A deep sea vertical array measurement device and measurement method

Abstract

The present invention belongs to the technical field of deep sea water acoustic physical measurement, and specifically relates to a deep sea vertical array type measurement device, which comprises: a plurality of depth sensors arranged at different depth nodes, a plurality of azimuth sensors arranged at different depth nodes and a data processor; the depth sensor is used to obtain the inclination angle of the deep sea vertical array at different depth node positions; the azimuth sensor is used to obtain the inclination azimuth angle of the deep sea vertical array at different depth node positions; the data processor is used to recursively process the inclination angle and inclination azimuth angle of the deep sea vertical array at different depths through a polynomial curve fitting method, calculate the three-dimensional spatial coordinate position of the deep sea vertical array; and obtain the three-dimensional array of the deep sea vertical array.

Description

Technical Field

[0001] The invention belongs to the technical field of deep sea water acoustic physical measurement, and in particular relates to a deep sea vertical array type measurement device and a measurement method. Background Art

[0002] Accurate estimation of deep-sea vertical array formations is an important prerequisite for the application of sonar vertical array signal processing technology. Deep-sea vertical array formations are usually affected by ocean currents and have different underwater formation structures at different times. Traditional measurement methods mainly use acoustic methods to estimate deep-sea vertical array formations, which usually require active signal transmission in multiple azimuths and cannot achieve real-time estimation. Deep-sea vertical array formation estimation methods based solely on azimuth sensors and inclination sensors usually have greatly reduced estimation accuracy for deep-sea vertical array formations due to installation errors in inclination sensors. Using depth sensors alone can only estimate the two-dimensional formation of deep-sea vertical arrays, and cannot estimate the three-dimensional formation of deep-sea vertical arrays, making it difficult to apply in actual three-dimensional ocean environments. Summary of the invention

[0003] In order to solve the above defects in the prior art, the present invention proposes a deep-sea vertical array type measurement device, which includes: a plurality of depth sensors arranged at different depth nodes, a plurality of azimuth sensors arranged at different depth nodes and a data processor;

[0004] The depth sensor is used to obtain the tilt angle of the deep-sea vertical array at different depth node positions;

[0005] The azimuth sensor is used to obtain the tilt azimuth angle of the deep-sea vertical array at different depth node positions;

[0006] The data processor is used to recursively process the inclination angles and inclination azimuth angles of the deep-sea vertical array at different depths through a polynomial curve fitting method, calculate the three-dimensional spatial coordinate position of the deep-sea vertical array, and obtain the three-dimensional formation of the deep-sea vertical array.

[0007] As one of the improvements of the above technical solution, the depth sensor includes: a data acquisition module and a depth data processing module;

[0008] The data acquisition module is used to collect the measured depths of nodes at different depths;

[0009] The depth data processing module is used to process the measured depths of different depth nodes to obtain the inclination angle θ of the deep-sea vertical array at different depth nodes. n,n+1 (t):

[0010]

[0011] Among them, dn+1 (t) is the measured depth of the n+1th depth node at time t; d n (t) is the measured depth of the nth depth node at time t; is the n+1th depth node from time t0 to time t end The average depth during the time period of time; is the nth depth node from time t0 to time t end The average depth during the time period of time; It is the maximum value of the depth difference between the n+1th depth node and the nth depth node during the working period of the depth sensor.

[0012] As one of the improvements of the above technical solution, the orientation sensor includes: a magnetic sensor, an acceleration sensor and a data processing module;

[0013] The magnetic intensity sensor is used to collect the magnetic field of the deep-sea vertical array at different depth nodes;

[0014] The acceleration sensor is used to collect the gravity acceleration of the deep-sea vertical array at different depth node positions;

[0015] The data processing module is used to process the magnetic field and acceleration of the deep-sea vertical array at different depth nodes to obtain the tilt azimuth angle:

[0016]

[0017] Among them, α is the tilt azimuth angle of the current depth node; G is the gravity acceleration of the deep-sea vertical array at the current depth node measured by the acceleration sensor; G X ,G Y ,G Z They are respectively the projection of the gravitational acceleration on the X-axis, the Y-axis and the Z-axis in the pre-established XYZ rectangular coordinate system;

[0018] B is the magnetic field of the deep-sea vertical array at the current depth node measured by the magnetic sensor; B X ,B Y ,B Z They are respectively the projection of the magnetic field on the X-axis, the Y-axis and the Z-axis in the pre-established XYZ rectangular coordinate system.

[0019] As one of the improvements of the above technical solution, the data processor includes: a tilt angle acquisition unit, an azimuth acquisition unit and a formation processing unit;

[0020] The tilt angle acquisition unit is used to acquire the tilt angle of the deep-sea vertical array at different depth nodes;

[0021] The azimuth acquisition unit is used to acquire the tilt azimuth angle of the deep-sea vertical array at different depth nodes;

[0022] The formation processing unit is used to recursively process the inclination angles and inclination azimuth angles of the deep-sea vertical array at different depths by a polynomial curve fitting method, and calculate the three-dimensional spatial coordinate position of the deep-sea vertical array. The specific process is as follows:

[0023] The bottom coordinates of the deep-sea vertical array are regarded as the coordinate origin, the y-axis points to the due north, the x-axis points to the 90-degree direction, and the z-axis points vertically to the sea surface; the origin coordinates of the deep-sea vertical array at the seabed are:

[0024]

[0025] According to the tilt angle α1 and tilt azimuth angle θ1 obtained by measuring the deep-sea vertical array at the current depth node, the spatial position coordinates of the previous depth node are calculated:

[0026]

[0027] Among them, z1 1 is the depth from the seabed to the sea surface of the previous depth node of the deep-sea vertical array in space;

[0028] According to the tilt angle and tilt azimuth angle obtained by measuring the deep-sea vertical array at the next depth node, the spatial position coordinates of the current depth node are calculated:

[0029]

[0030] Among them, z2 1 is the depth from the seabed to the sea surface of the next depth node of the deep-sea vertical array in space;

[0031] The polynomial curve fitting method is used to calculate the spatial position coordinates of any depth node in the depth vertical array by recursion:

[0032]

[0033] Among them, z n 1 is the depth from the seabed to the sea surface of the n+1th depth node of the deep-sea vertical array in space;

[0034] The spatial position coordinates obtained by the above formula (6) are used as the three-dimensional spatial coordinate positions of the deep-sea vertical array, and then the three-dimensional formation of the deep-sea vertical array is obtained according to the three-dimensional spatial coordinate positions of the deep-sea vertical array.

[0035] The present invention also provides a deep-sea vertical array measurement method, which specifically includes:

[0036] Use depth sensors to obtain the tilt angles of deep-sea vertical arrays at different depth nodes;

[0037] The azimuth sensor is used to obtain the tilt azimuth angle of the deep-sea vertical array at different depth node positions;

[0038] By using a data processor and a polynomial curve fitting method, the tilt angles and tilt azimuth angles of the deep-sea vertical array at different depths are recursively processed to calculate the three-dimensional spatial coordinate position of the deep-sea vertical array; and the three-dimensional formation of the deep-sea vertical array is obtained.

[0039] As one of the improvements of the above technical solution, the depth sensor is used to obtain the inclination angle of the deep-sea vertical array at different depth node positions; the specific process is:

[0040] The data acquisition module collects the measured depths of nodes at different depths;

[0041] The depth data processing module processes the measured depths collected at different depth nodes to obtain the inclination angle θ of the deep-sea vertical array at different depth nodes. n,n+1 (t):

[0042]

[0043] Among them, d n+1 (t) is the measured depth of the n+1th depth node at time t; d n (t) is the measured depth of the nth depth node at time t; is the n+1th depth node from time t0 to time t end The average depth during the time period of time; is the nth depth node from time t0 to time t end The average depth during the time period of time; It is the maximum value of the depth difference between the n+1th depth node and the nth depth node during the working period of the depth sensor.

[0044] As one of the improvements of the above technical solution, the azimuth sensor is used to obtain the tilt azimuth angle of the deep-sea vertical array at different depth node positions; the specific process is:

[0045] The magnetic intensity sensor collects the magnetic field at different depth nodes of the deep-sea vertical array;

[0046] The acceleration sensor collects the gravity acceleration of the deep-sea vertical array at different depth nodes;

[0047] The data processing module processes the magnetic field and acceleration of the deep-sea vertical array at different depth nodes to obtain the tilt azimuth angle:

[0048]

[0049] Among them, α is the tilt azimuth angle of the current depth node; G is the gravity acceleration of the deep-sea vertical array at the current depth node measured by the acceleration sensor; G X ,G Y ,G Z They are respectively the projection of the gravitational acceleration on the X-axis, the Y-axis and the Z-axis in the pre-established XYZ rectangular coordinate system;

[0050] B is the magnetic field of the deep-sea vertical array at the current depth node measured by the magnetic sensor; B X ,B Y ,B Z They are respectively the projection of the magnetic field on the X-axis, the Y-axis and the Z-axis in the pre-established XYZ rectangular coordinate system.

[0051] As one of the improvements of the above technical solution, the data processor is used to recursively process the inclination angle and inclination azimuth angle of the deep-sea vertical array at different depths through a polynomial curve fitting method to calculate the three-dimensional spatial coordinate position of the deep-sea vertical array; and obtain the three-dimensional formation of the deep-sea vertical array; the specific process is:

[0052] The tilt angle acquisition unit is used to obtain the tilt angle of the deep-sea vertical array at different depth nodes;

[0053] The azimuth acquisition unit is used to obtain the tilt azimuth angle of the deep-sea vertical array at different depth nodes;

[0054] Using the array processing unit, the inclination angle and inclination azimuth of the deep-sea vertical array at different depths are recursively processed by the polynomial curve fitting method to calculate the three-dimensional spatial coordinate position of the deep-sea vertical array:

[0055] The bottom coordinates of the deep-sea vertical array are regarded as the coordinate origin, the y-axis points to the due north, the x-axis points to the 90-degree direction, and the z-axis points vertically to the sea surface; the origin coordinates of the deep-sea vertical array at the seabed are:

[0056]

[0057] According to the tilt angle α1 and tilt azimuth angle θ1 obtained by measuring the deep-sea vertical array at the current depth node, the spatial position coordinates of the previous depth node are calculated:

[0058]

[0059] Among them, z1 1 is the depth from the seabed to the sea surface of the previous depth node of the deep-sea vertical array in space;

[0060] According to the tilt angle and tilt azimuth angle obtained by measuring the deep-sea vertical array at the next depth node, the spatial position coordinates of the current depth node are calculated:

[0061]

[0062] Among them, z2 1 is the depth from the seabed to the sea surface of the next depth node of the deep-sea vertical array in space;

[0063] The polynomial curve fitting method is used to calculate the spatial position coordinates of any depth node in the depth vertical array by recursion:

[0064]

[0065] Among them, z n 1 is the depth from the seabed to the sea surface of the n+1th depth node of the deep-sea vertical array in space;

[0066] The spatial position coordinates obtained by the above formula (6) are used as the three-dimensional spatial coordinate positions of the deep-sea vertical array, and then the three-dimensional formation of the deep-sea vertical array is obtained according to the three-dimensional spatial coordinate positions of the deep-sea vertical array.

[0067] The beneficial effects of the present invention compared with the prior art are:

[0068] (1) By combining the magnetic field, gravity acceleration, and depth data measured in real time by the azimuth sensor and the depth sensor, the formation of the vertical array in the water can be calculated in real time;

[0069] (2) The measurement results obtained by this method are not affected by the installation error of the vertical array tilt angle sensor. The measurement results are relatively accurate, which greatly improves the measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 It is a flow chart of a deep sea vertical array type measurement method of the present invention;

[0071] Figure 2 It is a schematic diagram of a deep-sea vertical array rectangular coordinate system with a seabed fixed node of the deep-sea vertical array as a coordinate origin in a deep-sea vertical array type measurement method of the present invention;

[0072] Fig. 3(a) is a top view of the calculation results of measured data by a deep-sea vertical array measurement method of the present invention, where the positions of "1, 2, 3, ..., A, B, C" represent the positions of one end of the vertical array close to the sea surface, and one end on the seabed is fixed.

[0073] FIG3( b ) is a schematic diagram showing the variation of the tilt angle of the calculated result of the measured data using a deep-sea vertical array measurement method according to the present invention with respect to the depth.

[0074] FIG4( a ) is a schematic diagram showing how the projection of the calculation results of measured data on the y-axis changes with depth according to a deep-sea vertical array measurement method of the present invention.

[0075] FIG4( b ) is a schematic diagram showing how the projection of the calculation results of measured data on the y-axis changes with depth according to a deep-sea vertical array measurement method of the present invention. DETAILED DESCRIPTION

[0076] The present invention will now be further described with reference to the accompanying drawings.

[0077] like Figure 1 As shown, the present invention provides a deep-sea vertical array measurement device, which uses an azimuth sensor and a depth sensor to achieve the measurement of a deep-sea vertical array. The device includes: a plurality of depth sensors arranged at different depth nodes, a plurality of azimuth sensors arranged at different depth nodes, and a data processor;

[0078] The depth sensor is used to obtain the tilt angle of the deep-sea vertical array at different depth node positions;

[0079] Specifically, the depth sensor includes: a data acquisition module and a depth data processing module;

[0080] The data acquisition module is used to collect the measured depths of nodes at different depths;

[0081] The depth data processing module is used to process the measured depths of different depth nodes to obtain the inclination angle θ of the deep-sea vertical array at different depth nodes. n,n+1 (t):

[0082]

[0083] Among them, d n+1 (t) is the measured depth of the n+1th depth node at time t; d n (t) is the measured depth of the nth depth node at time t; is the n+1th depth node from time t0 to time t end The average depth during the time period of time; is the nth depth node from time t0 to time tend The average depth during the time period of time; It is the maximum value of the depth difference between the n+1th depth node and the nth depth node during the working period of the depth sensor.

[0084] Among them, the inclination angle is the angle between the tangent line at a certain depth node in the deep-sea vertical array and the vertical direction, which can reflect the inclination degree of the deep-sea vertical array.

[0085] The derivation process of formula (1) is as follows:

[0086] Array inclination angle θ of different nodes 01 (t) is calculated by adjacent depth sensors,

[0087]

[0088] Among them, d0, d1, d2... represent the measurement depths of different depth sensors. They respectively represent the average depth of different depth sensors in the time period from t-Δt to t+Δt. Indicates the maximum value of the depth difference of the depth sensor during operation;

[0089] Based on the above formula, the general formula for the inclination angle of the deep-sea vertical array at different depth nodes can be obtained:

[0090]

[0091] The azimuth sensor is used to obtain the tilt azimuth angle of the deep-sea vertical array at different depth node positions;

[0092] Specifically, the orientation sensor includes: a magnetic sensor, an acceleration sensor and a data processing module;

[0093] The magnetic intensity sensor is used to collect the magnetic field of the deep-sea vertical array at different depth nodes;

[0094] The acceleration sensor is used to collect the gravity acceleration of the deep-sea vertical array at different depth node positions;

[0095] The data processing module is used to process the magnetic field and acceleration of the deep-sea vertical array at different depth nodes to obtain the tilt azimuth angle:

[0096]

[0097] Among them, α is the tilt azimuth angle of the current depth node; G is the gravity acceleration of the deep-sea vertical array at the current depth node measured by the acceleration sensor; G X ,GY ,G Z They are respectively the projection of the gravitational acceleration on the X-axis, the Y-axis and the Z-axis in the pre-established XYZ rectangular coordinate system;

[0098] B is the magnetic field of the deep-sea vertical array at the current depth node measured by the magnetic sensor; B X ,B Y ,B Z They are respectively the projection of the magnetic field on the X-axis, the Y-axis and the Z-axis in the pre-established XYZ rectangular coordinate system.

[0099] Among them, the tilt azimuth angle is the angle between the projection of the tangent of a deep-sea node in the deep-sea vertical array on the horizontal plane and the north direction, which can reflect the tilt direction of the deep-sea vertical array.

[0100] The data processor is used to recursively process the inclination angles and inclination azimuth angles of the deep-sea vertical array at different depths through a polynomial curve fitting method, calculate the three-dimensional spatial coordinate position of the deep-sea vertical array, and obtain the three-dimensional formation of the deep-sea vertical array.

[0101] The data processor comprises: a tilt angle acquisition unit, an azimuth acquisition unit and a formation processing unit;

[0102] The tilt angle acquisition unit is used to acquire the tilt angle of the deep-sea vertical array at different depth nodes;

[0103] The azimuth acquisition unit is used to acquire the tilt azimuth angle of the deep-sea vertical array at different depth nodes;

[0104] The formation processing unit is used to recursively process the inclination angles and inclination azimuth angles of the deep-sea vertical array at different depths by a polynomial curve fitting method, and calculate the three-dimensional spatial coordinate position of the deep-sea vertical array. The specific process is as follows:

[0105] like Figure 2 As shown, the bottom coordinates of the deep-sea vertical array are regarded as the coordinate origin, the y-axis points to the due north, the x-axis points to the 90-degree direction, and the z-axis points vertically to the sea surface; then the origin coordinates of the deep-sea vertical array at the seabed are:

[0106]

[0107] in, Figure 2 The positive direction of the y-axis points to the north, and the positive direction of the x-axis points to the east. The coordinates of the origin are (0,0,0), and the coordinates of a point in the vertical array are expressed as (x n ,y n ,z n). The azimuth angle α is the angle between the projection of the tangent line at a certain position of the vertical array on the horizontal plane and the true north direction (the direction of the y-axis in the figure), which can reflect the direction of the vertical array tilt. The tilt angle θ is the angle between the tangent line at a certain point of the vertical array and the vertical direction, which can reflect the degree of tilt of the vertical array.

[0108] According to the tilt angle α1 and tilt azimuth angle θ1 obtained by measuring the deep-sea vertical array at the current depth node, the spatial position coordinates of the previous depth node are calculated:

[0109]

[0110] Among them, z1 1 is the depth from the seabed to the sea surface of the previous depth node of the deep-sea vertical array in space;

[0111] According to the tilt angle and tilt azimuth angle obtained by measuring the deep-sea vertical array at the next depth node, the spatial position coordinates of the current depth node are calculated:

[0112]

[0113] Among them, z2 1 is the depth from the seabed to the sea surface of the next depth node of the deep-sea vertical array in space;

[0114] The polynomial curve fitting method is used to calculate the spatial position coordinates of any depth node in the depth vertical array by recursion:

[0115]

[0116] Among them, z n 1 is the depth from the seabed to the sea surface of the n+1th depth node of the deep-sea vertical array in space;

[0117] The spatial position coordinates obtained by the above formula (6) are used as the three-dimensional spatial coordinate positions of the deep-sea vertical array, and then the three-dimensional formation of the deep-sea vertical array is obtained according to the three-dimensional spatial coordinate positions of the deep-sea vertical array.

[0118] The specific derivation process of formula (6) is as follows:

[0119] The coordinates of the bottom of the vertical array are regarded as the origin of the coordinates, the y-axis points to the due north, the x-axis points to the 90-degree direction, and the z-axis points vertically to the sea surface; the coordinates of the deep-sea vertical array sinker located on the seabed are:

[0120]

[0121] Since the measurement of the tilt angle and tilt azimuth of the deep-sea vertical array usually only measures the data of a few depth nodes of the entire deep-sea vertical array, it is necessary to use formulas (1) and (2) and the polynomial curve fitting method to estimate the tilt angle and tilt azimuth of the positions of different depth nodes on the entire deep-sea vertical array. Therefore, the depth of the entire deep-sea vertical array from the seabed to the sea surface in space can be expressed as z0, z1, z2, ..., and the tilt angle and tilt azimuth corresponding to different depths are expressed as θ0, θ1, θ2, ..., θ n ,…,θ N and α0,α1,α2,…α n ,…,α N .

[0122] According to the tilt angle α1 and tilt azimuth angle θ1 obtained by measuring the deep-sea vertical array at the current depth node, the spatial position coordinates of the previous depth node are calculated:

[0123]

[0124] Among them, z1 1 is the depth from the seabed to the sea surface of the previous depth node of the deep-sea vertical array in space;

[0125] According to the tilt angle and tilt azimuth angle obtained by measuring the deep-sea vertical array at the next depth node, the spatial position coordinates of the current depth node are calculated:

[0126]

[0127] Among them, z2 1 is the depth from the seabed to the sea surface of the next depth node of the deep-sea vertical array in space;

[0128] The polynomial curve fitting method is used to calculate the spatial position coordinates of any depth node in the depth vertical array by recursion:

[0129]

[0130] Among them, z n 1 is the depth from the seabed to the sea surface of the n+1th depth node of the deep-sea vertical array in space.

[0131] like Figure 1 As shown, the present invention also provides a deep-sea vertical array measurement method, which specifically includes:

[0132] Use depth sensors to obtain the tilt angles of deep-sea vertical arrays at different depth nodes;

[0133] Specifically, the data acquisition module collects the measured depths of nodes at different depths;

[0134] The depth data processing module processes the measured depths collected at different depth nodes to obtain the inclination angle θ of the deep-sea vertical array at different depth nodes. n,n+1 (t):

[0135]

[0136] Among them, d n+1 (t) is the measured depth of the n+1th depth node at time t; d n (t) is the measured depth of the nth depth node at time t; is the n+1th depth node from time t0 to time t end The average depth during the time period of time; is the nth depth node from time t0 to time t end The average depth during the time period of time; It is the maximum value of the depth difference between the n+1th depth node and the nth depth node during the working period of the depth sensor.

[0137] The azimuth sensor is used to obtain the tilt azimuth angle of the deep-sea vertical array at different depth node positions;

[0138] Specifically, the magnetic intensity sensor collects the magnetic field at different depth node locations of the deep-sea vertical array;

[0139] The acceleration sensor collects the gravity acceleration of the deep-sea vertical array at different depth nodes;

[0140] The data processing module processes the magnetic field and acceleration of the deep-sea vertical array at different depth nodes to obtain the tilt azimuth angle:

[0141]

[0142] Among them, α is the tilt azimuth angle of the current depth node; G is the gravity acceleration of the deep-sea vertical array at the current depth node measured by the acceleration sensor; G X ,G Y ,G Z They are respectively the projection of the gravitational acceleration on the X-axis, the Y-axis and the Z-axis in the pre-established XYZ rectangular coordinate system;

[0143] B is the magnetic field of the deep-sea vertical array at the current depth node measured by the magnetic sensor; B X ,B Y ,B ZThey are respectively the projection of the magnetic field on the X-axis, the Y-axis and the Z-axis in the pre-established XYZ rectangular coordinate system.

[0144] By using a data processor and a polynomial curve fitting method, the tilt angles and tilt azimuth angles of the deep-sea vertical array at different depths are recursively processed to calculate the three-dimensional spatial coordinate position of the deep-sea vertical array; and the three-dimensional formation of the deep-sea vertical array is obtained.

[0145] Specifically, the tilt angle acquisition unit is used to acquire the tilt angle of the deep-sea vertical array at different depth nodes;

[0146] The azimuth acquisition unit is used to obtain the tilt azimuth angle of the deep-sea vertical array at different depth nodes;

[0147] Using the array processing unit, the inclination angle and inclination azimuth of the deep-sea vertical array at different depths are recursively processed by the polynomial curve fitting method to calculate the three-dimensional spatial coordinate position of the deep-sea vertical array:

[0148] The bottom coordinates of the deep-sea vertical array are regarded as the coordinate origin, the y-axis points to the due north, the x-axis points to the 90-degree direction, and the z-axis points vertically to the sea surface; the origin coordinates of the deep-sea vertical array at the seabed are:

[0149]

[0150] According to the tilt angle α1 and tilt azimuth angle θ1 obtained by measuring the deep-sea vertical array at the current depth node, the spatial position coordinates of the previous depth node are calculated:

[0151]

[0152] Among them, z1 1 is the depth from the seabed to the sea surface of the previous depth node of the deep-sea vertical array in space;

[0153] According to the tilt angle and tilt azimuth angle obtained by measuring the deep-sea vertical array at the next depth node, the spatial position coordinates of the current depth node are calculated:

[0154]

[0155] Among them, z2 1 is the depth from the seabed to the sea surface of the next depth node of the deep-sea vertical array in space;

[0156] The polynomial curve fitting method is used to calculate the spatial position coordinates of any depth node in the depth vertical array by recursion:

[0157]

[0158] Among them, z n 1 is the depth from the seabed to the sea surface of the n+1th depth node of the deep-sea vertical array in space;

[0159] The spatial position coordinates obtained by the above formula (6) are used as the three-dimensional spatial coordinate positions of the deep-sea vertical array, and then the three-dimensional formation of the deep-sea vertical array is obtained according to the three-dimensional spatial coordinate positions of the deep-sea vertical array.

[0160] Figure 3(a) and 3(b) The deep-sea vertical array formation results are calculated using the azimuth sensor and depth sensor data at different times. In Figures 3(a) and (b), "1,2,3,...,A,B,C" correspond to the vertical array formation calculation results of sensor data at different times, starting from the time corresponding to "1" and ending at the time corresponding to "C", and the interval between each time is 1 hour. Figure 3(a) is a top view of the deep-sea vertical array formation calculation results. The position of "1,2,3,...,A,B,C" indicates the position of the vertical array close to one end of the sea surface, and the seabed end is fixed. Figure 3(b) shows the change of the tilt angle of "1,2,3,...,A,B,C" at different times with depth.

[0161] Figure 4(a) and 4(b) In order to utilize the azimuth sensor and depth sensor data at different times, the projections of the deep-sea vertical array results in the x-axis and y-axis directions are calculated, which reflects that the present invention can measure the deep-sea vertical array in real time. Figure 4 (a) shows the change of the projection on the y-axis at different times of "1, 2, 3, ..., A, B, C" with depth. Figure 4 (b) shows the change of the projection on the y-axis at different times of "1, 2, 3, ..., A, B, C" with depth. The projection of the deep-sea vertical array results in different directions will help improve the array signal processing performance.

[0162] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention is described in detail with reference to the embodiments, it should be understood by those skilled in the art that any modification or equivalent replacement of the technical solutions of the present invention does not depart from the spirit and scope of the technical solutions of the present invention and should be included in the scope of the claims of the present invention.

Claims

1. A deep-sea vertical array measurement device, characterized in that: The device comprises: a plurality of depth sensors arranged at different depth nodes, a plurality of orientation sensors arranged at different depth nodes and a data processor; The depth sensor is used to obtain the tilt angle of the deep-sea vertical array at different depth node positions; The azimuth sensor is used to obtain the tilt azimuth angle of the deep-sea vertical array at different depth node positions; The data processor is used to recursively process the tilt angles and tilt azimuth angles of the deep-sea vertical array at different depths by a polynomial curve fitting method, calculate the three-dimensional spatial coordinate position of the deep-sea vertical array, and obtain the three-dimensional formation of the deep-sea vertical array; A tilt angle acquisition unit, an azimuth acquisition unit and a formation processing unit; The tilt angle acquisition unit is used to acquire the tilt angle of the deep-sea vertical array at different depth nodes; The azimuth acquisition unit is used to acquire the tilt azimuth angle of the deep-sea vertical array at different depth nodes; The formation processing unit is used to recursively process the inclination angles and inclination azimuth angles of the deep-sea vertical array at different depths by a polynomial curve fitting method, and calculate the three-dimensional spatial coordinate position of the deep-sea vertical array. The specific process is as follows: The bottom coordinates of the deep-sea vertical array are regarded as the coordinate origin, the y-axis points to the north, the x-axis points to the 90-degree direction, and the z-axis points vertically to the sea surface; the origin coordinates of the deep-sea vertical array at the seabed are: According to the tilt angle α1 and tilt azimuth angle θ1 obtained by measuring the deep-sea vertical array at the current depth node, the spatial position coordinates of the previous depth node are calculated: Among them, z1 1 is the depth from the seabed to the sea surface of the previous depth node of the deep-sea vertical array in space; According to the tilt angle and tilt azimuth angle obtained by measuring the deep-sea vertical array at the next depth node, the spatial position coordinates of the current depth node are calculated: Among them, z2 1 is the depth from the seabed to the sea surface of the next depth node of the deep-sea vertical array in space; The polynomial curve fitting method is used to calculate the spatial position coordinates of any depth node in the depth vertical array by recursion: Among them, z n 1 is the depth from the seabed to the sea surface of the n+1th depth node of the deep-sea vertical array in space; The spatial position coordinates obtained by the above formula (6) are used as the three-dimensional spatial coordinate positions of the deep-sea vertical array, and then the three-dimensional formation of the deep-sea vertical array is obtained according to the three-dimensional spatial coordinate positions of the deep-sea vertical array.

2. The deep sea vertical array measurement device according to claim 1, characterized in that: The depth sensor comprises: a data acquisition module and a depth data processing module; The data acquisition module is used to collect the measured depths of nodes at different depths; The depth data processing module is used to process the measured depths of different depth nodes to obtain the inclination angle θ of the deep-sea vertical array at different depth nodes. n,n+1 (t): Among them, d n+1 (t) is the measured depth of the n+1th depth node at time t; d n (t) is the measured depth of the nth depth node at time t; is the n+1th depth node from time t0 to time t end The average depth during the time period of time; is the nth depth node from time t0 to time t end The average depth during the time period of time; It is the maximum value of the depth difference between the n+1th depth node and the nth depth node during the working period of the depth sensor.

3. The deep sea vertical array measurement device according to claim 1, characterized in that: The orientation sensor comprises: a magnetic sensor, an acceleration sensor and a data processing module; The magnetic intensity sensor is used to collect the magnetic field of the deep-sea vertical array at different depth nodes; The acceleration sensor is used to collect the gravity acceleration of the deep-sea vertical array at different depth node positions; The data processing module is used to process the magnetic field and acceleration of the deep-sea vertical array at different depth nodes to obtain the tilt azimuth angle: Among them, α is the tilt azimuth angle of the current depth node; G is the gravity acceleration of the deep-sea vertical array at the current depth node measured by the acceleration sensor; G X ,G Y ,G Z They are respectively the projection of the gravitational acceleration on the X-axis, the Y-axis and the Z-axis in the pre-established XYZ rectangular coordinate system; B is the magnetic field of the deep-sea vertical array at the current depth node measured by the magnetic sensor; B X ,B Y ,B Z They are respectively the projection of the magnetic field on the X-axis, the Y-axis and the Z-axis in the pre-established XYZ rectangular coordinate system.

4. A deep-sea vertical array measurement method, characterized in that: The method specifically includes: Use depth sensors to obtain the tilt angles of deep-sea vertical arrays at different depth nodes; The azimuth sensor is used to obtain the tilt azimuth angle of the deep-sea vertical array at different depth node positions; Using a data processor, the tilt angle and tilt azimuth angle of the deep-sea vertical array at different depths are recursively processed by a polynomial curve fitting method to calculate the three-dimensional spatial coordinate position of the deep-sea vertical array; and the three-dimensional formation of the deep-sea vertical array is obtained; The data processor is used to recursively process the tilt angles and tilt azimuth angles of the deep-sea vertical array at different depths through a polynomial curve fitting method to calculate the three-dimensional spatial coordinate position of the deep-sea vertical array; and obtain the three-dimensional formation of the deep-sea vertical array; the specific process is: The tilt angle acquisition unit is used to obtain the tilt angle of the deep-sea vertical array at different depth nodes; The azimuth acquisition unit is used to obtain the tilt azimuth angle of the deep-sea vertical array at different depth nodes; Using the array processing unit, the inclination angle and inclination azimuth of the deep-sea vertical array at different depths are recursively processed by the polynomial curve fitting method to calculate the three-dimensional spatial coordinate position of the deep-sea vertical array: The bottom coordinates of the deep-sea vertical array are regarded as the coordinate origin, the y-axis points to the north, the x-axis points to the 90-degree direction, and the z-axis points vertically to the sea surface; the origin coordinates of the deep-sea vertical array at the seabed are: According to the tilt angle α1 and tilt azimuth angle θ1 obtained by measuring the deep-sea vertical array at the current depth node, the spatial position coordinates of the previous depth node are calculated: Among them, z1 1 is the depth from the seabed to the sea surface of the previous depth node of the deep-sea vertical array in space; According to the tilt angle and tilt azimuth angle obtained by measuring the deep-sea vertical array at the next depth node, the spatial position coordinates of the current depth node are calculated: Among them, z2 1 is the depth from the seabed to the sea surface of the next depth node of the deep-sea vertical array in space; The polynomial curve fitting method is used to calculate the spatial position coordinates of any depth node in the depth vertical array by recursion: Among them, z n 1 is the depth from the seabed to the sea surface of the n+1th depth node of the deep-sea vertical array in space; The spatial position coordinates obtained by the above formula (6) are used as the three-dimensional spatial coordinate positions of the deep-sea vertical array, and then the three-dimensional formation of the deep-sea vertical array is obtained according to the three-dimensional spatial coordinate positions of the deep-sea vertical array.

5. The deep sea vertical array measurement method according to claim 4, characterized in that: The depth sensor is used to obtain the inclination angle of the deep-sea vertical array at different depth nodes; the specific process is: The data acquisition module collects the measured depths of nodes at different depths; The depth data processing module processes the measured depths collected at different depth nodes to obtain the inclination angle θ of the deep-sea vertical array at different depth nodes. n,n+1 (t): Among them, d n+1 (t) is the measured depth of the n+1th depth node at time t; d n (t) is the measured depth of the nth depth node at time t; is the n+1th depth node from time t0 to time t end The average depth during the time period of time; is the nth depth node from time t0 to time t end The average depth during the time period of time; It is the maximum value of the depth difference between the n+1th depth node and the nth depth node during the working period of the depth sensor.

6. The deep sea vertical array measurement method according to claim 4, characterized in that: The specific process of using the azimuth sensor to obtain the tilt azimuth angle of the deep-sea vertical array at different depth node positions is as follows: The magnetic intensity sensor collects the magnetic field at different depth nodes of the deep-sea vertical array; The acceleration sensor collects the gravity acceleration of the deep-sea vertical array at different depth nodes; The data processing module processes the magnetic field and acceleration of the deep-sea vertical array at different depth nodes to obtain the tilt azimuth angle: Among them, α is the tilt azimuth angle of the current depth node; G is the gravity acceleration of the deep-sea vertical array at the current depth node measured by the acceleration sensor; G X ,G Y ,G Z They are respectively the projection of the gravitational acceleration on the X-axis, the Y-axis and the Z-axis in the pre-established XYZ rectangular coordinate system; B is the magnetic field of the deep-sea vertical array at the current depth node measured by the magnetic sensor; B X ,B Y ,B Z They are respectively the projection of the magnetic field on the X-axis, the Y-axis and the Z-axis in the pre-established XYZ rectangular coordinate system.

Images