A combined positioning and detection system and method for a submarine cable burial path

Abstract

The application discloses a kind of sea cable burying path combined positioning detection system and method, belong to submarine cable technical field.The system of the present application, comprising: ultra-short baseline positioning test subsystem, for when sea cable deep burying plough operation, the position of the sea cable deep burying plough is positioned, to obtain the position signal of the sea cable deep burying plough, based on Kalman filtering algorithm, according to the position signal, attitude information and speed information, the buried path of sea cable is calculated;Sea cable deep burying plough azimuth attitude test subsystem is used for when sea cable deep burying plough operation, the attitude information and speed information of the sea cable deep burying plough are acquired, and the attitude information and speed information are uploaded to the ultra-short baseline positioning test subsystem.The sea cable path after laying can be accurately measured by the present application.

Description

Technical Field

[0001] This invention relates to the field of submarine cable technology, and more specifically, to a combined positioning and detection system and method for submarine cable burial paths. Background Technology

[0002] When laying submarine cables in shallow waters, such as areas traversing harbors, crossing shipping channels, or around large ports where ships frequently anchor, the efficient flushing shovel method is often used. In flushing shovel operations, high-pressure water jets from nozzles installed on the shovel's cutting section move seabed sediment to form trenches, where the cable is then buried. When using cable laying vessels, submarine cable laying monitoring systems are typically used to monitor the process. However, these systems can only effectively monitor basic parameters such as the shovel's attitude, cable tension, shovel blade water pressure, and water depth. During cable laying, the unpowered cable laying vessel towed by anchored ships and the shovel's trajectory are unpredictable, often deviating significantly from the actual cable laying path. Relying solely on the vessel's onboard monitoring system is insufficient to obtain an accurate cable laying trajectory.

[0003] Based on satellite navigation and positioning results, signals are transmitted through a surface platform. Acoustic equipment can be used to determine the absolute position of underwater targets with high precision. The combination of satellite navigation and positioning with ultra-short baseline (USBR) can be used for underwater detection and positioning of submarine cables, pipelines, etc. However, during underwater operations with flush-laying burial plows, high-speed water currents generate a large amount of silt, which affects the transmission of acoustic signals, resulting in poor performance of traditional USBR underwater positioning methods. Summary of the Invention

[0004] To address the above problems, this invention proposes a combined positioning and detection system for submarine cable laying paths, comprising:

[0005] The submarine cable deep burial plow orientation and attitude testing subsystem is used to acquire the attitude and speed information of the submarine cable deep burial plow during operation, and upload the attitude and speed information to the ultra-short baseline positioning testing subsystem.

[0006] The ultra-short baseline positioning and testing subsystem is used to locate the position of the deep-burying plow during deep-burying operations of submarine cables, so as to obtain the position signal of the deep-burying plow. Based on the Kalman filter algorithm, the burial path of the submarine cable is calculated according to the position signal, attitude information and velocity information.

[0007] The submarine cable deep burial plow orientation and attitude testing subsystem is used to acquire the attitude and speed information of the submarine cable deep burial plow during operation, and upload the attitude and speed information to the ultra-short baseline positioning testing subsystem.

[0008] Optional attitude information includes: attitude, depth, yaw angle, and heading / direction information of the submarine cable deep-buried plow.

[0009] Optional, velocity information, including: velocity and acceleration information of the submarine cable deep-burying plow.

[0010] Optional, ultra-short baseline positioning test subsystem, including:

[0011] Ultra-short baseline electroacoustic transducers are used to transmit acoustic interrogation signals underwater and feed back acoustic response signals to the USMR system backend.

[0012] An ultra-short baseline positioning beacon is used to capture interrogation signals and return acoustic response signals to the ultra-short baseline electroacoustic transducer;

[0013] The ultra-short baseline system backend is used to determine the position signal of the submarine cable deep burial plow based on the acoustic response signal, and to calculate the burial path of the submarine cable based on the position signal, attitude information and velocity information.

[0014] Optional, an ultra-short baseline electroacoustic transducer is mounted on an L-shaped bracket on the side of the cable-laying vessel.

[0015] Optional, the ultra-short baseline positioning test subsystem includes two ultra-short baseline positioning beacons, each installed at the top of a long metal cylinder on the beam of the cable-laying vessel.

[0016] Optionally, the system also includes:

[0017] The BeiDou positioning and timing subsystem is used to provide clock synchronization signals to the ultra-short baseline positioning test subsystem and the submarine cable deep burial plow azimuth and attitude test subsystem, to synchronize the timing of the ultra-short baseline positioning test subsystem and the submarine cable deep burial plow azimuth and attitude test subsystem, and to determine the absolute position of the submarine cable laying vessel.

[0018] Optional, the BeiDou positioning and timing subsystem includes:

[0019] The Beidou satellite navigation receiver is used to provide clock synchronization signals to the ultra-short baseline positioning test subsystem and the submarine cable deep-buried plow azimuth attitude test subsystem, and to synchronize the timing of the ultra-short baseline positioning test subsystem and the submarine cable deep-buried plow azimuth attitude test subsystem.

[0020] Furthermore, this invention also proposes a combined positioning and detection method for submarine cable laying paths, comprising:

[0021] During the deep burial plowing operation of submarine cables, the position of the deep burial plow is located based on the ultra-short baseline positioning and testing subsystem to obtain the position signal of the deep burial plow.

[0022] During the deep burial of submarine cables, the attitude and speed information of the deep burial of submarine cables are obtained based on the orientation and attitude test subsystem of the deep burial of submarine cables, and the attitude and speed information are uploaded to the ultra-short baseline positioning test subsystem.

[0023] The ultra-short baseline positioning test subsystem calculates the laying path of the submarine cable based on the Kalman filter algorithm, according to the position signal, attitude information, and velocity information.

[0024] Optional attitude information includes: attitude, depth, yaw angle, and heading / direction information of the submarine cable deep-buried plow.

[0025] Optional, velocity information, including: velocity and acceleration information of the submarine cable deep-burying plow.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] This invention proposes a combined positioning and detection system for submarine cable laying paths, comprising: an ultra-short baseline positioning and testing subsystem, used to locate the position of the deep-burying plow during deep-burying operations to obtain the position signal of the deep-burying plow, and to calculate the laying path of the submarine cable based on the position signal, attitude information, and velocity information using a Kalman filter algorithm; and a deep-burying plow azimuth and attitude testing subsystem, used to obtain the attitude and velocity information of the deep-burying plow during deep-burying operations, and to upload the attitude and velocity information to the ultra-short baseline positioning and testing subsystem. This invention can accurately measure the laid submarine cable path. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the system structure of the present invention;

[0029] Figure 2 This is a layout diagram of the system of the present invention;

[0030] Figure 3 This is a schematic diagram of the logical interaction of the system of the present invention;

[0031] Figure 4 This is a flowchart of the method of the present invention;

[0032] Among them, 1 is a non-powered submarine cable laying vessel, 2 is the submarine cable to be laid, 3 is the submarine cable deep burial plow, 4 is the test chamber, 5 is the rotating support, 6 is the ultra-short baseline electroacoustic transducer, 7 is the ultra-short baseline positioning beacon, 8 is the inertial navigation system support, 9 is the Beidou satellite navigation antenna, 10 is the sound velocity profiler, 11 is the inertial navigation system, 12 is the Doppler velocimeter, 13 is the depth (pressure) sensor, 14 is the ultra-short baseline system backend, 15 is the azimuth and attitude system backend, 16 is the Beidou satellite navigation receiver, and 17 is the combined positioning and detection system backend. Detailed Implementation

[0033] Exemplary embodiments of the invention will now be described with reference to the accompanying drawings. However, the invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided to fully and completely disclose the invention and to fully convey its scope to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the drawings is not intended to limit the invention. In the drawings, the same units / elements are referred to by the same reference numerals.

[0034] Unless otherwise stated, the terms used herein (including technical terms) have their common meaning as understood by one of ordinary skill in the art. Furthermore, it is understood that terms defined in commonly used dictionaries should be understood to have a meaning consistent with the context of their relevant field, and not to be interpreted as having an idealized or overly formal meaning.

[0035] Example 1:

[0036] This invention proposes a combined positioning and detection system for submarine cable laying paths, such as... Figure 1 As shown, it includes:

[0037] The submarine cable deep burial plow orientation and attitude testing subsystem is used to acquire the attitude and speed information of the submarine cable deep burial plow during operation, and upload the attitude and speed information to the ultra-short baseline positioning testing subsystem.

[0038] The ultra-short baseline positioning and testing subsystem is used to locate the position of the deep-burying plow during deep-burying operations of submarine cables, so as to obtain the position signal of the deep-burying plow. Based on the Kalman filter algorithm, the burial path of the submarine cable is calculated according to the position signal, attitude information and velocity information.

[0039] The attitude information includes the attitude, depth, yaw angle, and heading / direction information of the submarine cable deep-buried plow.

[0040] Among them, the speed information includes the speed and acceleration information of the deep-buried submarine cable plow.

[0041] The ultra-short baseline positioning test subsystem includes:

[0042] Ultra-short baseline electroacoustic transducers are used to transmit acoustic interrogation signals underwater and feed back acoustic response signals to the USMR system backend.

[0043] An ultra-short baseline positioning beacon is used to capture interrogation signals and return acoustic response signals to the ultra-short baseline electroacoustic transducer;

[0044] The ultra-short baseline system backend is used to determine the position signal of the submarine cable deep burial plow based on the acoustic response signal, and to calculate the burial path of the submarine cable based on the position signal, attitude information and velocity information.

[0045] Among them, the ultra-short baseline electroacoustic transducer is installed on an L-shaped bracket on the side of the submarine cable laying vessel.

[0046] The ultra-short baseline positioning test subsystem includes two ultra-short baseline positioning beacons, which are installed on the top of long metal cylinders on the crossbeam of the cable-laying vessel.

[0047] The system also includes:

[0048] The BeiDou positioning and timing subsystem is used to provide clock synchronization signals to the ultra-short baseline positioning test subsystem and the submarine cable deep burial plow azimuth and attitude test subsystem, to synchronize the timing of the ultra-short baseline positioning test subsystem and the submarine cable deep burial plow azimuth and attitude test subsystem, and to determine the absolute position of the submarine cable laying vessel.

[0049] The BeiDou positioning and timing subsystem includes:

[0050] The Beidou satellite navigation receiver is used to provide clock synchronization signals to the ultra-short baseline positioning test subsystem and the submarine cable deep-buried plow azimuth attitude test subsystem, and to synchronize the timing of the ultra-short baseline positioning test subsystem and the submarine cable deep-buried plow azimuth attitude test subsystem.

[0051] The invention will be further explained below with reference to specific implementation examples:

[0052] The system of the present invention includes:

[0053] The system comprises: an ultra-short baseline electroacoustic transceiver (USBL transceiver) and two ultra-short baseline positioning beacons (USBL Nano); two BeiDou satellite navigation antennas; a sound velocity profiler (ADCP); an inertial navigation system (INS); a Doppler velocimeter (DVL); a depth (pressure) sensor; a BeiDou satellite navigation receiver; an ultra-short baseline system backend; an azimuth and attitude testing system backend; and a combined positioning and detection system backend. Specifically, the USBL transceiver, USBL positioning beacon, and USBL system backend constitute the ultra-short baseline positioning test system; the inertial navigation system, Doppler velocimeter, depth (pressure) sensor, and azimuth and attitude system backend constitute the submarine cable deep-burial plow azimuth and attitude test system; the BeiDou satellite navigation antennas and BeiDou satellite navigation receiver constitute the BeiDou positioning and timing system; and the USBL positioning test system, submarine cable deep-burial plow azimuth and attitude test system, BeiDou positioning and timing system, and sound velocity profiler constitute the combined positioning and detection system for the submarine cable burial path.

[0054] The layout of the combined positioning and detection system for submarine cable burial paths is as follows: Figure 2 As shown, 1 is the unpowered submarine cable laying vessel; 2 is the submarine cable to be laid; 3 is the submarine cable deep-burying plow; 4 is the testing chamber; 5 is the rotating support; 6 is the ultra-short baseline electroacoustic transducer; 7 is the ultra-short baseline positioning beacon; 8 is the inertial navigation system support; 9 is the Beidou satellite navigation antenna; and 10 is the sound velocity profiler. The interaction logic between the modules of the integrated positioning and detection system is as follows: Figure 3 As shown, 11 is the Inertial Navigation System (INS); 12 is the Doppler Velocimeter (DVL); 13 is the Depth (Pressure) Sensor; 14 is the USMR system backend; 15 is the orientation and attitude system backend; 16 is the BeiDou satellite navigation receiver; and 17 is the integrated positioning and detection system backend.

[0055] The electroacoustic transducer of the ultra-short baseline positioning test system is installed on an L-shaped bracket on the side of the submarine cable laying vessel. The bracket can be rotated so that it extends vertically into the seawater, and the working position of the electroacoustic transducer is lower than the bottom of the vessel.

[0056] The two positioning beacons of the ultra-short baseline positioning test system are installed at the top of the long metal cylinder on the crossbeam of the submarine cable laying vessel. The long metal cylinder can keep the beacons away from the air bubbles and mud rising from the seabed during the deep burial plowing operation when transmitting and receiving sound signals underwater, thereby reducing measurement errors. It can also protect the beacons from the impact of the deep burial plow suspension steel cable and other underwater foreign objects during the deep burial plowing operation.

[0057] The inertial navigation system, Doppler velocimeter, and depth (pressure) sensor are all installed on the side of the crossbeam of the deep-buried cable plow, on the side opposite to the direction of travel of the deep-buried cable plow during operation. This is to protect the inertial navigation system, Doppler velocimeter, and depth (pressure) sensor from impacts from foreign objects coming from the direction of the deep-buried plow head. During deep-buried cable operation, the plow can obtain operational data such as attitude, depth, yaw angle, heading (direction), speed, and acceleration.

[0058] One operating mode of the ultra-short baseline positioning test system is the USBL Transponder mode (acoustic signal triggering). This mode is the conventional USBL underwater tracking and positioning mode. The ultra-short baseline electro-acoustic transducer emits an acoustic interrogation signal underwater. After the ultra-short baseline positioning beacon captures the interrogation signal, it returns an acoustic response signal, which is fed back to the ultra-short baseline system backend via the ultra-short baseline electro-acoustic transducer.

[0059] Another operating mode of the USLT positioning test system is the USBL Responder mode (electric signal triggering). In this mode, an electrical signal is used to directly interrogate the USLT positioning beacon. The USLT positioning beacon directly feeds an acoustic signal to the USLT electroacoustic transducer. Compared with the traditional USLT acoustic signal interrogation and response, the acoustic signal propagation process can be reduced by half, thereby reducing the impact of various seabed interference noises on positioning measurements.

[0060] By using a dual-beacon ultra-short baseline positioning test system fixed to a deep-buried submarine cable plow, the heading of the plow can be obtained during plowing operations. After being integrated with the inertial navigation system, the comparability and stability of the measurement data are increased.

[0061] The ultra-short baseline positioning test system is connected to the submarine cable deep-buried plow azimuth attitude test system. The Kalman filter algorithm is used to fuse and calculate the submarine cable deep-buried plow position signal measured by the beacon and the submarine cable deep-buried plow attitude, yaw angle, heading (direction), velocity and acceleration data measured by the azimuth attitude test system.

[0062] The BeiDou positioning and timing system includes two BeiDou satellite navigation antennas, which can obtain the absolute position of the vessel during submarine cable laying operations. The BeiDou positioning and timing system provides precise clock synchronization signals to the ultra-short baseline system backend, the azimuth and attitude system backend, and the combined positioning and detection system backend to reduce system errors.

[0063] During submarine cable laying operations, a sound velocity profiler should be used regularly to measure the sound velocity profile of the seawater in the area where the cable laying vessel is located, and the results should be input into the ultra-short baseline system in order to improve the underwater positioning accuracy of the beacon.

[0064] The combined positioning and detection system for submarine cable laying paths can centrally display the results of combined positioning and detection data in various formats.

[0065] The ultra-short baseline electroacoustic transducer of this invention is mounted on the side of the cable-laying vessel via a rotatable L-shaped bracket. The ultra-short baseline positioning beacon, inertial navigation system, Doppler velocimeter, and depth (pressure) sensor are mounted on the cable burial plow. Test data from the ultra-short baseline positioning test system is integrated with the cable burial plow's attitude and bearing test system, and the resulting data (attitude, depth, yaw angle, heading, velocity, and acceleration) are fused together for calculation. The sound velocity profile measurement results of the seawater in the area where the cable-laying vessel is located are input into the ultra-short baseline system to improve the underwater positioning accuracy of the beacon. Beidou positioning and transmission are also included. The timing system provides the absolute position of the hull and gives precise clock synchronization signals to the backend of the USMR system, the attitude and bearing system, and the combined positioning and detection system. The dual beacons of the USMR positioning test system increase the comparability and stability of the positioning measurement data. The USBLResponder mode of the USMR positioning test system suppresses the influence of various seabed interference noises on the positioning measurement. The combined positioning and detection system and method for submarine cable laying paths can obtain data such as the attitude, yaw angle, heading, velocity, acceleration, and absolute position of the submarine cable buried deep underground. The test data is continuous and stable, without jumps, and can accurately measure the submarine cable path after laying.

[0066] Example 2:

[0067] This invention also proposes a combined positioning and detection method for submarine cable laying paths, such as... Figure 4 As shown, it includes:

[0068] Step 1: During the deep burial of submarine cable plowing operation, the position of the deep burial of submarine cable plow is located based on the ultra-short baseline positioning test subsystem to obtain the position signal of the deep burial of submarine cable plow.

[0069] Step 2: During the deep burial of submarine cable plowing operation, the attitude and speed information of the deep burial of submarine cable plow are obtained based on the orientation and attitude test subsystem of the deep burial of submarine cable plow, and the attitude and speed information are uploaded to the ultra-short baseline positioning test subsystem.

[0070] Step 3: Using the ultra-short baseline positioning test subsystem, based on the Kalman filter algorithm, the laying path of the submarine cable is calculated according to the position signal, attitude information and velocity information.

[0071] The attitude information includes the attitude, depth, yaw angle, and heading / direction information of the submarine cable deep-buried plow.

[0072] Among them, the speed information includes the speed and acceleration information of the deep-buried submarine cable plow.

[0073] This invention can accurately measure the path of a submarine cable after it has been laid.

[0074] 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 implemented 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. The solutions in the embodiments of the present invention can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0075] 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 processor, 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 and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1A device that provides the functions specified in one or more boxes.

[0076] 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.

[0077] 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.

[0078] 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 both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0079] 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 combined positioning and detection system for submarine cable laying paths, characterized in that, The system includes: The submarine cable deep burial plow orientation and attitude testing subsystem is used to acquire the attitude and speed information of the submarine cable deep burial plow during operation, and upload the attitude and speed information to the ultra-short baseline positioning testing subsystem. The ultra-short baseline positioning and testing subsystem is used to locate the position of the deep-burying plow during deep-burying operations of submarine cables, so as to obtain the position signal of the deep-burying plow. Based on the Kalman filter algorithm, the laying path of the submarine cable is calculated according to the position signal, attitude information and velocity information. The Beidou positioning and timing subsystem is used to provide clock synchronization signals to the ultra-short baseline positioning test subsystem and the submarine cable deep burial plow azimuth and attitude test subsystem, synchronize the timing of the ultra-short baseline positioning test subsystem and the submarine cable deep burial plow azimuth and attitude test subsystem, and determine the absolute position of the submarine cable laying vessel. The BeiDou positioning and timing subsystem includes: The Beidou satellite navigation receiver is used to provide clock synchronization signals to the ultra-short baseline positioning test subsystem and the submarine cable deep-buried plow azimuth attitude test subsystem, and to synchronize the timing of the ultra-short baseline positioning test subsystem and the submarine cable deep-buried plow azimuth attitude test subsystem.

2. The system according to claim 1, characterized in that, The attitude information includes: the attitude, depth, yaw angle, and heading / direction information of the submarine cable deep-buried plow.

3. The system according to claim 1, characterized in that, The speed information includes the speed and acceleration information of the deep-buried submarine cable plow.

4. The system according to claim 1, characterized in that, The ultra-short baseline positioning test subsystem includes: Ultra-short baseline electroacoustic transducers are used to transmit acoustic interrogation signals underwater and feed back acoustic response signals to the USMR system backend. An ultra-short baseline positioning beacon is used to capture interrogation signals and return acoustic response signals to the ultra-short baseline electroacoustic transducer; The ultra-short baseline system backend is used to determine the position signal of the submarine cable deep burial plow based on the acoustic response signal, and to calculate the burial path of the submarine cable based on the position signal, attitude information and velocity information.

5. The system according to claim 4, characterized in that, The ultra-short baseline electroacoustic transducer is installed on an L-shaped bracket on the side of the submarine cable laying vessel.

6. The system according to claim 4, characterized in that, The ultra-short baseline positioning test subsystem includes two ultra-short baseline positioning beacons, which are installed at the top of the long metal cylinders on the crossbeam of the cable-laying vessel.

7. A method for combined positioning and detection of submarine cable burial paths using a combined positioning and detection system for any of the submarine cable burial paths as described in claims 1-6, characterized in that, The method includes: During the deep burial plowing operation of submarine cables, the position of the deep burial plow is located based on the ultra-short baseline positioning and testing subsystem to obtain the position signal of the deep burial plow. During the deep burial of submarine cables, the attitude and speed information of the deep burial of submarine cables are obtained based on the orientation and attitude test subsystem of the deep burial of submarine cables, and the attitude and speed information are uploaded to the ultra-short baseline positioning test subsystem. The ultra-short baseline positioning test subsystem calculates the laying path of the submarine cable based on the Kalman filter algorithm, according to the position signal, attitude information, and velocity information.

8. The method according to claim 7, characterized in that, The attitude information includes: the attitude, depth, yaw angle, and heading / direction information of the submarine cable deep-buried plow.

9. The method according to claim 7, characterized in that, The speed information includes the speed and acceleration information of the deep-buried submarine cable plow.

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