Three-dimensional seabed pipeline height field modeling method and apparatus for scattered sound field computation

Abstract

The three-dimensional seabed pipeline height field modeling method and device for scattered sound field calculation belong to the technical field of seabed pipeline modeling, and solve the problems that the existing seabed pipeline model description is not intuitive, not accurate, and cannot truly present the existing state of the seabed pipeline. The method comprises the following steps: comprehensively considering the distance between the pipeline axis and the sound source, the pipeline laying angle, the pipeline radius, the distance between the sound source and the seabed surface, the detection beam width, the three-dimensional seabed random fluctuation characteristics, the pipeline buried state and other factors, determining the seabed beam footprint size from the distance between the sound source and the average depth of the seabed surface and the detection beam width, dividing the seabed pipeline height field region into surface elements for corresponding height calculation, more intuitively and truly constructing the three-dimensional seabed pipeline height field, and obtaining the seabed pipeline height field in different detection conditions and different states by adjusting different parameters. The present application is suitable for the seabed pipeline height field for modeling the acoustic characteristics of the seabed pipeline scattering in the field of acoustic detection.

Description

Technical Field

[0001] This application relates to the field of submarine pipeline modeling technology, and in particular to three-dimensional submarine pipeline height field modeling based on scattered sound field calculation. Background Technology

[0002] In previous research on three-dimensional subsea pipeline modeling for calculating the scattered acoustic field of seabed and pipeline targets, the following problems typically exist:

[0003] First, previous subsea pipeline modeling did not take into account factors such as the randomness of seabed surface undulations in the subsea pipeline height field model, directly resulting in an unintuitive and inaccurate description of the subsea pipeline model. Because the undulations of the seabed topography are random, considering only a flat seabed surface cannot fully represent the true height field of a three-dimensional subsea pipeline, and the numerical calculation results also lack representativeness and accuracy from a statistical perspective.

[0004] Secondly, previous methods for modeling submarine pipelines only considered some physical quantities and could not describe submarine pipelines in different states (suspended, semi-buried, buried) by changing parameters such as pipeline layout angle, distance between pipeline axis and transducer, pipeline radius, and positional relationship with the seabed surface. As a result, they could not more realistically present the existence state of submarine pipelines, which to some extent affected the research on pipeline detection. In particular, in the numerical calculation of the scattered sound field of submarine pipelines, the influence of seabed surface topography was not fully considered, and there is still a lot of room for further research. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of existing submarine pipeline models being unintuitive, inaccurate, and unable to realistically represent the existence of submarine pipelines. It provides a three-dimensional submarine pipeline height field modeling method and device for calculating scattered sound fields.

[0006] This invention is achieved through the following technical solution. In one aspect, this invention provides a method for modeling the height field of a three-dimensional subsea pipeline for calculating scattered sound fields, the method comprising:

[0007] Step 1: Based on the average depth H between the sound source and the seabed surface w and the beamwidth θ of the detection beam w Determine the scale L of the seabed beam footprint. fp The area of ​​the pipeline height field region is set as S = lx * ly, and its lengths in the horizontal orthogonal directions are lx and ly, respectively.

[0008] Step 2: Set the length division steps of the pipe height field region in the orthogonal direction as Δx and Δy, respectively, to obtain N within the region. x ×N y Each face value;

[0009] Step 3: Based on the distance P from the left edge of the pipe to the left edge of the pipe height field area. xl The distance P between the right edge of the pipe and the left edge of the pipe height field area. xr Combined pipeline layout angle θ, pipeline radius r p The distance between the pipe axis and the sound source H p The number of surface elements N within the region x ×N y Calculate the number of surface elements on the submarine pipeline;

[0010] Step 4: Calculate the height of each surface element on the pipeline based on the pipeline structure and the geometric relationship of the sound source location, thus obtaining the surface element (n) in the three-dimensional subsea pipeline height field. x ,n y The height of ) is h p (n x ,n y ).

[0011] Furthermore, in step 1, the seabed beam footprint scale L fp The formula for determining it is:

[0012]

[0013] Further, in step 1, the lengths lx and ly in the horizontal orthogonal direction are m times and n times the beam footprint scale, respectively, specifically:

[0014] l x =m*L fp

[0015] l y =n*L fp .

[0016] Furthermore, in step 2, the formulas for setting the step sizes Δx and Δy are as follows:

[0017] Δx=l x / N x

[0018] Δy=l y / N y

[0019] Where, N x N y These represent the number of surface elements divided in the horizontal orthogonal direction of the pipeline height field region.

[0020] Furthermore, in step 3, the number of surface elements on the subsea pipeline is calculated according to the following formula:

[0021]

[0022] Where round() is the rounding operation, N p This represents the number of surface elements on the pipeline.

[0023] Furthermore, in step 4, the formula for calculating the height corresponding to each surface element on the pipe is:

[0024]

[0025] h p (n x ,n y )=Δh-H p +H w +H(n x ,n y )

[0026] Where Δh is the height of the k-th surface element on the pipe, k∈[1,N] p ], H(n x ,n y ) is the upper element of the pipeline (n) x ,n y The height of the seabed element at the location, h p (n x ,n y ) is the upper element of the pipeline (n) x ,n y (height)

[0027] In a second aspect, the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, it performs the steps of a three-dimensional subsea pipeline height field modeling method for calculating scattered sound fields as described above.

[0028] Thirdly, the present invention provides a computer-readable storage medium storing a plurality of computer instructions, the plurality of computer instructions being used to cause a computer to execute a three-dimensional subsea pipeline height field modeling method for calculating scattered sound fields as described above.

[0029] Fourthly, the present invention provides a computer program product, which, when executed by a processor, implements a three-dimensional seabed pipeline height field modeling method for calculating scattered sound fields as described above.

[0030] The beneficial effects of this invention are:

[0031] This invention provides a three-dimensional height field modeling method for calculating scattered sound fields of submarine pipelines:

[0032] (1) It takes into account factors such as the distance between the pipeline axis and the sound source, the pipeline layout angle, the pipeline radius, the distance between the sound source and the seabed surface, the beam width of the detection sound beam, the three-dimensional seabed random undulation characteristics, and the pipeline burial status, and constructs the seabed pipeline height field more intuitively and realistically.

[0033] (2) It can flexibly adjust parameters such as pipeline layout angle, pipeline radius, and detection geometry, and quickly and directly obtain the seabed pipeline height field under various detection scenarios and target characteristics, realizing the description of seabed pipelines of various types and layout states.

[0034] (3) It comprehensively considers the seabed surface field, intuitively reflects the burial state of the seabed pipeline, and provides comprehensive and powerful support for the calculation of the acoustic field of the seabed pipeline acoustic detection, making the simulation of the detection process more realistic and accurate.

[0035] This invention provides a more intuitive, realistic, and comprehensive description of the three-dimensional height field of subsea pipelines, offering a new method for modeling the height field of three-dimensional subsea pipelines for conducting acoustic detection research.

[0036] This invention relates to a three-dimensional subsea pipeline height field modeling method for calculating scattered sound fields. It comprehensively considers factors such as the distance between the pipeline axis and the sound source, the pipeline layout angle, the pipeline radius, the distance between the sound source and the seabed surface, the beamwidth of the detection beam, the random undulation characteristics of the three-dimensional seabed, and the pipeline burial status. The size of the seabed beam footprint is determined by the average depth distance between the sound source and the seabed surface and the beamwidth of the detection beam. The subsea pipeline height field region is divided into surface elements for corresponding height calculation, resulting in a more intuitive and realistic construction of the three-dimensional subsea pipeline height field. By adjusting different parameters, the subsea pipeline height field under different detection conditions and states can be obtained, strongly supporting research on subsea pipeline acoustic detection technology and enabling more realistic and accurate construction of subsea pipeline models.

[0037] This invention relates to a numerical calculation method for the height field of subsea pipelines used in the field of acoustic detection for modeling the scattering acoustic characteristics of subsea pipelines. Attached Figure Description

[0038] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 3D Submarine Pipeline Height Field Modeling Process;

[0040] Figure 2 A top view of the geometric relationship of the height field region of a three-dimensional subsea pipeline;

[0041] Figure 3 Randomly fluctuating three-dimensional seabed height field.

[0042] Figure 4 Three-dimensional height field of exposed subsea pipeline;

[0043] Figure 5 Three-dimensional elevation field of a semi-buried subsea pipeline. Detailed Implementation

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0045] Implementation Method 1: A three-dimensional underwater pipeline height field modeling method for calculating scattered sound fields, the method comprising:

[0046] Step 1: Based on the average depth H between the sound source and the seabed surface w and the beamwidth θ of the detection beam w Determine the scale L of the seabed beam footprint. fp Set up a pipe height field region with an area of ​​S = lx * ly, and its lengths in the horizontal orthogonal directions are lx and ly, respectively;

[0047] Step 2: Set the length division steps of the pipe height field region in the orthogonal direction as Δx and Δy, respectively, to obtain N within the region. x ×N y Each face value;

[0048] Step 3: Based on the distance P from the left edge of the pipe to the left edge of the pipe height field area. xl The distance P between the right edge of the pipe and the left edge of the pipe height field area. xr Combined pipeline layout angle θ, pipeline radius r p The distance between the pipe axis and the sound source H p The number of surface elements N within the region x ×N y Calculate the number of surface elements on the submarine pipeline;

[0049] Step 4: Calculate the height of each surface element on the pipeline based on the pipeline structure and the geometric relationship of the sound source location, thus obtaining the surface element (n) in the three-dimensional subsea pipeline height field. x ,n y The height of ) is h p (n x ,n y ).

[0050] This implementation method takes into account factors such as the distance between the pipeline axis and the sound source, the pipeline layout angle, the pipeline radius, the distance between the sound source and the seabed surface, the beamwidth of the detection sound beam, the three-dimensional seabed random undulation characteristics, and the pipeline burial status. It constructs the height field of the subsea pipeline more intuitively and realistically. By flexibly adjusting different parameters, different pipeline models can be obtained, which effectively improves the accuracy of research on the acoustic detection of subsea pipelines. Based on this model, related research work on subsea pipeline detection and monitoring is carried out, providing important technical support for subsea pipeline monitoring and safe production.

[0051] Implementation Method Two: This implementation method further defines the three-dimensional subsea pipeline height field modeling method for calculating scattered sound fields described in Implementation Method One. In this implementation method, the seabed beam footprint scale L in step 1 is further defined. fp Further restrictions were imposed, specifically including:

[0052] In step 1, the seabed beam footprint scale L fp The formula for determining it is:

[0053]

[0054] In this embodiment, a method for determining the scale of the seabed beam footprint is given. The advantage of choosing this method is that it comprehensively considers the seabed depth and the beam opening angle, and takes into account the detection environment parameters and detection technical indicators more comprehensively.

[0055] Implementation Method 3 further defines the three-dimensional subsea pipeline height field modeling method for calculating scattered sound fields described in Implementation Method 2. In this implementation method, the length in the horizontal orthogonal direction in step 1 is further defined, specifically including:

[0056] In step 1, the lengths lx and ly in the horizontal orthogonal direction are m times and n times the beam footprint scale, respectively, specifically:

[0057] l x =m*L fp

[0058] l y =n*L fp .

[0059] In this embodiment, a method for calculating the length in the horizontal orthogonal direction is given. The advantage of choosing this calculation method is that the size of the height field region can be described in integer multiples of the beam footprint scale, and the values ​​of m and n can be flexibly modified, which is convenient for generating height field regions that meet the requirements of different scales and is conducive to carrying out modeling research on the scattering acoustic characteristics of various types of submarine pipelines.

[0060] Implementation Method Four: This implementation method further defines the three-dimensional subsea pipeline height field modeling method for calculating scattered sound fields described in Implementation Method Three. In this implementation method, the step size in step 2 is further defined, specifically including:

[0061] In step 2, the formulas for setting the step sizes Δx and Δy are as follows:

[0062] Δx=l x / N x

[0063] Δy=l y / N y

[0064] Where, N x N y These represent the number of surface elements divided in the horizontal orthogonal direction of the pipeline height field region.

[0065] In this embodiment, the advantage of the step size Δx and Δy setting method is that it can flexibly control the size of the surface element in the horizontal orthogonal direction. That is, the surface element size can be adjusted according to the length lx and ly in the horizontal orthogonal direction, or the surface element size can be adjusted by setting the number of surface elements in the two directions.

[0066] Implementation method five is a further limitation on the three-dimensional subsea pipeline height field modeling method for calculating scattered sound fields described in implementation method four. In this implementation method, the number of surface elements on the subsea pipeline in step 3 is further limited, specifically including:

[0067] In step 3, the number of surface elements on the subsea pipeline is calculated according to the following formula:

[0068]

[0069] Where round() is the rounding operation, N p This represents the number of surface elements on the pipeline.

[0070] The method for calculating the number of surface elements on the subsea pipeline presented in this embodiment comprehensively considers the distance P from the left edge of the pipeline to the left edge of the pipeline's height field region. xl The distance P between the right edge of the pipe and the left edge of the pipe height field region. xr And the pipe layout angle θ, pipe radius r p The distance between the pipe axis and the sound source H p The number of surface elements N within the region x ×N yIt can flexibly adjust parameters such as pipeline layout angle, pipeline radius, and detection geometry, and quickly and directly obtain the height field of the seabed pipeline under various detection scenarios and target characteristics, realizing the description of seabed pipelines of various types and layout states.

[0071] Implementation method six is ​​a further limitation on the three-dimensional subsea pipeline height field modeling method for calculating scattered sound fields described in implementation method five. In this implementation method, the height corresponding to each surface element on the pipeline in step 4 is further limited, specifically including:

[0072] In step 4, the formula for calculating the height of each surface element on the pipe is:

[0073]

[0074] h p (n x ,n y )=Δh-H p +H w +H(n x ,n y )

[0075] Where Δh is the height of the k-th surface element on the pipe, k∈[1,N] p ], H(n x ,n y ) is the upper element of the pipeline (n) x ,n y The height of the seabed element at the location, h p (n x ,n y ) is the upper element of the pipeline (n) x ,n y (height)

[0076] In this embodiment, by calculating the height of all surface elements within the height field region of the subsea pipeline, a three-dimensional subsea pipeline height field covering the seabed surface height field is obtained, thus constructing the subsea pipeline height field more intuitively and realistically.

[0077] Implementation method seven, this implementation method is based on Example 1 of a three-dimensional subsea pipeline height field modeling method for calculating scattered sound fields as described above, specifically including:

[0078] A three-dimensional underwater pipeline height field modeling method for calculating scattered sound fields includes the following steps:

[0079] (1) Based on the average depth H between the sound source and the seabed surface w and the beamwidth θ of the detection beam w Determine the scale L of the seabed beam footprint fpThe pipe height field region is set to have an area of ​​S = lx * ly, and its lengths in the horizontal orthogonal direction are lx and ly, which are m times and n times the beam footprint scale, respectively.

[0080] (2) Set the length division steps of the pipeline height field region in the orthogonal direction as Δx and Δy, respectively, to obtain N in the region. x ×N y Each face value;

[0081] (3) Based on the distance P from the left edge of the pipe to the left edge of the pipe height field area. xl The distance P between the right edge of the pipe and the left edge of the pipe height field area. xr Combined pipeline layout angle θ, pipeline radius r p The distance between the pipe axis and the sound source H p The number of polygon elements N within the region x ×N y Calculate the number of surface elements on the pipeline using parameters such as these.

[0082] (4) Based on the geometric relationship between the pipeline structure and the location of the sound source, the height corresponding to each surface element on the pipeline is calculated. Taking into account the seabed height field, the final result is the seabed surface height field H(n). x ,n y The three-dimensional height field h of the subsea pipeline p (n x ,n y ).

[0083] The beam footprint scale L mentioned in step (1) fp The lengths lx and ly of the pipeline height field region in the horizontal orthogonal direction are calculated according to the following formula:

[0084]

[0085] l x =m*L fp

[0086] l y =n*L fp

[0087] Among them, H w θ is the distance between the sound source and the average depth of the seabed. w To detect the beamwidth of the sound beam, m and n are multiples of the beam footprint scale corresponding to the length in the horizontal orthogonal direction of the pipe height field region.

[0088] The step sizes Δx and Δy of the length division in the orthogonal direction of the pipeline height field region mentioned in step (2) are calculated by the following formula:

[0089] Δx=l x / N x

[0090] Δy=l y / N y

[0091] Where, N x N y These represent the number of surface elements divided in the horizontal orthogonal direction of the pipeline height field region.

[0092] The number of surface elements on the pipe mentioned in step (3) is calculated according to the following formula:

[0093]

[0094] Where round() is the rounding operation, N p P represents the number of surface elements on the pipe. xl and P xr These represent the distances from the left and right edges of the pipeline along the upper edge of the height field region to the left edge of the pipeline's height field, respectively.

[0095] Step (4) describes the surface element (n) within the height field region of the subsea pipeline. x ,n y The height h p (n x ,n y The following formula is used to calculate:

[0096]

[0097] h p (n x ,n y )=Δh-H p +H w +H(n x ,n y )

[0098] Where Δh is the height of the k-th surface element on the pipe, k∈[1,N] p ], H(n x ,n y ) is the upper element of the pipeline (n) x ,n y The height of the seabed surface element at the location is calculated. By calculating the height of all surface elements within the seabed pipeline height field region, a three-dimensional seabed pipeline height field covering the seabed surface height field is obtained.

[0099] Implementation method eight, this implementation method is based on Example 2 of a three-dimensional subsea pipeline height field modeling method for calculating scattered sound fields as described above, specifically including:

[0100] like Figure 1 As shown in this embodiment, a three-dimensional underwater pipeline height field modeling method for calculating scattered sound fields is implemented according to the following steps:

[0101] Based on beam footprint scale L fp The lengths lx and ly of the pipeline height field region in the horizontal orthogonal direction are calculated according to the following formula:

[0102]

[0103] l x =m*L fp

[0104] l y =n*L fp

[0105] Among them, H w θ is the distance between the sound source and the average depth of the seabed. w To detect the beamwidth of the acoustic beam, m and n are multiples of the beam footprint scale corresponding to the length of the horizontal orthogonal direction of the pipeline height field region, respectively. The size of the subsea pipeline height field region can be adjusted by m and n as needed. A top view of the geometric relationship of the three-dimensional subsea pipeline height field region is shown below. Figure 2 .

[0106] The step sizes Δx and Δy for dividing the length of the pipeline height field region in the orthogonal direction are calculated by the following formula:

[0107] Δx=l x / N x

[0108] Δy=l y / N y

[0109] Where, N x N y These represent the number of surface elements divided in the horizontal orthogonal direction of the pipeline height field region.

[0110] The number of surface elements on a subsea pipeline is calculated according to the following formula:

[0111]

[0112] Where round() is the rounding operation, N p P represents the number of surface elements on the pipe. xl and P xr These represent the distances from the left and right edges of the pipe along the upper edge of the height field region to the left edge of the pipe's height field.

[0113] Submarine pipeline height field area element (n)x ,n y The height h p (n x ,n y The following formula is used to calculate:

[0114]

[0115] h p (n x ,n y )=Δh-H p +H w +H(n x ,n y )

[0116] Where Δh is the height of the k-th surface element on the pipe, k∈[1,N] p ];H(n x ,n y ) is the upper element of the pipeline (n) x ,n y The height of the seabed surface element at the location, and the corresponding random undulation three-dimensional seabed surface height field of the entire subsea pipeline height field region, are shown below. Figure 3 As shown, by calculating the height of all surface elements within the height field region of the subsea pipeline, a three-dimensional subsea pipeline height field covering the seabed surface height field under different states is obtained.

[0117] To more clearly and intuitively illustrate the implementation process of this invention, a detection sound wave frequency of 10kHz and a detection sound beam width θ are given. w The process and results of three-dimensional seabed height field modeling for generating a scattered sound field under the conditions of 4.24° and a probe pulse width of 2ms are presented. The seabed height field region is divided into 128 facets in both the horizontal orthogonal x-axis and y-axis directions, with facet widths Δx and Δy both being 5.8mm. Taking a multiplier m = n = 3, the seabed pipeline height field region is obtained as a 2.22m × 2.22m square region. The pipeline radius r is set... p =0.4m, layout angle θ=π / 3, the top view of the subsea pipeline height field is shown below. Figure 3 Adjust the distance H between the axis of the different pipes and the sound source respectively. p =10.4, H p =11 The height field of the subsea pipeline in the suspended and semi-buried states is shown in the figure. Figure 4 (Undersea pipeline suspended) Figure 5(Semi-buried subsea pipeline). Following the steps and procedures of this invention, three-dimensional subsea pipeline models in different states can be obtained. This takes into account factors such as the distance between the pipeline axis and the sound source, the pipeline layout angle, the pipeline radius, the distance between the sound source and the seabed, the beamwidth of the detection sound beam, and the three-dimensional random undulation characteristics of the seabed surface. This more intuitively and realistically constructs a three-dimensional subsea pipeline height field. Adjusting different parameters can obtain the subsea pipeline height field under different detection conditions and states, strongly supporting research on subsea pipeline acoustic detection technology and achieving a more realistic and accurate construction of subsea pipeline models.

[0118] In addition to the specific implementations in the examples above, all related implementation schemes formed by equivalent substitutions or equivalent modifications fall within the protection scope of this invention patent.

Claims

1. A method for modeling the height field of a three-dimensional subsea pipeline for calculating scattered sound fields, characterized in that, The method includes: Step 1: Based on the distance between the sound source and the average depth of the seabed surface H w and the beamwidth of the detection beam θ w Determine the scale of the seabed beam footprint L fp The area of ​​the pipeline height field region is set as S=l x * l y Their lengths in the horizontal orthogonal directions are respectively l x and l y ; Step 2: Set the step size for dividing the length of the pipeline height field area in the orthogonal direction as follows: Δx , Δy , obtain the area N x × N y Each face value; Step 3: Based on the distance from the left edge of the pipe to the left edge of the pipe height field area. P xl The distance from the right edge of the pipeline to the left edge of the pipeline height field area. P xr Joint pipeline layout angle θ Pipe radius r p Pipe center distance and distance between sound source H p Number of surface elements within the region N x × N y Calculate the number of surface elements on the submarine pipeline; Step 4: Calculate the height of each surface element on the pipeline based on the pipeline structure and the geometric relationship of the sound source location, thus obtaining the surface elements in the three-dimensional seabed pipeline height field. n x , n y The height of ) is h p ( n x , n y ); In step 3, the number of surface elements on the subsea pipeline is calculated according to the following formula: in, For the integer operation, The number of surface elements on the pipeline; In step 4, the formula for calculating the height of each surface element on the pipe is: in, It is the first one on the pipeline k The height of each element k ∈[1, N p ], For the pipe top element ( n x , n y The height of the seabed element at the location, h p ( n x , n y ) is the upper element of the pipeline ( n x , n y (height) 2. The method for modeling the height field of a three-dimensional subsea pipeline for calculating scattered sound fields according to claim 1, characterized in that, In step 1, the seabed beam footprint scale L fp The formula for determining it is: 。 3. The method for modeling the height field of a three-dimensional subsea pipeline for calculating scattered sound fields according to claim 2, characterized in that, In step 1, the length in the horizontal orthogonal direction l x and l y , in order m Double n The beam footprint scale is times larger than the standard size, specifically: 。 4. A three-dimensional underwater pipeline height field modeling method for calculating scattered sound fields according to claim 3, characterized in that, In step 2, the step size Δx , Δy The formula for setting it is: in, N x , N y These represent the number of surface elements divided in the horizontal orthogonal direction of the pipeline height field region.

5. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, The steps of the method according to any one of claims 1 to 4 are performed when the processor runs the computer program stored in the memory.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a plurality of computer instructions, which are used to cause a computer to perform the method of any one of claims 1 to 4.

7. A computer program product, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 4.

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