude peak time t jn Calculating the underwater travel time Δt of ship propeller noise n .

[0013] In some embodiments, underwater travel time is calculated as follows:

[0014] Δt n =|t in -t jn |.

[0015] In some embodiments, calculating the vector relationship of the underwater detector relative to the reference coordinate based on the underwater travel time, the ship's navigation coordinates, and the reference coordinates when the detector is deployed includes:

[0016] The spatial straight-line distance between the ship and the detector is calculated based on the underwater travel time and the sound wave propagation speed. Based on the spatial straight-line distance, the ship's navigation coordinates, and the reference coordinates when the detector is deployed, the vector relationship of the underwater detector relative to the reference coordinates is calculated.

[0017] In some embodiments, obtaining navigation information of multiple ships whose navigation routes and hydrophone line directions meet preset conditions includes:

[0018] The navigation tracks, speeds, water depth data, propeller speeds, and elapsed time ranges of multiple ships whose navigation routes are approximately parallel to the direction of the hydrophone survey line are obtained.

[0019] In some embodiments, the preset condition includes: the angle between the navigation route and the direction of the underwater detector line is less than 10 degrees.

[0020] In some embodiments, before calculating the vector relationship of the hydrophone relative to the reference coordinate, the method further includes:

[0021] Filter and remove abnormal data.

[0022] In some embodiments, calculating the actual position coordinates of the detector using a vector convergence mathematical method includes:

[0023] A coordinate system with the reference coordinate as the origin is established, and the intersection point of multiple sets of position vectors is calculated using the vector convergence mathematical method to obtain the actual position coordinates of the underwater detector.

[0024] Another aspect of the present invention provides a device for locating a seabed geophone based on ship propeller noise, comprising:

[0025] An information acquisition unit configured to acquire navigation information of a plurality of ships whose navigation routes and underwater geophone measurement line directions meet preset conditions;

[0026] a first calculation unit configured to pick up the time corresponding to the maximum amplitude of the propeller speed in the continuous recording of the detector, and calculate the underwater travel time of the ship's propeller noise in combination with the navigation information;

[0027] a second calculation unit configured to calculate a vector relationship of the underwater detector relative to the reference coordinate based on the underwater travel time, the navigation coordinates of the ship, and the reference coordinates when the detector is deployed;

[0028] The optimization derivation unit is configured to calculate the actual position coordinates of the detectors based on the vector relationship between the multiple groups of underwater detectors and the reference coordinates using a vector convergence mathematical method.

[0029] In some embodiments, the second computing unit further includes a data screening module configured to screen the data of underwater travel time, ship navigation coordinates, and reference coordinates when the detector is deployed and eliminate abnormal data.

[0030] The present invention has at least the following beneficial technical effects:

[0031] The present invention aims to address the problem of current positioning methods being dependent on the number of positioning devices and the quality of first-arrival wave data, thereby improving positioning accuracy and production efficiency. The method of the present invention can achieve the same positioning results as conventional navigation positioning methods and first-arrival wave positioning methods. Its advantages lie in not requiring passive reception of acoustic signals returned by positioning devices and being unaffected by the number of shot points within close offsets. This method can compensate for the inability of navigation positioning methods to guarantee the positioning accuracy of each geophone, while also addressing the over-reliance on first-arrival wave data quality and the number of shot points in first-arrival wave secondary positioning methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A schematic diagram of an embodiment of a method for locating a seabed geophone based on ship propeller noise provided by the present invention;

[0034] Figure 2 A schematic diagram of an embodiment of a ship navigation route provided by the present invention;

[0035] Figure 3 A schematic diagram of a ship propeller speed variation curve provided by the present invention;

[0036] Figure 4 A schematic diagram of continuous recording by the detector provided by the present invention;

[0037] Figure 5 A schematic diagram of the spatial position relationship between the dead reckoning detector and the ship provided by the present invention;

[0038] Figure 6 A schematic diagram of calculating the actual position of a geophone provided by the present invention;

[0039] Figure 7 A schematic diagram showing the comparison of secondary positioning coordinate positions using different methods provided by the present invention;

[0040] Figure 8 This is a schematic diagram of an embodiment of the device for locating seabed geophones based on ship propeller noise provided by the present invention. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the embodiments of the present invention are further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0042] It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are for distinguishing two non-identical entities with the same name or non-identical parameters. It can be seen that "first" and "second" are only for the convenience of expression and should not be understood as limitations on the embodiments of the present invention. Subsequent embodiments will not explain this one by one.

[0043] Based on the above objectives, a first aspect of the embodiments of the present invention provides an embodiment of a method for locating a seabed geophone based on ship propeller noise. Figure 1FIG. 1 is a schematic diagram of an embodiment of a method for locating a seabed geophone based on ship propeller noise provided by the present invention. Figure 1 As shown, the method for locating a seabed geophone based on ship propeller noise according to an embodiment of the present invention includes the following steps:

[0044] S1 obtains navigation information of multiple ships whose navigation routes and underwater geophone measurement line directions meet preset conditions;

[0045] S2 picks up the time corresponding to the maximum amplitude of the propeller speed in the continuous recording of the detector and calculates the underwater travel time of the ship's propeller noise in combination with the navigation information;

[0046] S3 calculates the vector relationship of the underwater detector relative to the reference coordinates based on the underwater travel time, the ship's navigation coordinates, and the reference coordinates when the detector is deployed;

[0047] Based on the vector relationship between multiple groups of underwater geophones and reference coordinates, S4 uses vector convergence mathematical methods to calculate the actual position coordinates of the geophones.

[0048] Furthermore, in S1, navigation information of multiple ships whose navigation routes and the directions of the underwater detector lines meet the preset conditions (for example, nearly parallel) is obtained, such as Figure 2 As shown, the ships on four navigation routes are obtained, and the specific navigation information includes navigation track, driving speed, water depth data, propeller speed and the time range passed. This information can be obtained from the ship driving department or the seismic navigation department. For example, if there is a ship in the area to carry out the operation of retracting and deploying the detector, we can obtain multiple ship navigation tracks that are approximately parallel to the direction of the survey line, and the ship that retracts and deploys the line usually continuously adjusts the propeller speed to maintain the stability of the operation, which will also be reflected in the continuous recording of the detector as the fluctuation of the amplitude peak. As for the approximate parallelism, it can be delineated based on actual needs. In the embodiment of the present invention, the preset conditions include: the angle range between the navigation route and the direction of the underwater detector survey line is less than 10 degrees.

[0049] The collected navigation information prepares data for the next step of picking up the amplitude peak. It should be noted that the shape of the navigation route in actual application is not limited to a parallel track, and can be a navigation route of any shape.

[0050] Furthermore, in S2, within the time range when multiple ships pass the detector, the peak time t of the propeller speed change is found based on the navigation information. in ,like Figure 3The diagram of the ship propeller speed change curve shown in the figure can be used to consider the propeller as a "moving source of energy that is constantly changing". Therefore, a curve of the propeller speed change can be drawn. It is worth noting that the propeller speed change has a certain periodicity. In a change cycle, we can pick up the peak time t of the propeller speed. in , the time range near this time point corresponds to the maximum energy output by the propeller.

[0051] Pick up the corresponding amplitude peak time t in the continuous record of the detector jn ,like Figure 4 The figure shows the schematic diagram of the detector continuous recording, and the calculation of t jn With t in The underwater travel time Δt of the ship propeller noise is obtained by the difference n The specific calculation formula for underwater travel time is as follows:

[0052] Δt n =|t in -t jn |.

[0053] In this step, the ship's propeller noise passing near the detector is treated as a moving "energy source." The faster the propeller speed, the stronger the noise energy generated. Therefore, as the propeller speed changes, the peak amplitude will appear in the detector's continuous recordings at the time when the propeller speed is fastest. This allows us to determine the underwater travel time Δt of the ship's propeller noise sound wave. n Since the ship propeller speed changes continuously underwater, we can obtain multiple Δt n The data can be used in the next step of calculation. When selecting data suitable for this method, the reliability of the data needs to be considered comprehensively.

[0054] Furthermore, in S3, if Figure 5 The schematic diagram of the relationship between the spatial position of the dead reckoning detector and the ship is shown, based on the underwater travel time Δt n and the speed of sound wave V 声速 Calculate the linear distance D between the ship and the detector jn , the formula is as follows:

[0055] D jn =Δt n *V 声速

[0056] The propeller speed peak time t in , the corresponding coordinate V can be found on the ship's navigation track in Based on the spatial straight-line distance D jnAnd the ship's navigation coordinates V in 、Water depth d w , the reference coordinate R when the detector is deployed i , calculate the vector relationship of the underwater detector relative to the reference coordinate, where V 声速 is obtained through the sound velocity sounder; d w is obtained by the ship's depth sounder; V in The t corresponding to the ship's navigation track recorded by the seismic navigation department in The ship's position at the moment; reference coordinate R i Recorded by the seismic navigation department when the geophones are deployed.

[0057] At a known speed of sound V 声速 and water depth d w In this case, we can obtain water depth information d through the ship's depth sounder w and obtain the water depth d through the sound velocity sounder w The corresponding sound speed V 声速 For each t i At this moment, we can obtain the corresponding ship position V through the ship's navigation track recorded by the seismic navigation department in , and the reference coordinates R recorded by the seismic navigation department when the geophone was deployed i The above known quantities can be used to obtain the underwater detector relative to the reference coordinate R i These vector relationships can be recorded and used in subsequent calculations. It is important to note that the data obtained must be as accurate as possible to avoid affecting the results of subsequent calculations.

[0058] Furthermore, in S3, data cleaning can be performed on the underwater travel time, the ship's navigation coordinates, and the reference coordinates when the detector is deployed, that is, after filtering and eliminating abnormal data, the vector relationship between the underwater detector and the reference coordinates is calculated.

[0059] Further, in S4, a series of underwater detectors and reference coordinates R i The vector relationship between them can be used to calculate the actual coordinates of the underwater detector by applying the vector convergence method. The vector convergence method is a method for calculating the target coordinates based on the intersection of multiple vector directions. Each position relationship can be represented by a vector, and the intersection of multiple vectors is the actual coordinate of the detector. i Using vector convergence mathematical methods, the intersection of multiple position vectors can be calculated, giving the actual coordinates of the hydrophone. It's important to note that the cumulative error of multiple position vectors can affect the accuracy of the final calculation. Therefore, data processing is necessary, such as removing outliers or using weighted averaging, to improve the reliability and accuracy of the results.

[0060] Specifically, if Figure 6 As shown, we know the reference coordinates R of the detector i , the ship coordinates V picked up from the continuous record of the detector in and water depth d w , we can determine the ship's relative position to the reference point R i The space vector relationship of Similarly, the linear distance D between the ship and the detector obtained by the previous calculation is jn , we can also get relative to the reference point R i The space vector relationship of Since the same water depth d is used in the formula w , so the calculations in the z direction can cancel each other out, thus obtaining the plane vector difference between the actual position of the detector and the reference position Finally, the vector convergence mathematical method can be applied to calculate the intersection point of multiple sets of vector differences, which is the actual coordinate R of the underwater detector. j .

[0061] The specific implementation of the present invention is further described below based on specific examples.

[0062] To better demonstrate the practicality and feasibility of this invention, we used a real-world project as an example. The construction area had a water depth of approximately 50 meters, the inline survey line had a 50° angle, the cross line had a 320° rolling angle, the survey line spacing was 100 meters, and the detector spacing was 50 meters. The construction area was wide, flat, and free of obstacles. In this test, we primarily used the RL23365-RP27544 geophone as the test subject.

[0063] First, we selected four ship routes and observed the passage of these routes through the detector. Route 1 is the navigation path of the node ship when the first survey line on the left side of RL23365 is deployed, and the distance from RL23365 is approximately 80 meters. Route 2 is the navigation path of the node ship when the second survey line on the left side of RL23365 is deployed, and the distance from RL23365 is approximately 190 meters. Route 3 is the navigation path of the node ship when the second survey line on the right side of RL23365 is recovered, and the distance from RL23365 is approximately 200 meters. Route 4 is the navigation path of the node ship when the first survey line on the right side of RL23365 is recovered, and the distance from RL23365 is approximately 110 meters. It should be noted that this experiment only counted these four routes, and the operations of other ships were not included in the statistics.

[0064] The four selected routes above all represent the operational trajectories of ships during the installation or retrieval of geophones. Therefore, during this period, the ships needed to continuously adjust their propeller speed to ensure stability under the impact of swells and undercurrents, effectively completing their missions. Table 1 below shows the statistically selected ship position coordinates and the calculated time differences.

[0065] Table 1 Basic information statistics of four routes

[0066]

[0067]

[0068] Based on the received coordinates and the underwater travel time of the noise, we can easily calculate the planar offset relationship of each coordinate point relative to the reference coordinate point. Because the difference between the actual space vector calculated based on the time difference and the reference space vector cancels out vertical effects, the planar vector relationship is used to display the data in Table 2 below (with the release point coordinates as the reference point).

[0069] Table 2 Data display using plane vector relationship

[0070]

[0071]

[0072] The actual coordinates of the detection point (294275.3, 160072.6) are finally obtained by applying the mathematical method of vector convergence.

[0073] Table 3 Coordinate result data

[0074]

[0075] Table 3 shows the final coordinates obtained by each positioning method. Figure 7 The following is a schematic diagram of the coordinate positions of the secondary positioning using different methods. In summary, compared with the design theoretical coordinates, the coordinate offset obtained by the secondary positioning of the navigation system is 3.28m, the coordinate offset of the secondary positioning of the first arrival wave is 2.29m, and the coordinate offset value of the position coordinate obtained by the secondary positioning using the ship propeller noise is 3.01m (as shown in Figure 2). Figure 7 Therefore, compared with the two conventional positioning methods, the accuracy of the secondary positioning using propeller noise can fully meet the construction requirements of this project.

[0076] It should be pointed out in particular that the various steps in the various embodiments of the above-mentioned method for locating seabed detectors based on ship propeller noise can be cross-linked, replaced, added, and deleted with each other. Therefore, these reasonable permutations, combinations and transformations of the method for locating seabed detectors based on ship propeller noise should also fall within the scope of protection of the present invention, and the scope of protection of the present invention should not be limited to the embodiments.

[0077] Based on the above objectives, a second aspect of an embodiment of the present invention provides a device for locating a seabed geophone based on ship propeller noise. Figure 8 FIG. 1 is a schematic diagram of an embodiment of a device for locating a seabed geophone based on ship propeller noise provided by the present invention. Figure 8 As shown, the device for locating a seabed geophone based on ship propeller noise according to an embodiment of the present invention includes:

[0078] The information acquisition unit 011 is configured to acquire navigation information of multiple ships whose navigation routes and underwater detector line directions meet preset conditions;

[0079] The first calculation unit 012 is configured to pick up the time corresponding to the maximum amplitude of the propeller speed in the continuous recording of the detector, and calculate the underwater travel time of the ship's propeller noise in combination with the navigation information;

[0080] A second calculation unit 013 is configured to calculate a vector relationship of the underwater detector relative to the reference coordinate based on the underwater travel time, the ship's navigation coordinates, and the reference coordinates when the detector is deployed;

[0081] The optimization derivation unit 014 is configured to calculate the actual position coordinates of the detectors based on the vector relationship between the multiple groups of underwater detectors and the reference coordinates using a vector convergence mathematical method.

[0082] Furthermore, the second calculation unit also includes a data screening module configured to screen the data of underwater travel time, ship navigation coordinates, and reference coordinates when the detector is deployed and eliminate abnormal data.

[0083] Finally, it should be noted that those skilled in the art will understand that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program for the method of locating a seabed geophone based on ship propeller noise can be stored in a computer-readable storage medium. When executed, the program can include the processes of the above-described method embodiments. The storage medium for the program can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM). The above-described computer program embodiments can achieve the same or similar effects as any of the corresponding aforementioned method embodiments.

[0084] In addition, the method disclosed in the embodiment of the present invention can also be implemented as a computer program executed by a processor, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the above functions defined in the method disclosed in the embodiment of the present invention are performed.

[0085] In addition, the above method steps and system units can also be implemented using a controller and a computer-readable storage medium for storing a computer program that enables the controller to implement the above steps or unit functions.

[0086] It will also be appreciated by those skilled in the art that the various exemplary logic blocks, modules, circuits and algorithmic steps described in conjunction with the disclosure herein can be implemented as electronic hardware, computer software or a combination of the two. In order to clearly illustrate this interchangeability of hardware and software, a general description has been given of the functions of various schematic components, blocks, modules, circuits and steps. Whether this function is implemented as software or hardware depends on specific applications and the design constraints imposed on the entire system. Those skilled in the art can implement the function in various ways for each specific application, but this implementation decision should not be interpreted as causing a departure from the disclosed scope of the embodiments of the present invention.

[0087] The above are exemplary embodiments disclosed in the present invention, but it should be noted that various changes and modifications may be made without departing from the scope of the embodiments disclosed in the claims. The functions, steps and / or actions of the method claims according to the disclosed embodiments described herein do not need to be performed in any particular order. In addition, although the elements disclosed in the embodiments of the present invention may be described or required in individual form, they may also be understood as multiple unless expressly limited to the singular.

[0088] It should be understood that, as used herein, the singular forms "a" and "an" are intended to include the plural forms as well, unless the context clearly supports an exception. It should also be understood that, as used herein, "and / or" is intended to include any and all possible combinations of one or more of the associated listed items.

[0089] The serial numbers of the embodiments disclosed in the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0090] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by a program instructing the relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0091] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the disclosure of the embodiments of the present invention (including the claims) is limited to these examples. Within the spirit of the embodiments of the present invention, the technical features of the above embodiments or different embodiments may be combined, and there are many other variations of different aspects of the above embodiments of the present invention, which are not provided in detail for the sake of simplicity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the scope of protection of the embodiments of the present invention.

Claims

1. A method for locating a seabed geophone based on ship propeller noise, characterized in that: The following steps are involved: Obtain navigation information of multiple ships whose navigation routes and underwater geophone line directions meet preset conditions; Picking up the time corresponding to the maximum amplitude of the propeller speed in the continuous record of the detector, and calculating the underwater travel time of the ship propeller noise in combination with the navigation information; Calculating a vector relationship of the underwater geophone relative to the reference coordinates based on the underwater travel time, the ship's navigation coordinates, and the reference coordinates when the geophone is deployed; Based on the vector relationship between multiple groups of underwater geophones and reference coordinates, the actual position coordinates of the geophones are calculated using vector convergence mathematical methods.

2. The method for locating a seabed geophone based on ship propeller noise according to claim 1, characterized in that: Calculating the underwater travel time of the ship propeller noise in combination with the navigation information includes: Within the time range of the multiple ships passing the detector, the peak time t of the propeller speed change is found based on the navigation information. in , and pick up the corresponding amplitude peak time t in the continuous recording of the detector jn , based on the peak moment t of the propeller speed change in And the corresponding amplitude peak time t jn Calculating the underwater travel time Δt of ship propeller noise n .

3. The method for locating a seabed geophone based on ship propeller noise according to claim 1, characterized in that: The underwater travel time is calculated as follows: Δt n =|t in -t jn |。 4. The method for locating a seabed geophone based on ship propeller noise according to claim 1, characterized in that: Calculating the vector relationship of the underwater geophone relative to the reference coordinate based on the underwater travel time, the ship's navigation coordinates, and the reference coordinates when the geophone is deployed includes: The spatial straight-line distance between the ship and the detector is calculated based on the underwater travel time and the sound wave propagation speed, and the vector relationship of the underwater detector relative to the reference coordinates is calculated based on the spatial straight-line distance, the ship's navigation coordinates, and the reference coordinates when the detector is deployed.

5. The method for locating a seabed geophone based on ship propeller noise according to claim 1, characterized in that: Obtaining navigation information of multiple ships whose navigation routes and underwater detector line directions meet preset conditions includes: Obtain the navigation tracks, speeds, water depth data, propeller speeds, and time ranges of multiple ships whose navigation routes and underwater geophone line directions meet preset conditions.

6. The method for locating a seabed geophone based on ship propeller noise according to claim 1, characterized in that: The preset condition includes: the angle between the navigation route and the underwater detector measurement line direction is less than 10 degrees.

7. The method for locating seabed geophones based on ship propeller noise according to claim 1, characterized in that: Before calculating the vector relationship of the hydrophone relative to the reference coordinates, it also includes: Filter and remove abnormal data.

8. The method for locating a seabed geophone based on ship propeller noise according to claim 1, characterized in that: The actual position coordinates of the detector are calculated using the vector convergence mathematical method including: A coordinate system with the reference coordinates as the coordinate origin is established, and a vector convergence mathematical method is used to calculate the intersection point of multiple sets of position vectors to obtain the actual position coordinates of the underwater detector.

9. A device for locating seabed geophones based on ship propeller noise, characterized in that: include: An information acquisition unit configured to acquire navigation information of a plurality of ships whose navigation routes and underwater geophone measurement line directions meet preset conditions; a first calculation unit configured to pick up the time corresponding to the maximum amplitude of the propeller speed in the continuous recording of the detector, and calculate the underwater travel time of the ship propeller noise in combination with the navigation information; a second calculation unit configured to calculate a vector relationship of the underwater geophone relative to the reference coordinates based on the underwater travel time, the ship's navigation coordinates, and the reference coordinates when the geophone is deployed; The optimization derivation unit is configured to calculate the actual position coordinates of the detectors based on the vector relationship between the multiple groups of underwater detectors and the reference coordinates using a vector convergence mathematical method.

10. The device for locating seabed geophones based on ship propeller noise according to claim 9, characterized in that: The second calculation unit also includes a data screening module configured to screen the data of the underwater travel time, the ship's navigation coordinates, and the reference coordinates when the detector is deployed and eliminate abnormal data.

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