Motion compensation device of CTD equipment

Abstract

The invention provides a motion compensation device of CTD equipment, which comprises a motion module, a sensing module and a control module, and the motion module comprises an axial motion unit and a radial motion unit. The sensor module senses the underwater rotation state and the real-time attitude angle of the CTD equipment, and the control module controls the axial movement unit to rotate reversely according to the rotation state of the CTD equipment, so that the axial movement speed of the CTD equipment tends to be zero; and controlling the radial motion unit to operate according to the real-time attitude angle of the CTD equipment, and performing closed-loop adjustment on the real-time attitude angle of the CTD equipment to a specific threshold range. Underwater rotation and inclination of the CTD equipment are adjusted and compensated through the motion compensation device, so that the CTD equipment is in a stable state underwater, the problem of damage caused by continuous rotation of a steel cable is solved, and the problem of measurement misalignment of the CTD equipment caused by inconsistent theoretical lowering depth and actual depth of the CTD equipment is solved.

Description

Technical Field

[0001] This invention relates to the field of marine hydrological instruments and equipment, and more specifically, to a motion compensation device for a CTD (Conductivity to Difference) device. Background Technology

[0002] CTD (Conductivity, Temperature, Depth) equipment is an important tool used in marine surveys to measure the electrical conductivity, temperature, and depth of seawater. In practical applications, CTD equipment is typically lowered to different water depths via steel cables to collect data.

[0003] It should be noted that during underwater operation, CTD equipment is subject to the impact of seawater currents, causing it to rotate and oscillate horizontally. Especially in deep water, the rotation of the CTD equipment causes the multiple strands of steel cable supporting it to rotate as well. The longer the rotation lasts, the greater the damage to the steel cable caused by abnormal twisting. This can seriously affect the service life of the steel cable, the winch's cable deployment and retrieval process, the progress of CTD operations, and even on-site construction safety. Summary of the Invention

[0004] This invention addresses the technical problems existing in the prior art by providing a motion compensation device for CTD equipment to prevent the rotation and attitude tilt of underwater marine mapping equipment CTD.

[0005] According to a first aspect of the present invention, a motion compensation device for a CTD device is provided, comprising a mounting base, a motion module, a sensing module, a control module, and a status display module. The motion module includes an axial motion unit and a radial motion unit, wherein the axial motion unit, the radial motion unit, the control module, and the sensing module are all disposed on the mounting base. The axial motion unit is coaxially arranged with the CTD device. The sensing module includes an angular velocity sensor, a multi-axis attitude sensor, a water depth sensor, and a water pressure sensor. The angular velocity sensor, the multi-axis attitude sensor, the water depth sensor, the water pressure sensor, and the status display module are all connected to the control module. The angular velocity sensor is used to sense the rotation state of the CTD device and send the rotation state of the CTD device to the control module; The multi-axis attitude sensor, the water depth sensor, and the water pressure sensor are used to combine and sense the real-time attitude angle of the CTD device, and send the real-time attitude angle of the CTD device to the control module. The control module is used to control the axial motion unit to operate according to the rotation state of the CTD device, so as to control the axial stability of the CTD device; and to control the radial motion unit to operate according to the real-time attitude angle of the CTD device, so as to adjust the real-time attitude angle of the CTD device to a specific threshold range in a closed loop. The status display module is used to display the rotation status and attitude angle of the CTD device sensed by the sensing module.

[0006] Based on the above technical solution, the present invention can also be improved as follows.

[0007] Optionally, the axial motion unit is located on the side of the mounting base facing the CTD device, the axial motion unit is coaxially arranged with the CTD device, the radial motion unit is located in the circumferential direction of the mounting base, and the sensing module is installed on the side of the mounting base away from the CTD device.

[0008] Optionally, the angular velocity sensor is used to sense the magnitude and direction of the rotational angular velocity of the CTD device in real time; The control module is used to control the axial motion unit to operate according to the rotation state of the CTD device, so as to control the axial stability of the CTD device, including: The control module calculates the driving force and driving direction of the axial motion unit based on the real-time feedback of the angular velocity magnitude and direction from the angular velocity sensor, generates control commands and sends them to the motor so that the axial motion unit operates according to the driving force and driving direction in the control commands. The control module continuously adjusts the rotation of the axial motion unit through real-time sensing and closed-loop control so that the magnitude of the acceleration detected by the angular velocity sensor tends to 0, thereby controlling the axial stability of the CTD device.

[0009] Optionally, the multi-axis attitude sensor, the water depth sensor, and the water pressure sensor are used to combine and sense the real-time attitude angle of the CTD device, and send the real-time attitude angle of the CTD device to the control module, including: The multi-axis attitude sensor is used to sense the three-axis attitude tilt angle of the CTD device; The depth sensor is used to sense the underwater depth of the CTD device, compare the sensed underwater depth of the CTD device with the theoretical diving depth, and obtain the first attitude tilt angle of the CTD device based on the comparison result. The water pressure sensor is used to sense the water pressure of the CTD device underwater. The actual water depth of the CTD is indirectly derived based on the water pressure of the CTD device. The derived actual water depth is compared with the theoretical diving depth to obtain the second attitude tilt angle of the CTD device. The three-axis attitude tilt angle, the first attitude tilt angle, and the second attitude tilt angle are combined for judgment, and the judgment result is sent to the control module. The logic of the combined judgment is as follows: if the three-axis attitude tilt angle, the first attitude tilt angle, and the second attitude tilt angle are all within the limited threshold, then the axial motion unit and the radial motion unit do not need to be adjusted; if the three-axis attitude tilt angle exceeds the threshold, then regardless of the state of the first attitude tilt angle and the second attitude tilt angle, the axial motion unit and the radial motion unit need to be adjusted, and the closed-loop feedback parameter for adjustment is the three-axis attitude tilt angle; if the three-axis attitude tilt angle is within the limited threshold, the axial motion unit and the radial motion unit will be adjusted only if the first attitude tilt angle and the second attitude tilt angle simultaneously exceed the threshold, and the adjustment is based on the average of the excess amount of the first attitude tilt angle and the second attitude tilt angle; in other cases, the axial motion unit and the radial motion unit will not be adjusted.

[0010] Optionally, controlling the radial motion unit to operate based on the real-time attitude angle of the CTD device, and adjusting the CTD device attitude to a specific threshold range in a closed loop, includes: When there is only one radial motion unit, the axial motion unit rotates the CTD device to the direction of radial motion required by the radial motion unit. Then, the radial motion unit performs closed-loop adjustment to a specific threshold range based on the perceived overall attitude angle of the CTD device.

[0011] Optionally, controlling the radial motion unit to operate based on the real-time attitude angle of the CTD device, and adjusting the CTD device attitude to a specific threshold range in a closed loop, includes: When there are multiple radial motion units, when it is determined that the CTD device is tilted, the radial motion units in a specific direction move directly to adjust and compensate for the tilt angle of the CTD device. When a radial motion unit in one direction deviates from its original adjustment direction due to disturbances or other factors, that radial motion unit stops instantly, and other nearby radial motion units compensate for the deviation until the CTD device's attitude is adjusted in a closed loop to a specific threshold range.

[0012] Optionally, the specific threshold range is determined jointly based on the cable tilt angle and the real-time attitude tilt angle of the CTD device.

[0013] Optionally, the axial motion unit includes a drive motor and a turbine turntable. The drive motor is mounted on the mounting base, and the output end of the drive motor is coaxially arranged with the CTD device. The turbine turntable is located at the output end of the motor.

[0014] Optionally, the radial motion unit is a turboprop.

[0015] Optionally, a protective cover is included, which is located on the side of the mounting base away from the CTD device, and the angular velocity sensor and the multi-axis attitude sensor are both located inside the protective cover.

[0016] This invention provides a motion compensation device for a CTD (Continuous Transmission Device). The device includes a mounting base, a motion module, a sensing module, a control module, and a status display module. The motion module comprises an axial motion unit and a radial motion unit. The sensor module senses the rotational state and real-time attitude angle of the CTD underwater. The control module controls the axial motion unit to operate based on the rotational state of the CTD, ensuring axial stability; and controls the radial motion unit to operate based on the real-time attitude angle of the CTD, performing closed-loop adjustment of the real-time attitude angle to a specific threshold range. The status of the CTD sensed by the sensing module is also displayed. This invention uses a motion compensation device to adjust and compensate for the rotation and tilt of the CTD underwater, ensuring the CTD remains stable underwater and thus avoiding damage caused by continuous cable rotation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a motion compensation device for a CTD device from one perspective, provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of a motion compensation device for a CTD device from another perspective, provided in an embodiment of the present invention. Figure 3 A bottom view of a motion compensation device for a CTD device without a protective cover, provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the assembly of the motion compensation device and the CTD equipment according to an embodiment of the present invention; Figure 5 This is a structural block diagram of a motion compensation device control box system for a CTD device provided in an embodiment of the present invention.

[0018] In the attached diagram, the component numbers are as follows: 1. Mounting base; 11. Connector; 111. Clamping plate; 112. Clamping seat; 113. First connecting rod; 114. Second connecting rod; 2. Motion module; 21. Axial motion unit; 211. Turbine turntable; 22. Radial motion unit; 3. Sensing module; 31. Angular velocity sensor; 32. Multi-axis attitude sensor; 33. Water depth sensor; 34. Water pressure sensor; 4. Protective cover; 5. Protective frame; 6. CTD equipment. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In addition, the technical features of the various embodiments or individual embodiments provided by the present invention can be arbitrarily combined with each other to form feasible technical solutions. Such combinations are not constrained by the order of steps and / or structural composition patterns, but must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0020] To address the problems in the background art, this embodiment of the invention provides a motion compensation device for a CTD device, including a mounting base 1, a motion module 2, a sensing module 3, a control module, and a status display module. The motion module 2 includes an axial motion unit 21 and a radial motion unit 22. The axial motion unit 21, the radial motion unit 22, the control module, and the sensing module 3 are all mounted on the mounting base 1. The axial motion unit 21 is coaxially arranged with the CTD device 6. The sensing module 3 includes an angular velocity sensor 31, a multi-axis attitude sensor 32, a water depth sensor 33, and a water pressure sensor 34. The angular velocity sensor 31, the multi-axis attitude sensor 32, the water depth sensor 33, the water pressure sensor 34, and the status display module are all connected to the control module, and the status display module is connected to the control module.

[0021] For example, the CTD device 6 is suspended in the deep sea by one end of a stranded steel cable, and the other end of the cable is fixed to a ship-mounted winch.

[0022] Among them, see Figures 1 to 5 The working process of the motion compensation device is as follows: The angular velocity sensor 31 is used to sense the rotation state of the CTD device 6 and send the rotation state of the CTD device 6 to the control module. The multi-axis attitude sensor 32, the water depth sensor 33, and the water pressure sensor 34 are used to combine and sense the real-time attitude angle of the CTD device 6, and send the real-time attitude angle of the CTD device 6 to the control module. The control module is used to control the axial motion unit 21 to operate according to the rotation state of the CTD device 6, so as to control the axial stability of the CTD device 6; and to control the radial motion unit 22 to operate according to the real-time attitude angle of the CTD device 6, so as to perform closed-loop adjustment of the real-time attitude angle of the CTD device 6 to a specific threshold range.

[0023] The status display module is used to display the rotation status and attitude angle of the CTD device 6 underwater as sensed by the sensing module 3.

[0024] Understandably, during underwater operation, the CTD device 6 may rotate and tilt due to underwater currents or other factors. Therefore, in this embodiment of the invention, a motion compensation device is fixed at the bottom of the CTD device 6. The motion compensation device includes a mounting base 1, a motion module 2, a sensing module 3, and a control module. The motion module 2 includes an axial motion unit 21 and a radial motion unit 22. The sensing module 3 includes an angular velocity sensor 31, a multi-axis attitude sensor 32, a water depth sensor 33, and a water pressure sensor 34.

[0025] Among them, the angular velocity sensor 31 senses the magnitude and direction of the rotational angular velocity of the CTD device 6 in real time, and sends the magnitude and direction of the rotational angular velocity of the CTD device 6 to the control module.

[0026] In an embodiment of the invention, the mounting base 1 is connected to the CTD device 6 via a plurality of connectors 11. Each connector 11 includes a clamping plate 111, a clamping seat 112, and a first connecting rod 113 arranged sequentially toward the mounting base 1. The clamping plate 111 and the clamping seat 112 cooperate to clamp the CTD device 6 on a horizontal connecting column. One end of the first connecting rod 113 is connected to the clamping seat 112, and the other end of the first connecting rod 113 is connected to the mounting base 1.

[0027] See Figures 1 to 3 As shown, the axial motion unit is located on the side of the mounting base facing the CTD device, the axial motion unit 21 is coaxially arranged with the CTD device 6, the radial motion unit 22 is located in the circumferential direction of the mounting base 1, and the sensing module 3 is installed on the side of the mounting base 1 away from the CTD device 6.

[0028] The control module calculates the driving force and driving direction of the axial motion unit 21 based on the real-time feedback of the angular velocity magnitude and direction from the angular velocity sensor 31, and generates control commands to send to the axial motion unit 21 so that the axial motion unit 21 operates according to the driving force and driving direction in the control commands. The control module continuously adjusts the rotation of the axial motion unit 21 through real-time sensing and closed-loop control, so that the magnitude of the acceleration detected by the angular velocity sensor 31 tends to be closer to the axial stability of the CTD device 6.

[0029] The multi-axis attitude sensor 32, the water depth sensor 33, and the water pressure sensor 34 are used to jointly sense the real-time attitude angle of the CTD device 6, including: The multi-axis attitude sensor 32 is used to sense the magnitude of the three-axis attitude tilt angle of the CTD device 6; The depth sensor 33 is used to sense the underwater depth of the CTD device 6, compare the sensed underwater depth of the CTD device 6 with the theoretical diving depth, and obtain the first attitude tilt angle of the CTD device 6 based on the comparison result. The water pressure sensor 34 is used to sense the water pressure of the CTD device 6 underwater, and indirectly deduce the actual water depth of the CTD based on the water pressure of the CTD device 6. The deduced actual water depth is compared with the theoretical diving depth to obtain the second attitude tilt angle of the CTD device 6. The three-axis attitude tilt angle, the first attitude tilt angle, and the second attitude tilt angle are combined for judgment, and the judgment result is sent to the control module. The logic of the combined judgment is as follows: if the three-axis attitude tilt angle, the first attitude tilt angle, and the second attitude tilt angle are all within the limited threshold, then the axial motion unit 21 and the radial motion unit 22 do not need to be adjusted; if the three-axis attitude tilt angle exceeds the threshold, then regardless of the state of the first attitude tilt angle and the second attitude tilt angle, the axial motion unit 21 and the radial motion unit 22 need to be adjusted, and the closed-loop feedback parameter for adjustment is the three-axis attitude tilt angle; if the three-axis attitude tilt angle is within the limited threshold, the axial motion unit 21 and the radial motion unit 22 will be adjusted only if the first attitude tilt angle and the second attitude tilt angle simultaneously exceed the threshold, and the adjustment is based on the average of the excess amount of the first attitude tilt angle and the second attitude tilt angle; in other cases, the axial motion unit 21 and the radial motion unit 22 will not be adjusted.

[0030] Understandably, in this embodiment of the invention, the multi-axis attitude sensor 32, the water depth sensor 33, and the water pressure sensor 34 are used to sense the attitude tilt angle of the CTD device 6 underwater according to different principles, and the axial motion unit 21 and the radial motion unit 22 are controlled based on the attitude angle of the CTD device 6 sensed by the three sensors.

[0031] It should be noted that after the angular velocity sensor 31, multi-axis attitude sensor 32, water depth sensor 33, and water pressure sensor 34 in sensing module 3 sense data, they transmit the sensed data to the control module via the sensor data bus. Then, based on the data sensed by sensing module 3, mainly including the magnitude and direction of the rotational angular velocity of the CTD device 6 and the attitude angle of the CTD device 6, the control module sends control commands to the axial motion unit 21 via the control data bus. Based on the magnitude and direction of the rotational angular velocity of the CTD device 6, the control module sends commands to the radial motion unit 22 via the control data bus.

[0032] In addition, the angular velocity sensor 31, multi-axis attitude sensor 32, water depth sensor 33 and water pressure sensor 34 in the sensing module 3 will display the sensed data on the status display module, including the X-axis attitude display, Y-axis attitude display, Z-axis attitude display, water depth data display, water pressure data display, axial rotation speed display and radial rotation speed display of the CTD device 6.

[0033] In this embodiment of the invention, the radial motion unit 22 in the motion compensation device is used to perform motion compensation on the overall attitude tilt angle of the CTD device 6.

[0034] Specifically, when there is only one radial motion unit 22, after the axial motion unit 21 rotates the CTD device 6 to the direction of radial motion required by the radial motion unit 22, the radial motion unit 22 then performs closed-loop adjustment to a specific threshold range based on the sensed overall attitude angle of the CTD device 6. The specific threshold range is determined jointly based on the cable tilt angle and the real-time attitude tilt angle of the CTD device 6.

[0035] When there are multiple radial motion units 22, when it is determined that the CTD device 6 is tilted, the radial motion units 22 in a specific direction move directly to adjust and compensate for the tilt angle of the CTD device 6. When the radial motion unit 22 in one direction deviates from its original adjustment direction due to disturbances or other factors, the radial motion unit 22 stops instantly, and other radial motion units 22 in the adjacent direction compensate for the movement until the attitude of the CTD device 6 is adjusted in a closed loop to a specific threshold range.

[0036] In this embodiment of the invention, the axial motion unit 21 includes a drive motor and a turbine turntable 211. The drive motor is mounted on the mounting base 1, and the output end of the drive motor is coaxially arranged with the CTD device 6. The turbine turntable 211 is located at the output end of the motor.

[0037] When the axial motion unit 21 is working, the drive motor drives the turbine turntable 211 to rotate. The turbine turntable generates a reverse disturbance to counteract the rotational torque, which can effectively achieve axial dynamic balance.

[0038] Preferably, the radial motion unit 22 is a turboprop.

[0039] The motion compensation device includes a protective cover 4, which is located on the side of the mounting base 1 away from the CTD device 6. The angular velocity sensor 31 and the multi-axis attitude sensor 32 are both located inside the protective cover 4.

[0040] The protective cover 4 protects the angular velocity sensor 31 and the multi-axis attitude sensor 32 to prevent underwater organisms or debris from interfering with their operation, thus ensuring the continuity and accuracy of data acquisition. The motion compensation device includes a protective frame 5, which is detachably connected to the CTD device 6. A connecting member 11 includes a second connecting rod 114, one end of which is connected to a first connecting rod 113, and the other end of which is connected to the protective frame 5. This embodiment of the invention provides a motion compensation device for a CTD device, comprising a motion module 2, a sensing module 3, a control module, and a status display module. The motion module 2 includes an axial motion unit 21 and a radial motion unit 22. The sensor module senses the rotational state and real-time attitude angle of the CTD device 6 underwater. The control module controls the axial motion unit 21 to operate according to the rotational state of the CTD device 6, thereby ensuring the axial stability of the CTD device 6. It also controls the radial motion unit 22 to operate according to the real-time attitude angle of the CTD device 6, performing closed-loop adjustment of the real-time attitude angle of the CTD device 6 to a specific threshold range. The status of the CTD device 6 sensed by the sensing module 3 is displayed in the status display module. This invention uses a motion compensation device to adjust and compensate for the rotation and tilt of the CTD device 6 underwater, so that the CTD device 6 is in a stable state underwater, thereby avoiding the damage caused by the continuous rotation of the steel cable.

[0041] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0042] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0043] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0044] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0045] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0046] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments, as well as all changes and modifications falling within the scope of the invention.

[0047] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A motion compensation apparatus for a CTD device, characterized by, The application relates to a CTD device motion control system, which comprises a mounting base, a motion module, a sensing module, a control module and a state display module, the mounting base is detachably connected to the bottom of the CTD device, the motion module comprises an axial motion unit and a radial motion unit, the axial motion unit, the radial motion unit, the control module and the sensing module are arranged on the mounting base, the axial motion unit is coaxially arranged with the CTD device, the sensing module comprises an angular velocity sensor, a multi-axis attitude sensor, a water depth sensor and a water pressure sensor, the angular velocity sensor, the multi-axis attitude sensor, the water depth sensor, the water pressure sensor and the state display module are connected with the control module. The angular velocity sensor is used for sensing the rotating state of the CTD device and sending the rotating state of the CTD device to the control module. The multi-axis attitude sensor, the water depth sensor and the water pressure sensor are used for combining to sense the real-time attitude angle of the CTD device and sending the real-time attitude angle of the CTD device to the control module. The control module is used for controlling the axial motion unit to operate according to the rotating state of the CTD device, so as to control the axial stability of the CTD device. And the control module is used for controlling the radial motion unit to operate according to the real-time attitude angle of the CTD device, so as to close-loop adjust the real-time attitude angle of the CTD device to a specific threshold range. The state display module is used for displaying the rotating state and the attitude angle of the CTD device sensed by the sensing module.

2. The motion compensation apparatus of a CTD device according to claim 1, wherein, The axial motion unit is arranged on the side of the mounting base facing the CTD device, the axial motion unit is coaxially arranged with the CTD device, the radial motion unit is arranged on the circumference of the mounting base, and the sensing module is arranged on the side of the mounting base away from the CTD device.

3. The motion compensation apparatus of a CTD device according to claim 1, wherein, The angular velocity sensor is used for sensing the size and direction of the rotating angular velocity of the CTD device in real time. The control module is used for controlling the axial motion unit to operate according to the rotating state of the CTD device, so as to control the axial stability of the CTD device. The control module calculates the driving force and the driving direction of the axial motion unit according to the size and direction of the angular velocity fed back by the angular velocity sensor in real time, generates a control instruction and sends the control instruction to the axial motion unit, so that the axial motion unit operates according to the driving force and the driving direction in the control instruction; the control module continuously adjusts the rotation of the axial motion unit through real-time sensing and closed-loop control, so that the acceleration size detected by the angular velocity sensor tends to 0, thereby controlling the axial stability of the CTD device.

4. The motion compensation apparatus of a CTD device according to claim 1, wherein, The multi-axis attitude sensor, the water depth sensor and the water pressure sensor are used for combining to sense the real-time attitude angle of the CTD device and sending the real-time attitude angle of the CTD device to the control module. The multi-axis attitude sensor is used for sensing the three-axis attitude inclination angle of the CTD device. The water depth sensor is configured to sense the underwater depth of the CTD device, compare the sensed underwater depth of the CTD device with the theoretical diving depth, and obtain a first attitude inclination angle of the CTD device according to the comparison result. The water pressure sensor is configured to sense the water pressure of the CTD device under water, indirectly deduce the actual water depth of the CTD device according to the water pressure of the CTD device, compare the deduced actual water depth with the theoretical diving depth, and obtain a second attitude inclination angle of the CTD device. The three-axis attitude inclination angle, the first attitude inclination angle and the second attitude inclination angle are combined to obtain a judgment result, which is sent to the control module. The combination judgment logic is that, if the three-axis attitude inclination angle, the first attitude inclination angle and the second attitude inclination angle are all within a limited threshold, the axial movement unit and the radial movement unit do not need to be adjusted; if the three-axis attitude inclination angle exceeds the threshold, the axial movement unit and the radial movement unit need to be adjusted regardless of the state of the first attitude inclination angle and the second attitude inclination angle, and the closed-loop feedback parameter for adjustment is the three-axis attitude inclination angle; if the three-axis attitude inclination angle is within the limited threshold, the axial movement unit and the radial movement unit need to be adjusted only when the first attitude inclination angle and the second attitude inclination angle both exceed the threshold, and the adjustment basis is the average of the exceeding amounts of the first attitude inclination angle and the second attitude inclination angle; otherwise, the axial movement unit and the radial movement unit are not adjusted.

5. The motion compensation apparatus of a CTD device according to claim 1, wherein, The control of the radial movement unit according to the real-time attitude angle of the CTD device includes: When there is only one radial movement unit, the CTD device is rotated to the direction required for radial movement of the radial movement unit by the axial movement unit, and then the radial movement unit adjusts the overall attitude angle of the CTD device to a specific threshold range according to the sensed overall attitude angle of the CTD device.

6. The motion compensation apparatus of a CTD device according to claim 1, wherein, The control of the radial movement unit according to the real-time attitude angle of the CTD device includes: When there are multiple radial movement units, when it is determined that the CTD device is tilted, the radial movement unit in a specific direction directly adjusts and compensates the tilt angle of the CTD device; When the radial movement unit in a direction deviates from the original adjustment direction due to disturbance factors, the radial movement unit is temporarily stopped, and the radial movement unit adjacent to the direction is used for compensation until the overall attitude angle of the CTD device is adjusted to a specific threshold range.

7. The motion compensation apparatus of a CTD device according to claim 1, 4 or 5, wherein, The specific threshold range is determined according to the cable inclination angle and the real-time attitude inclination angle of the CTD device.

8. The motion compensation apparatus of a CTD device according to claim 1, 3, 4 or 5, wherein, The axial movement unit includes a driving motor and a turbine turntable, the driving motor is installed on the mounting seat, the output end of the driving motor is coaxially arranged with the CTD device, and the turbine turntable is arranged on the output end of the motor.

9. The motion compensation apparatus of a CTD device according to claim 7, wherein, The radial movement unit is a turbine propeller.

10. The motion compensation apparatus of a CTD device of claim 2, wherein, The protective cover is arranged on the side of the mounting base away from the CTD device, and the angular velocity sensor and the multi-axis attitude sensor are located in the protective cover.

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