Submarine cable dynamic laying path control method based on towing cable tension and attitude feedback

Abstract

The invention provides a submarine cable dynamic laying path control method based on towing cable tension and attitude feedback, and the method comprises the steps: carrying out the tension data collection of a towing cable of a submarine cable laying ship through a first tension measurement mode, and generating a first tension measurement result; dynamically optimizing the towing cable tension data in the first tension measurement result based on a second tension measurement mode to obtain a second tension measurement result; and adjusting the path points in the second tension measurement result in combination with attitude feedback and a third tension measurement mode to generate a final submarine cable laying path control result. According to the method, dynamic control over the submarine cable laying path is achieved through multi-stage tension measurement and attitude feedback, and laying precision and stability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of submarine cable laying, in particular to a submarine cable dynamic laying path control method based on towline tension and attitude feedback. BACKGROUND

[0002] Submarine cables (hereinafter referred to as "sea cables") are widely used in communication, power transmission and ocean observation fields, and the precision and stability of the laying process directly relate to the safety and reliability of system operation. In the prior art, the laying of the submarine cable mainly relies on the navigation system of the ship and the basic tension control equipment, and the submarine cable is released by setting a predetermined path. However, due to the complex and changeable submarine environment, factors such as sea current, water pressure and terrain fluctuation have a significant impact on the tension state and attitude characteristics of the submarine cable, which can easily cause the submarine cable to deviate, overstretch or accumulate locally, thereby reducing the laying quality and even causing equipment damage or communication interruption.

[0003] In the existing technical solutions, although some systems introduce tension sensors and attitude monitoring equipment, they usually only provide static data acquisition and simple feedback, and cannot realize deep fusion processing and dynamic path adjustment of tension and attitude. In addition, most methods do not fully consider the real-time interaction between high-frequency tension changes and complex submarine environments, and lack the ability to model multi-source fusion of initial parameters of the towline, resulting in response lag of the laying path planning and insufficient control result precision.

[0004] Therefore, there is an urgent need for a method that can real-time collect towline tension, combine ship attitude feedback and submarine environment characteristics, and dynamically adjust the laying path to improve the precision, stability and safety of submarine cable laying and meet the needs of modern ocean engineering. SUMMARY

[0005] The purpose of the present application is to provide a submarine cable dynamic laying path control method based on towline tension and attitude feedback, which dynamically optimizes the laying path by real-time collection of towline tension data, combination of ship attitude information and submarine environment characteristics, to improve the precision and stability of submarine cable laying, adapt to complex submarine environments, effectively reduce the risk of tension abnormalities and path deviations, and ensure the safety and reliability of submarine cable laying.

[0006] To achieve the above purpose, the present application provides a submarine cable dynamic laying path control method based on towline tension and attitude feedback, specifically, the method comprises: collecting tension data of the towline of the submarine cable laying ship based on a first tension measurement mode, and generating a corresponding first tension measurement result; dynamically optimizing the towline tension data in the first tension measurement result based on a second tension measurement mode, and obtaining a corresponding second tension measurement result; Based on the attitude feedback and the third tension measurement mode, the path points in the second tension measurement result are adjusted to generate a final submarine cable laying path control result.

[0007] Further, the measurement process of the first tension measurement mode includes: Based on the tension sensor on the streamer cable, real-time acquisition of the tension data of the streamer cable in the seabed environment is performed; Combined with the positioning information of the ship and the seabed topographic features, an initial distribution model of the streamer cable tension is constructed; Based on the initial distribution model, the first tension measurement result is generated for preliminary path planning.

[0008] Further, the optimization process of the second tension measurement mode includes: The sampling frequency of the tension sensor is increased to a preset value to capture high-frequency tension changes; Based on the increased sampling frequency, dynamic analysis is performed on the streamer cable tension data in the first tension measurement result to obtain a high-frequency tension distribution result; Combined with the submarine cable mechanics model, the high-frequency tension distribution result is optimized to generate the second tension measurement result.

[0009] Further, the process of real-time acquisition of the streamer cable tension data based on the tension sensor on the streamer cable includes: The tension sensor is used to measure the tension value of the streamer cable under different seabed topographic conditions; It is judged whether the tension value exceeds a preset tension threshold; If the tension value exceeds the preset tension threshold, a tension abnormal signal is generated, and the preliminary path point sequence of the ship is adjusted based on the tension abnormal signal.

[0010] Further, the adjustment process of the third tension measurement mode includes: Based on the tension data in the second tension measurement result, a dynamic tension and attitude coupling model of the submarine cable is generated in combination with the attitude sensor data of the ship; Based on the dynamic tension and attitude coupling model, path point adjustment parameters of the submarine cable are constructed; Based on the path point adjustment parameters, a final submarine cable laying path control result is generated.

[0011] Further, before the tension data acquisition based on the first tension measurement mode, it further includes: Based on the flow conditions of the seabed environment and the ship motion characteristics, parameter initialization processing is performed on the tension sensor to determine the tension weight coefficient and the attitude weight coefficient; Based on the tension weight coefficient and the attitude weight coefficient, calculate the initial tension measurement parameter of the streamer, which is used for subsequent tension measurement and path planning.

[0012] Further, the parameter initialization process includes: Based on the water flow sensor of the ship, obtain the water flow speed and direction of the seabed environment; If the water flow speed meets the first preset threshold, obtain the seabed environment image based on the visual sensor of the ship; Extract the terrain features based on the seabed environment image; If the terrain features meet the second preset threshold, increase the attitude weight coefficient by a preset ratio and decrease the tension weight coefficient.

[0013] Further, the parameter initialization process further includes: if the water flow speed does not meet the first preset threshold, increase the tension weight coefficient by the preset ratio and decrease the attitude weight coefficient; If the terrain features do not meet the second preset threshold, increase the tension weight coefficient by the preset ratio and decrease the attitude weight coefficient.

[0014] Further, the expression formula of the initial tension measurement parameter of the streamer is: T0=α·F s +β·A s +γ·E w +δ·(∥Fs∥·cos(θ As,Ew ))·C d Wherein, T0 represents the initial tension measurement parameter of the streamer, α represents the tension weight coefficient, β represents the attitude weight coefficient, γ represents the water flow environment weight coefficient, δ represents the dynamic coupling weight coefficient, F s represents the tension vector measured by the tension sensor, A s represents the six-degree-of-freedom attitude information of the ship obtained by the attitude sensor, E w represents the water flow environment feature vector obtained by the water flow sensor, ∥F s ∥ represents the modulus of the tension vector, θ As,Ew represents the angle between the attitude vector and the water flow environment vector, C d represents the dynamic resistance coefficient calculated based on the material characteristics of the submarine cable and the water flow speed, and γ and δ are determined by the water flow speed, direction and seabed terrain complexity.

[0015] Further, the submarine cable dynamic laying path control method based on the streamer tension and attitude feedback further includes: based on the final submarine cable laying path control result, adjusting the sailing speed of the ship and the release rate of the streamer in real time; The adjusted path points and tension data are fed back to the submarine cable laying equipment through the control system of the ship to ensure the accuracy and stability of submarine cable laying.

[0016] Compared with the prior art, the application realizes dynamic control of the submarine cable laying path through step-by-step optimization based on the first tension measurement mode, the second tension measurement mode and the third tension measurement mode, combined with ship attitude feedback, significantly improves the accuracy of path planning, adapts to dynamic changes of complex seabed environment, uses a tension sensor to collect real-time cable tension data, and through high-frequency sampling and a submarine cable mechanical model optimization, generates accurate tension distribution results, effectively reduces the risk of abnormal tension caused by water flow, terrain or ship movement, ensures the safety of submarine cable laying, generates adaptive initial cable tension measurement parameters by comprehensively considering tension weight coefficients, attitude weight coefficients and water flow environment weight coefficients, enhances the adaptability of tension measurement to seabed environment and ship state, improves the reliability of the first tension measurement result, obtains seabed environment characteristics based on a water flow sensor and a visual sensor, dynamically adjusts the weight coefficients, optimizes the response capability of path planning to water flow and terrain, and is particularly suitable for submarine cable laying under deep sea or complex terrain conditions, adjusts the ship sailing speed and the cable release rate in real time, feeds back the optimized path points and tension data to the submarine cable laying equipment, realizes closed-loop control of path planning and actual laying, significantly improves the stability and consistency of submarine cable laying, overcomes the defects of insufficient adaptability to complex seabed environment in the prior art, significantly improves the accuracy, safety and efficiency of submarine cable laying, has significant technical advantages and wide application prospects. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A flow chart of the submarine cable dynamic laying path control method based on cable tension and attitude feedback is provided for the application.

[0018] Figure 2 A flow chart of the implementation method of the first tension measurement mode in the submarine cable dynamic laying path control method based on cable tension and attitude feedback is provided for the application.

[0019] Figure 3 A flow chart of the initialization implementation method before the tension data collection in the first tension measurement mode in the submarine cable dynamic laying path control method based on cable tension and attitude feedback is provided for the application.

[0020] The implementation of the application, functional characteristics and advantages will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0022] The terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features; in the description of the present application, unless otherwise stated, the meaning of "multiple" is two or more.

[0023] In order to make the technical solutions of the present application clearer, the present application will be described in detail below in combination with specific embodiments, but should not be understood as limiting the scope of protection of the present application.

[0024] The technical solutions of the present application will be further described in detail below in combination with the drawings of the specification.

[0025] In some embodiments, as shown in Figure 1 The method for dynamic laying path control of submarine cable based on towline tension and attitude feedback can be realized by the following steps: Step S01: Tension data acquisition of the towline of the submarine cable laying ship based on the first tension measurement mode, and generating the corresponding first tension measurement result.

[0026] Specifically, in the present embodiment, the submarine cable laying ship is equipped with high-precision tension sensors installed on the towline, which are used to monitor the force of the towline in the seabed environment in real time. The towline connects the ship and the submarine cable, and is affected by the seabed topography, water flow and ship movement. The acquisition process records the tension data of the towline at a fixed frequency (such as 10 times per second) through the tension sensor, which reflects the tension state of the towline under the current seabed environment. The collected tension data is transmitted to the control system of the ship, and after preliminary processing (such as filtering to remove noise), the first tension measurement result is formed. The first tension measurement result is stored in the form of time series, containing the tension values of the towline at different time points, which is used as the preliminary basis for subsequent path planning. Understandably, this step ensures the sensitivity of path control to the force of the towline by collecting tension data in real time, providing a basis for subsequent optimization.

[0027] Step S02: Dynamic optimization of the towline tension data in the first tension measurement result based on the second tension measurement mode, to obtain the corresponding second tension measurement result.

[0028] Further, the second tension measurement mode utilizes data from the first tension measurement results to optimize by improving the accuracy and frequency of data processing. The control system analyzes the tension data in the first tension measurement results, identifying trends and anomalies in tension changes (such as sudden increases or decreases). The dynamic optimization process includes smoothing and interpolation of tension data to improve continuity. Additionally, the system adjusts the weight of tension data based on the real-time sailing state of the ship (such as speed and direction), ensuring that the optimization results are consistent with the actual laying scenario. The optimized tension data forms the second tension measurement results, which represent the tension distribution of the tow cable in a dynamic environment with higher resolution. Understandably, the second tension measurement mode reduces errors caused by environmental interference through fine processing of data, providing a more reliable basis for path adjustment.

[0029] Step S03: Adjust the path points in the second tension measurement results based on attitude feedback and the third tension measurement mode, to generate the final submarine cable laying path control results.

[0030] Further, the third tension measurement mode combines attitude feedback data from the ship to optimize the path. Attitude feedback data comes from attitude sensors on the ship, recording the ship's motion state in six degrees of freedom (forward, backward, left, right, up, down, pitch, yaw, and roll). The control system fuses the tension data in the second tension measurement results with the attitude feedback data to analyze the correlation between tow cable tension and ship attitude. For example, when the ship deviates due to water flow, the tow cable tension may be asymmetrically distributed, and the system will adjust the position of the path points based on this information. The adjustment process generates a series of optimized path points through iterative calculation, ensuring that the submarine cable maintains a stable tension distribution and reasonable geometric shape during laying. The final submarine cable laying path control results are output in the form of a sequence of three-dimensional coordinates of path points, guiding the ship's sailing and the submarine cable's release. Understandably, this step realizes dynamic adjustment of the path by combining tension and attitude information, improving the accuracy and stability of submarine cable laying.

[0031] This embodiment realizes submarine cable dynamic laying path control based on tow cable tension and attitude feedback. The whole process optimizes path planning through multi-stage tension measurement and attitude feedback, ensuring the safety and efficiency of submarine cable laying in complex seabed environments. In practical applications, this method significantly reduces the laying risks caused by abnormal tension or attitude deviation, and is suitable for various seabed terrain conditions such as deep sea and shallow sea.

[0032] In some embodiments, as Figure 2As shown, an implementation mode of a first tension measurement mode in a method for dynamic cable-laying path control based on towline tension and attitude feedback is provided, which is specifically used for a submarine cable-laying ship to generate basic data for preliminary path planning through tension data collection in a seabed environment.

[0033] Specifically, step S021: based on the tension sensors on the towline, real-time collection of tension data of the towline in the seabed environment. In this embodiment, a plurality of high-sensitivity tension sensors are installed on the towline of the submarine cable-laying ship, which are distributed at key nodes of the towline (such as the connection with the submarine cable and the middle section of the towline). These sensors can measure the tension changes of the towline in the seabed environment at a high frequency (such as 5 times per second), capturing the tension fluctuations caused by water flow, seabed topography or ship movement. During the collection process, the sensors transmit real-time tension data to the central control system of the ship through wired or wireless communication modules. The data collection takes into account the dynamic characteristics of the seabed environment, such as the tension difference caused by changes in water flow speed or seabed slope. The collected tension data is stored in the form of time series, recording the tension value at each time point and its corresponding ship position. It can be understood that this step provides raw data directly reflecting the force state of the towline by real-time monitoring of the towline tension, which provides a basis for subsequent path planning.

[0034] Further, step S022: combining seabed topographic features and ship positioning information to build an initial distribution model of towline tension. In this embodiment, the seabed topographic features are obtained by the sonar sensors equipped on the ship, which scan the seabed topography to generate topographic data containing slope, obstacle position and seabed surface roughness. The positioning information of the ship is derived from the combination of the Global Positioning System (GPS) and the Inertial Navigation System (INS), ensuring high-precision position and heading information. The control system correlates and analyzes the tension data collected by the tension sensors with the seabed topographic features and the ship positioning information to build an initial distribution model of the towline tension. This model represents the force state of the towline at different positions in the form of a three-dimensional vector, taking into account the influence of the terrain on the tension (such as increased tension at steep slopes). During the model building process, the system preliminarily processes the tension data through linear interpolation and weighted average method to eliminate sensor noise or temporary interference. It can be understood that the construction of the initial distribution model accurately describes the tension characteristics of the towline in the current environment by integrating multi-source data, laying a foundation for path planning.

[0035] Further, step S023: generating the first tension measurement result based on the initial distribution model for preliminary path planning. In this embodiment, the control system calculates the tension distribution of the tow cable on different path points according to the initial distribution model, generating the first tension measurement result. This result is output in the form of a data set, containing the tension value of each path point, the corresponding ship position, and the associated information of the terrain features. During the generation process, the system determines a reasonable sequence of path points according to the tension distribution, ensuring that the tension of the tow cable is within a safe range (e.g., avoiding exceeding the material strength limit). The first tension measurement result is further used for preliminary path planning, guiding the ship to sail along a path with relatively uniform tension distribution to reduce tension fluctuations during the submarine cable laying process. The path planning takes into account the sailing speed of the ship and the release rate of the tow cable, ensuring the real-time nature of the tension data and the feasibility of the path. Understandably, the generation of the first tension measurement result directly associates the tension data with the path planning, providing a reliable basis for subsequent optimization and enhancing the stability of submarine cable laying.

[0036] In some embodiments, a method for implementing the second tension measurement mode in a submarine cable dynamic laying path control method based on tow cable tension and attitude feedback is provided, specifically for dynamically optimizing the tow cable tension data within the first tension measurement result to generate more accurate tension distribution data, providing a basis for further adjustment of the submarine cable laying path.

[0037] Specifically, the sampling frequency of the tension sensor is increased to a preset value to capture high-frequency tension changes. In this embodiment, high-sensitivity tension sensors are installed on the tow cable of the submarine cable laying ship, which collect tension data of the tow cable in the submarine environment in real time, forming the first tension measurement result. In the second tension measurement mode, the control system increases the sampling frequency of the tension sensor from a regular value (e.g., 5 times per second) to a preset value (e.g., 20 times per second) to more accurately capture rapid changes in tow cable tension. These changes can be caused by submarine water flow turbulence, slight movement of the ship, or sudden changes in submarine terrain. After increasing the sampling frequency, the sensor can record more granular tension data, capturing transient tension fluctuations within a short period of time, such as tension peaks caused by water flow impact. The collected data is transmitted in real time to the central control system through the communication module of the ship and stored as high-resolution time series data. Understandably, increasing the sampling frequency enhances the system's response capability to dynamic environments, providing a richer data foundation for subsequent tension analysis.

[0038] Further, based on the improved sampling frequency, the towline tension data within the first tension measurement result is dynamically analyzed to obtain a high-frequency tension distribution result. In this embodiment, the control system uses the high-resolution tension data obtained at the improved sampling frequency to conduct in-depth processing on the first tension measurement result. The dynamic analysis process includes time-frequency analysis of the tension data to identify the frequency components and periodic characteristics of the tension changes. For example, the system analyzes the frequency spectrum of the tension data through the fast Fourier transform method to determine the main sources of high-frequency tension changes, such as the periodic fluctuations of water flow or the vibration effects of the ship. In addition, the system conducts contextual correlation analysis on the tension data in combination with the seabed topography features and the ship positioning information to determine whether the tension changes are related to specific topography (such as steep slopes or obstacles). The seabed topography features are obtained by scanning with sonar sensors, and the ship positioning information is provided by the global positioning system and inertial navigation system. The analysis result is output in the form of a high-frequency tension distribution, including the tension values and their change trends at each path point under high sampling frequency. Understandably, this step extracts more accurate tension characteristics through dynamic analysis, enhancing the system's understanding of tension distribution in complex seabed environments.

[0039] Further, in combination with the submarine cable mechanics model, the high-frequency tension distribution result is optimized to generate the second tension measurement result. In this embodiment, the control system optimizes the high-frequency tension distribution result based on the pre-established submarine cable mechanics model. This model takes into account the material properties of the submarine cable (such as elastic modulus and tensile strength), the geometry of the towline, and the physical parameters of the seabed environment (such as water flow resistance). The optimization process includes filtering abnormal values in the high-frequency tension distribution, such as using median filtering to remove transient noise, and smoothing the tension data through weighted averaging to ensure data continuity and stability. In addition, the system adjusts the weights of the path points in the high-frequency tension distribution based on the initial distribution model constructed from seabed topography features and ship positioning information, optimizing the distribution of tension between path points. The optimized result generates the second tension measurement result, which is output in the form of a data set, including the optimized tension values of each path point, the corresponding ship position, and the associated information with the topography features. Understandably, through the optimization of the submarine cable mechanics model, the second tension measurement result significantly improves the reliability and applicability of the tension data, providing a solid foundation for the dynamic control of the submarine cable laying path.

[0040] In some embodiments, an implementation of a method for dynamically laying a submarine cable path based on towline tension and attitude feedback is provided, which is specifically used to monitor the towline tension during the submarine cable laying process and adjust the path point sequence according to abnormal conditions to ensure the safety and stability of the laying.

[0041] Specifically, the tension sensor is used to measure the tension value of the tow cable under different seabed terrain conditions. In this embodiment, a plurality of high-precision tension sensors are installed on the tow cable of the cable laying ship, which are distributed at key positions of the tow cable, such as the connection point of the tow cable and the submarine cable, and the middle and end of the tow cable. These sensors can monitor the stress of the tow cable in the seabed environment in real time, generating the first tension measurement result. During the acquisition process, the tension sensor measures the tension value of the tow cable at a fixed frequency (such as 5 times per second), and records the tension change of the tow cable under different seabed terrain conditions. For example, in the flat seabed area, the tension value of the tow cable is relatively stable, while near the steep slope or obstacle, the tension value may increase significantly. The sensor transmits the tension data to the central control system of the ship in real time through the wired communication module, and the data is stored in the form of time series, including the tension value of each measurement point and its corresponding time stamp and ship position. Understandably, this step acquires the tension value in real time through the high-precision tension sensor, providing accurate data support for subsequent tension anomaly detection.

[0042] Further, it is judged whether the tension value exceeds a preset tension threshold. In this embodiment, the control system analyzes the tension value collected by the tension sensor in real time, and compares each tension value with the preset tension threshold. The preset tension threshold is determined according to the material properties (such as tensile strength) of the submarine cable and the tow cable and the safety requirements of the laying environment, for example, set to 80% of the maximum safe tension of the tow cable. During the analysis process, the system checks the tension values in the time series one by one, and if a tension value exceeds the preset tension threshold, it is marked as a potential abnormal point. The system also analyzes the reasons for the tension value exceeding the threshold in combination with the seabed terrain features and the positioning information of the ship. For example, if the tension value exceeds the threshold in the steep slope area, it may be caused by terrain resistance; if it exceeds the threshold in the flat area, it may be caused by water flow impact or tow cable winding. The judgment result is recorded in the form of Boolean value, marking whether the tension value is abnormal. Understandably, this step effectively identifies the tension abnormality through threshold judgment, providing a key basis for subsequent path adjustment.

[0043] Further, if the tension value exceeds the preset tension threshold, a tension abnormality signal is generated, and a preliminary path point sequence of the ship is adjusted based on the tension abnormality signal. In this embodiment, when the control system detects that the tension value exceeds the preset tension threshold, a tension abnormality signal is immediately generated. The signal contains the tension value of the abnormal point, the occurrence time, and the corresponding ship position and terrain features. After the signal is generated, the system triggers the path adjustment mechanism according to the tension abnormality signal. The adjustment process uses the initial distribution model constructed from the seabed terrain features and the ship positioning information to recalculate the coordinates of the affected path points. For example, if the abnormal point is located in a steep slope area, the system may adjust the path points to bypass the high resistance area, generating a new path point sequence to reduce the tension of the tow cable. The adjusted preliminary path point sequence is output in the form of three-dimensional coordinates to guide the direction and speed of the ship's navigation, ensuring that the tension of the tow cable returns to the safe range. The adjustment process also takes into account the real-time motion state of the ship to avoid navigation instability caused by frequent adjustments. Understandably, this step effectively reduces the potential risks of tension abnormalities to the laying of the submarine cable by generating a tension abnormality signal and dynamically adjusting the path point sequence.

[0044] In some embodiments, an implementation of a third tension measurement mode in a submarine cable dynamic laying path control method based on tow cable tension and attitude feedback is provided, which is specifically used to adjust the path points in the second tension measurement results in combination with attitude feedback to generate the final submarine cable laying path control results.

[0045] Specifically, based on the tension data in the second tension measurement results, in combination with the attitude sensor data of the ship, a dynamic tension and attitude coupling model of the submarine cable is generated. In this embodiment, the second tension measurement results contain optimized tow cable tension data, reflecting the force distribution of the tow cable after high-frequency sampling and dynamic optimization. The ship is equipped with attitude sensors for real-time acquisition of the ship's motion data in six degrees of freedom (forward, backward, left, right, up, down, pitch, yaw, and roll). These attitude sensors record the attitude changes of the ship at a fixed frequency (such as 10 times per second), such as the inclination or yaw of the ship caused by water flow or waves. The control system fuses the tension data in the second tension measurement results with the attitude sensor data to analyze the mutual influence between tension and attitude. For example, the yaw of the ship may cause the tension of the tow cable to increase significantly on one side, and the pitch change may affect the vertical force of the tow cable. Based on this analysis, the system generates a dynamic tension and attitude coupling model of the submarine cable, which represents the coupling relationship between tension and attitude at different path points in the form of a three-dimensional vector, describing how the tension of the tow cable adjusts with changes in the attitude of the ship. Understandably, this step establishes a dynamic model of the force of the submarine cable by integrating tension and attitude data, providing a theoretical basis for accurate adjustment of the path points.

[0046] Further, based on the dynamic tension and posture coupling model, the path point adjustment parameters of the submarine cable are constructed. In the embodiment, the control system uses the dynamic tension and posture coupling model to calculate the adjustment parameters required for each path point to optimize the laying path of the submarine cable. The adjustment parameters include the spatial coordinate offset of the path point, the correction angle of the ship navigation direction, and the adjustment amplitude of the tow cable release rate. In the construction process, the system identifies the path points that may cause abnormal tension or path deviation according to the tension and posture relationship in the model. For example, if the model shows that the tension of a certain path point is too high due to the roll of the ship, the system will calculate a new coordinate position to restore the tension of the tow cable to a safe range. The calculation of the adjustment parameters also takes into account the geometric constraints of the submarine cable, such as the minimum bending radius and the maximum stretching limit, to ensure that the adjusted path point meets the physical characteristics of the submarine cable. The construction result is stored in the form of a parameter set, which includes the adjustment amount of each path point and its corresponding tension and posture data. Understandably, this step converts the dynamic model into an operational control instruction by quantifying the adjustment requirements of the path point, improving the pertinence of path optimization.

[0047] Further, based on the path point adjustment parameters, the final submarine cable laying path control result is generated. In the embodiment, the control system iteratively optimizes the path point sequence in the second tension measurement result according to the path point adjustment parameters to generate the final submarine cable laying path control result. The optimization process includes updating the three-dimensional coordinates of the path points to ensure smooth path and uniform tension distribution. The system verifies whether the adjusted path points meet the coupling constraints of tension and posture through multiple iteration calculations, such as checking whether the tension of the tow cable is within a safe range and whether the posture of the ship is stable. The final submarine cable laying path control result is output in the form of a three-dimensional path point sequence, including the coordinates of each path point, the corresponding tension value, and the ship posture information. These results are directly transmitted to the navigation system of the ship and the tow cable release control system to guide the real-time navigation of the ship and the laying operation of the submarine cable. The optimized path can adapt to complex seabed environments such as changes in water flow or terrain undulations, ensuring the stability and safety of submarine cable laying. Understandably, this step realizes the conversion from tension and posture coupling to actual path control through dynamic adjustment of path points, significantly improving the accuracy of submarine cable laying.

[0048] In some embodiments, as shown in FIG. 1, Figure 3 An initialization implementation method before tension data acquisition in the first tension measurement mode in a submarine cable dynamic laying path control method based on tow cable tension and posture feedback is provided, which is specifically used to determine parameters through environment and ship characteristics to provide a basis for subsequent tension measurement and path planning.

[0049] Specifically, step S11: based on the flow conditions of the seabed environment and the ship motion characteristics under the ship motion conditions, the parameter initialization processing of the tension sensor is performed to determine the tension weight coefficient and the dynamics weight coefficient. In this embodiment, before the first tension measurement mode is used to collect the first tension measurement result, the operation parameters of the tension sensor need to be initialized to adapt to the dynamic characteristics of the seabed environment. The flow conditions of the seabed environment are obtained by a flow sensor equipped on the ship, which monitors the flow speed and direction in real time, for example, records a flow speed of 0.3 meters per second and a northward flow direction in deep sea area. These flow conditions directly affect the tension distribution of the streamer, for example, stronger flow may cause uneven force on the streamer. The ship motion characteristics are obtained by accelerometers and gyroscopes, which record the acceleration and angular velocity changes of the ship during navigation, for example, slight rocking or acceleration caused by wind and waves. The control system calculates the tension weight coefficient and the attitude weight coefficient based on the flow conditions and the ship motion characteristics. The tension weight coefficient reflects the importance of tension data in path planning, and the attitude weight coefficient reflects the degree of influence of ship motion on tension. During the initialization process, the system assigns weights according to the flow speed and the stability of ship motion through a preset weighting algorithm, for example, appropriately increases the tension weight coefficient when the flow is strong. Understandably, this step provides adaptive parameter configuration for the tension sensor by analyzing the environment and ship characteristics, ensuring the accuracy of subsequent tension measurement.

[0050] Further, step S12: based on the tension weight coefficient and the attitude weight coefficient, determine the initial tension measurement parameters of the streamer. In this embodiment, the control system uses the calculated tension weight coefficient and attitude weight coefficient to generate the initial tension measurement parameters of the streamer. These parameters include the sensitivity setting of the tension sensor, the data acquisition frequency, and the pre-processing rules of the tension data. The initial tension measurement parameters are determined by integrating the tension weight coefficient and the attitude weight coefficient, for example, if the tension weight coefficient is high, the system will increase the sampling frequency of the tension sensor (such as from 3 times per second to 5 times per second) to capture the tension changes more accurately; if the attitude weight coefficient is high, the system will give priority to the influence of ship motion on tension and adjust the data filtering algorithm to reduce the noise caused by attitude changes. The determined initial tension measurement parameters are stored in the form of configuration files and directly applied to the tension data acquisition process of the first tension measurement mode, ensuring that the tension sensor can optimize data acquisition according to the environment and ship state. The initial tension measurement parameters also provide a basis for subsequent generation of the first tension measurement result, ensuring that the path planning can adapt to the current laying conditions. Understandably, this step determines the initial parameters through the weight coefficients, realizing the environmental adaptation of tension measurement and laying the foundation for dynamic control of the submarine cable laying path.

[0051] In some embodiments, an implementation of a parameter initialization process in a method of submarine cable dynamic laying path control based on towline tension and attitude feedback is provided. Specifically, the tension weight coefficient and the attitude weight coefficient are determined by analyzing the submarine environment and the ship characteristics before the tension data collection in the first tension measurement mode, providing a basis for subsequent tension measurement and path planning.

[0052] Specifically, based on the ship's water flow sensor, the water flow speed and direction of the submarine environment are obtained. In this embodiment, the submarine cable laying ship is equipped with a high-precision water flow sensor installed in the underwater detection module below the ship body, which is used to monitor the water flow conditions of the submarine environment in real time. The water flow sensor collects data at a fixed frequency (such as 2 times per second), measures the water flow speed (such as 0.5 meters per second) and direction (such as 30 degrees east). These data reflect the potential impact of submarine water flow on towline tension, for example, stronger water flow may cause uneven force on the towline, affecting the stability of tension measurement. During the collection process, the sensor transmits the water flow data to the central control system of the ship through the wireless communication module, and the data is stored in the form of time series, including the water flow speed, direction and corresponding time stamp of each measurement point. The control system performs preliminary processing on the water flow data, such as removing transient noise by mean filtering to ensure the reliability of the data. Understandably, this step provides key environmental information for the determination of subsequent weight coefficients by accurately obtaining the water flow conditions.

[0053] Further, if the water flow speed meets the first preset threshold, the submarine environment image is obtained based on the visual sensor of the ship. In this embodiment, the control system determines whether the water flow speed meets the first preset threshold according to the water flow speed collected by the water flow sensor. The first preset threshold is set according to the safety requirements of submarine cable laying, for example, water flow speed less than 1 meter per second is considered as suitable working condition for visual sensor. If the water flow speed meets the threshold (such as the measured value is 0.5 meters per second), the system activates the visual sensor of the ship. The visual sensor is a high-resolution underwater camera installed at the bottom of the ship body, which can capture images of the submarine environment under relatively stable water flow conditions. The visual sensor takes submarine images at a frequency of 1 frame per second, generating image data containing information such as submarine topography and sediment distribution. These image data are transmitted to the control system through wired communication for subsequent feature extraction. During the collection process, the system adjusts the exposure parameters of the camera through automatic gain control to adapt to changes in submarine light conditions. Understandably, this step provides reliable visual information for the analysis of environmental features by obtaining image data under suitable water flow conditions.

[0054] Further, terrain features are extracted based on the seabed environment image. In this embodiment, the control system performs image processing on the seabed environment image captured by the visual sensor to extract terrain features. The extraction process employs edge detection and feature point recognition algorithms, such as using a Canny edge detector to identify terrain contours in the seabed image, such as slope changes or rock boundaries. The system also extracts feature points in the image through key point detection algorithms (such as the SIFT algorithm) to describe the texture and structural characteristics of the seabed topography. The extracted terrain features include slope angles (such as 10 degrees), surface roughness (such as high roughness areas), and obstacle distribution (such as isolated rocks). These features are stored in the form of vectors, containing the spatial position and attribute value of each feature point. During the extraction process, the system removes redundant features through cluster analysis to ensure the representativeness and accuracy of the terrain features. It can be understood that this step extracts key information of the seabed terrain through image processing techniques, providing environmental basis for the adjustment of the weight coefficients.

[0055] Further, if the terrain features meet the second preset threshold, the posture weight coefficient is increased by a preset ratio, and the tension weight coefficient is decreased. In this embodiment, the control system analyzes the extracted terrain features to determine whether they meet the second preset threshold. The second preset threshold is set according to the path planning requirements of the submarine cable laying, for example, a slope angle less than 15 degrees and no large obstacles are considered as suitable conditions for visual guidance. If the terrain features meet the threshold (such as a slope angle of 10 degrees and no significant obstacles), the system adjusts the tension weight coefficient and the posture weight coefficient by a preset ratio. The preset ratio is a fixed ratio, for example, 1:0.8, meaning that the posture weight coefficient is increased by 10% (from 0.5 to 0.55), and the tension weight coefficient is decreased by 10% (from 0.5 to 0.45) accordingly. The adjusted weight coefficients are used to determine the initial tension measurement parameters of the tow cable, affecting the tension data collection of the subsequent first tension measurement mode. The adjustment process is realized through a weighting algorithm to ensure that the sum of the weight coefficients remains constant (such as a total of 1). The adjusted parameters are stored in the control system and directly applied to the configuration of the tension sensor. It can be understood that this step dynamically adjusts the weight coefficients according to the terrain features, enhancing the adaptability of the path planning to environmental visual information and providing more accurate initialization support for submarine cable laying.

[0056] In some embodiments, a supplementary condition for adjusting the weight coefficients in the parameter initialization process of the submarine cable dynamic laying path control method based on tow cable tension and posture feedback is provided, specifically for adjusting the tension weight coefficient and the posture weight coefficient according to the threshold judgment results of the water flow conditions and the terrain features before the tension data collection in the first tension measurement mode.

[0057] Specifically, if the water flow speed does not satisfy the first preset threshold, the tension weight coefficient is increased by the preset ratio, and the attitude weight coefficient is decreased. In this embodiment, the control system of the ship determines whether the water flow speed collected by the water flow sensor satisfies the first preset threshold. The first preset threshold is set to be less than 1 meter per second, to ensure that the visual sensor can obtain clear seabed environment images under suitable water flow conditions. If the water flow speed does not satisfy the threshold, for example, the measured water flow speed is 1.5 meters per second, indicating that the water flow is strong, which may cause the visual sensor image to be blurred or unreliable. At this time, the control system adjusts the weight coefficients by the preset ratio, and the preset ratio is a fixed ratio, for example, 1:0.8. The system increases the tension weight coefficient by 10% (for example, from 0.5 to 0.55), and decreases the attitude weight coefficient by 10% (for example, from 0.5 to 0.45). During the adjustment process, the system ensures that the sum of the weight coefficients remains constant (for example, the sum is 1) through a weighting algorithm, and stores the adjusted coefficients in the control system. These coefficients are used to determine the initial tension measurement parameters of the tow cable, and affect the tension data collection of the subsequent first tension measurement mode. The adjustment reflects that in the environment with strong water flow, the relative importance of tension data to path planning is higher. Understandably, this step enhances the adaptability of the system in complex water flow conditions by giving priority to tension data.

[0058] Further, if the point features and the line features do not satisfy the second preset threshold, the tension weight coefficient is increased by the preset ratio, and the attitude weight coefficient is decreased. In this embodiment, when the water flow speed satisfies the first preset threshold, the system obtains seabed environment images through the visual sensor, and extracts terrain features including point features (such as the position of isolated rocks) and line features (such as the contour line of the seabed slope) from the images. The control system analyzes these terrain features to determine whether they satisfy the second preset threshold. The second preset threshold is set to be less than 15 degrees of slope angle and no large obstacles, to ensure that the terrain features are suitable for visual guidance of path planning. If the terrain features do not satisfy the threshold, for example, the slope angle reaches 20 degrees or multiple large obstacles are detected, indicating that the seabed terrain is complex, and the information provided by the visual sensor may not be sufficient to support accurate attitude guidance. At this time, the system adjusts the weight coefficients by the same preset ratio (1:0.8), increases the tension weight coefficient by 10% (for example, from 0.5 to 0.55), and decreases the attitude weight coefficient by 10% (for example, from 0.5 to 0.45). The adjusted coefficients are calculated through a weighting algorithm and stored, and are directly applied to the parameter configuration of the tension sensor to optimize subsequent tension data collection. The adjustment process takes into account the influence of terrain complexity on tension measurement, and preferentially utilizes tension data to cope with terrain challenges. Understandably, this step ensures the reliability of tension measurement of the system in complex terrain conditions by dynamically adjusting the weight coefficients.

[0059] In some embodiments, an implementation of a generation process of a towline initial tension measurement parameter in a method of submarine cable dynamic laying path control based on towline tension and attitude feedback is provided, which is specifically used to determine initial parameters by integrating tension, attitude and current environment data before tension data collection in a first tension measurement mode, to provide accurate support for subsequent tension measurement and path planning. The generation of the towline initial tension measurement parameter is based on the following formula: T0=α·F s +β·A s +γ·E w +δ·(∥Fs∥·cos(θ As,Ew ))·C d wherein T0 represents the towline initial tension measurement parameter, α represents a tension weight coefficient, β represents an attitude weight coefficient, γ represents a current environment weight coefficient, δ represents a dynamic coupling weight coefficient, F s represents a towline tension vector measured by a tension sensor, A s represents six-degree-of-freedom attitude information of a ship acquired by an attitude sensor, E w represents a current environment characteristic vector acquired by a current sensor, ∥Fs∥ represents a module of the tension vector, θ As,Ew represents an included angle between the attitude vector and the current environment vector, C d represents a dynamic resistance coefficient calculated based on submarine cable material characteristics and current velocity, and γ and δ are determined by current velocity, direction and submarine topography complexity.

[0060] Specifically, the towline tension vector is measured by a tension sensor of a ship to acquire force data of the towline in a submarine environment. In the embodiment, a high-precision tension sensor is installed on the towline of the submarine cable laying ship to collect towline tension data in real time, so as to support the generation of the first tension measurement result. The sensor is distributed at key nodes of the towline, such as the connection with the submarine cable and the middle section, to measure the tension value at a frequency of 5 times per second. For example, a tension of 600 Newton is recorded at a measurement point, with a direction of 15 degrees east, to form a tension vector F s . These data are transmitted to the central control system through a wired communication module, and the mean value filtering processing is used to remove transient noise, to ensure the accuracy of the tension vector F s . In the formula, F s is multiplied by the tension weight coefficient α (such as 0.5) to reflect the contribution of the tension data in the initial parameters. Understandably, this step provides reliable input for the F s term in the formula by accurately measuring the tension vector.

[0061] Further, the ship's attitude sensor is used to obtain the ship's six-degree-of-freedom attitude information, recording the ship's motion state. In this embodiment, the ship is equipped with an attitude sensor, including an accelerometer and a gyroscope, which monitors the ship's motion data in six degrees of freedom (forward and backward, left and right, up and down, pitch, yaw, roll) in real time. The attitude sensor collects data at a frequency of 10 times per second, for example, recording a 2-degree pitch angle and a 0.3-degree / second yaw angular velocity, forming the six-degree-of-freedom attitude information A s . These data are stored in vector form and transmitted to the control system through the wireless communication module, and the high-frequency vibration interference is removed by low-pass filtering. In the formula, A s is multiplied by the attitude weight coefficient β (such as 0.4), reflecting the influence of the ship's motion on the initial parameters. Understandably, this step provides the necessary data for the A s term in the formula by obtaining the attitude information, ensuring that the parameters take into account the ship's dynamics.

[0062] Further, the water flow sensor is used to obtain the water flow environmental characteristic vector, describing the water flow conditions of the seabed environment. In this embodiment, the ship is equipped with a water flow sensor installed in the underwater detection module below the ship's hull, measuring the water flow speed and direction at a frequency of 2 times per second. For example, a water flow speed of 0.6 meters per second and a direction 20 degrees north are recorded, forming the water flow environmental characteristic vector E w . The data are transmitted to the control system through wireless communication and the measurement error is reduced by mean filtering. In the formula, E w is multiplied by the water flow environmental weight coefficient γ (such as 0.08), reflecting the influence of the water flow on the tension. γ is determined by the water flow speed and direction, for example, by looking up the weight value according to the speed of 0.6 meters / second. Understandably, this step provides environmental basis for the E w term in the formula by accurately measuring the water flow conditions.

[0063] Further, the dynamic coupling term and the initial tension measurement parameter in the formula are calculated comprehensively. In this embodiment, the control system calculates the dynamic coupling term δ·(∥F s ∥·cos(θ As,Ew ))·C d in the formula. First, the modulus ∥F s ∥ of the tension vector is calculated, for example, the square root of the 600 Newton tension to get the modulus. Then, the angle θ s between the attitude vector A w and the water flow environmental vector E As,Ew is calculated, for example, the angle is 40 degrees and the cosine value is 0.766 by the vector dot product formula. The dynamic resistance coefficient C dBased on the cable material properties and water flow velocity calculations, such as determined according to a water flow velocity of 0.6 meters per second and a cable friction coefficient of 0.1. The dynamic coupling weight coefficient δ (such as 0.02) is determined by the water flow velocity, direction, and seabed topography complexity, for example, by pre-set rules. Finally, the control system sums all terms according to the formula, generating an initial tension measurement parameter T0, stored in vector form, containing the integrated force magnitude and direction, directly applied to the configuration of the tension sensor, affecting the tension data acquisition of the first tension measurement mode. Understandably, this step integrates multi-source data through the formula to generate adaptive initial parameters, ensuring the accuracy of tension measurement and the stability of path planning.

[0064] In some embodiments, an implementation of the adjustment and feedback process based on the final submarine cable laying path control result is provided in a submarine cable dynamic laying path control method based on towline tension and attitude feedback, specifically for adjusting the ship's sailing and towline release operations in real time, and feeding back the adjusted path points to the laying equipment to ensure the accuracy and stability of submarine cable laying.

[0065] Specifically, based on the final submarine cable laying path control result, the sailing speed of the ship and the release rate of the towline are adjusted in real time. In this embodiment, the final submarine cable laying path control result is a path point sequence generated by gradually optimizing the first tension measurement mode, the second tension measurement mode, and the third tension measurement mode, containing the three-dimensional coordinates of each path point, the corresponding tension value, and the ship attitude information. The control system calculates the adjustment amount of the ship's sailing speed and the towline release rate in real time according to the result. For example, if the path point sequence shows that a certain section of the path passes through a steep seabed slope area, the system may detect a higher tension value, and then reduce the ship's sailing speed from 2 meters per second to 1.5 meters per second to reduce the towline tension fluctuation. At the same time, the system adjusts the towline release rate, for example, from 10 meters per minute to 8 meters per minute, to ensure that the submarine cable is laid with appropriate tension, avoiding excessive stretching or relaxation. The adjustment instruction is executed through the automatic navigation system of the ship, and the navigation system updates the ship's heading and propeller power according to the coordinates of the path points and the speed requirement. During the adjustment process, the system also monitors the real-time sea conditions, such as changes in wind and waves or water flow, to ensure that the adjusted speed and release rate adapt to the current environment. Understandably, this step optimizes the execution effect of the submarine cable laying path by adjusting the ship's sailing and towline release in real time, reducing the risk of tension abnormalities.

[0066] Further, the adjusted path points and tension data are fed back to the cable laying equipment through the control system of the vessel to ensure the accuracy and stability of the cable laying. In the embodiment, the control system transmits the adjusted path point sequence (including the updated three-dimensional coordinates) and the corresponding tension data to the cable laying equipment, such as the streamer release device and the cable tension control module. The transmission process is realized through a real-time communication network inside the vessel, for example, using the Ethernet protocol to send data to the laying equipment at a frequency of 1 time per second. The cable laying equipment adjusts the release angle and speed of the streamer according to the received path point coordinates, for example, adjusts the deflection angle of the release device when the path point turns, to ensure that the cable is accurately laid along the optimized path. The tension data is used to dynamically adjust the tension controller of the laying equipment, for example, when the tension value is close to the safe upper limit, the controller automatically increases the slackness of the streamer. In the feedback process, the system records the effect of each adjustment, such as the deviation between the actual laying position of the path point and the target position, and continuously optimizes the execution of subsequent path points through closed-loop control. The feedback data is also stored in the control system for reference and analysis of subsequent laying tasks. It can be understood that this step realizes the close connection between path planning and actual laying by feeding back the adjusted path points and tension data to the laying equipment in real time, ensuring the high accuracy and stability of the cable laying.

[0067] Through the above steps, the embodiment realizes the adjustment and feedback process based on the control results of the final cable laying path. By adjusting the sailing speed of the vessel and the release rate of the streamer in real time, and feeding back the adjusted path points and tension data to the cable laying equipment, the accuracy and stability of the cable laying are ensured. This process makes full use of the control results of the final cable laying path generated by the first tension measurement mode, is suitable for cable laying in complex seabed environment, can effectively cope with changes in sea conditions and tension fluctuations, and improves the reliability and safety of the laying operation.

[0068] The above only describes exemplary embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A method of dynamic route control for subsea cable installation based on the tension and attitude feedback of the streamer, characterized in that, The method comprises: Based on the first tension measurement mode, the tension data of the tow cable of the submarine cable laying ship is collected, and the corresponding first tension measurement result is generated; specifically, the tension data of the tow cable in the seabed environment is collected in real time based on the tension sensor on the tow cable; Combined with the positioning information of the submarine and the characteristics of the seabed topography, an initial distribution model of the tow cable tension is constructed; based on the initial distribution model, the first tension measurement result is generated for preliminary path planning; Based on the second tension measurement mode, the tow cable tension data in the first tension measurement result is dynamically optimized to obtain the corresponding second tension measurement result; specifically, the sampling frequency of the tension sensor is increased to a preset value to capture high-frequency tension changes; based on the increased sampling frequency, the tow cable tension data in the first tension measurement result is dynamically analyzed to obtain a high-frequency tension distribution result; combined with the submarine cable mechanics model, the high-frequency tension distribution result is optimized to generate the second tension measurement result; Based on the attitude feedback and the third tension measurement mode, the path points in the second tension measurement result are adjusted to generate the final submarine cable laying path control result; specifically, based on the tension data in the second tension measurement result, the dynamic tension and attitude coupling model of the submarine cable is generated combined with the attitude sensor data of the ship; based on the dynamic tension and attitude coupling model, the path point adjustment parameters of the submarine cable are constructed; based on the path point adjustment parameters, the final submarine cable laying path control result is generated.

2. The method of claim 1, wherein, The process of collecting tow cable tension data based on the tension sensor on the tow cable includes: Using the tension sensor to measure the tension value of the tow cable under different seabed topography conditions; Determine whether the tension value exceeds the preset tension threshold; If the tension value exceeds the preset tension threshold, generate a tension abnormal signal, and adjust the preliminary path point sequence of the ship based on the tension abnormal signal.

3. The method of claim 1, wherein, Before collecting tension data based on the first tension measurement mode, it also includes: Based on the flow conditions of the seabed environment and the motion characteristics of the ship, the tension sensor is subjected to parameter initialization processing to determine the tension weight coefficient and the attitude weight coefficient; Based on the tension weight coefficient and the attitude weight coefficient, the initial tension measurement parameters of the tow cable are calculated for subsequent tension measurement and path planning.

4. A method of dynamic laying path control of a subsea cable based on towrope tension and attitude feedback as claimed in claim 3, characterised in that, The parameter initialization processing process includes: Based on the flow sensor of the ship, the flow velocity and direction of the seabed environment are obtained; If the flow velocity meets the first preset threshold, the seabed environment image is obtained based on the visual sensor of the ship; Extract the topographic features based on the seabed environment image; If the topographic features meet the second preset threshold, increase the attitude weight coefficient by a preset ratio and decrease the tension weight coefficient.

5. The submarine dynamic laying path control method based on tow cable tension and attitude feedback according to claim 4, wherein: If the flow velocity does not meet the first preset threshold, increase the tension weight coefficient by the preset ratio and decrease the attitude weight coefficient. If the terrain feature does not satisfy the second preset threshold, the tension weight coefficient is increased by the preset proportion, and the attitude weight coefficient is decreased.

6. The method of claim 4, wherein, The expression formula of the initial towline tension measurement parameter is: T0= a · F s + b · A s + g · E w + d · (|| F s || · cos(0 As,Ew )) · C d wherein, T0 represents the initial tension measurement parameter of the tow cable, a represents the tension weight coefficient, β represents the attitude weight coefficient, γ represents the current environment weight coefficient, δ represents the dynamic coupling weight coefficient, F s represents the tow cable tension vector measured by the tension sensor, As represents the six degrees of freedom attitude information of the ship acquired by the attitude sensor, E w represents the current environment characteristic vector acquired by the current sensor, ||Fs|| represents the module of the tension vector, θ As,Ew represents the angle between the attitude vector and the current environment vector, C d represents the dynamic drag coefficient calculated based on the material characteristics of the submarine cable and the current velocity, γ and δ are determined by the current velocity, direction and the complexity of the seabed topography.

7. The method of claim 1, wherein, The method further comprises: Based on the final submarine cable laying path control result, the sailing speed of the ship and the towline release rate are adjusted in real time; The adjusted path point and tension data are fed back to the submarine cable laying equipment through the control system of the ship to ensure the accuracy and stability of the submarine cable laying.

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