A method, system and device for processing towed cable exploration navigation positioning data

Abstract

The present invention discloses a method, system and device medium for processing navigation and positioning data of towline exploration, comprising: obtaining original navigation and positioning data, performing at least two gross error elimination and at least two filtering on the original navigation and positioning data to obtain first navigation and positioning data, interpolating the first navigation and positioning data to obtain second navigation and positioning data, the second navigation and positioning data including a measurement angle and a measurement distance synchronized with a shot point, correcting the measurement angle to obtain an observation angle of a non-directional attached wire, substituting the observation angle and the measurement distance into an adjustment equation of the non-directional attached wire to obtain third navigation and positioning data, performing parameter fitting on the third navigation and positioning data to obtain fourth navigation and positioning data, calculating the coordinates of the observation point according to the fourth navigation and positioning data and the original navigation and positioning data, and outputting the coordinates as the final navigation and positioning data. The present invention can correct errors in original data, eliminate processing errors in data, and can be used in the field of data processing.

Description

Technical Field

[0001] The present invention relates to the field of data processing, and in particular to a method, system and device medium for processing towed cable exploration navigation and positioning data. Background Art

[0002] During the actual operation of towed cable exploration, the main and auxiliary exploration ships tow gun arrays, tow cables and other towing bodies in the survey area. Among them, the gun array excites simulated seismic waves, and many detector devices distributed on the tow cables are used to receive seismic wave information reflected from the seabed and strata. By processing and interpreting these seismic wave information, the purpose of exploration is achieved. There are also locators for measuring coordinates and angles distributed on the tow cables, such as compasses. The original data packets obtained by this exploration method measure the coordinates and angles, and the data of the detectors.

[0003] These raw data cannot be submitted as operation results and need to be processed. The results of these data processing affect the operation accuracy of offshore oil exploration and have an important guiding role in the subsequent seismic data processing and drilling positioning. Therefore, it is necessary to make the processing results of the raw data as close as possible to the actual situation of the towline. However, the navigation positioning data obtained according to the current data mathematical method has a large error with the actual navigation positioning data of the towline. Summary of the invention

[0004] In order to solve one of the above problems, the purpose of the present invention is to provide a method, system, device medium for processing towed cable exploration navigation and positioning data, which can reduce the error in processing navigation and positioning data and obtain the real navigation and positioning data of the towed cable, making the result data more reasonable and more reliable and trustworthy.

[0005] In one aspect, the present invention provides a method for processing streamer survey navigation positioning data, comprising the following steps:

[0006] Acquire original navigation positioning data, and preprocess the original navigation positioning data to obtain first navigation positioning data; the preprocessing includes at least two gross error eliminations and at least two filterings;

[0007] The first navigation positioning data is subjected to interpolation and other processing to obtain the second navigation positioning data; the first positioning data synchronized with the shot point time, the first positioning data includes the measurement angle and the measurement distance of the locator; the measurement angle is corrected to obtain the observation angle of the non-directional attachment wire, the observation angle and the measurement distance are substituted into the adjustment equation of the non-directional attachment wire to obtain the third navigation positioning data; the positioning point on the streamer is the undetermined point on the non-directional attachment wire;

[0008] Performing parameter fitting on the third navigation and positioning data to obtain fourth navigation and positioning data, and calculating the coordinates of the observation point according to the fourth navigation and positioning data and the original navigation and positioning data;

[0009] The fourth navigation positioning data and the observation point coordinates are output as final navigation positioning data.

[0010] Optionally, the preprocessing the original navigation positioning data to obtain the first navigation positioning data specifically includes:

[0011] Using a threshold algorithm improved by a moving window and a curve fitting algorithm based on weighted iterative robust estimation to eliminate gross errors from the original navigation positioning data, so as to obtain navigation positioning data after eliminating gross errors;

[0012] The navigation positioning data after eliminating gross errors is filtered using a first-order lag filtering algorithm and a Gaussian filtering algorithm to obtain the first navigation positioning data.

[0013] Optionally, the interpolating the first navigation positioning data to obtain second navigation positioning data specifically includes:

[0014] Performing a first interpolation on the first navigation positioning data using a Lagrange interpolation algorithm to obtain first interpolated navigation positioning data;

[0015] The Neville interpolation algorithm is used to perform a second interpolation on the navigation positioning data after the first interpolation to obtain the second navigation positioning data.

[0016] Optionally, the correcting the measured angle to obtain the observation angle of the non-directional auxiliary wire specifically includes:

[0017] Converting the measured angle of each undetermined point into a coordinate north direction angle; the measured angle is a true north direction angle or a magnetic north direction angle;

[0018] Compare the measured angle of the i-th undetermined point with the measured angle of the i+1-th undetermined point; i is a natural number greater than 1, and the i+1-th undetermined point represents the next undetermined point after the i-th undetermined point;

[0019] If the measurement angle of the i-th undetermined point is equal to the measurement angle of the i+1-th undetermined point, the observation angle of the i-th undetermined point is obtained according to the coordinate north direction angle of the i-th undetermined point;

[0020] If the measured angle of the i-th undetermined point is greater than or less than the measured angle of the i+1-th undetermined point, the observation angle of the i-th undetermined point is obtained according to the coordinate north direction angle of the i-th undetermined point and the difference between the measured angle of the i+1-th undetermined point and the measured angle of the i-th undetermined point.

[0021] Optionally, the adjustment equation of the non-directional auxiliary traverse includes a preset direction error equation, a preset distance error equation and a preset observation equation; substituting the observation angle and the measured distance into the adjustment equation of the non-directional auxiliary traverse to obtain the third navigation positioning data specifically includes:

[0022] Substituting the observation angle into the preset direction error equation to obtain an optimal solution for the angle error;

[0023] Substituting the measured distance into the preset distance error equation to obtain an optimal solution for the distance error;

[0024] Substitute the angle error optimal solution and the distance error optimal solution into a preset observation equation to obtain third navigation positioning data.

[0025] Optionally, the adjustment equation of the non-directional auxiliary traverse includes a preset direction error equation and a preset distance error equation; the adjustment equation of the non-directional auxiliary traverse is obtained by the following method:

[0026] According to the non-directional and traverse adjustment principle, the reference direction error equation and the reference distance error equation are obtained;

[0027] A preset direction error equation is obtained according to the reference direction error equation and the original navigation positioning data, and a preset distance error equation is obtained according to the reference distance error equation and the original navigation positioning data.

[0028] Optionally, the third navigation positioning data includes the coordinate north azimuth, adjusted coordinates and depth of the to-be-determined point, and the fourth navigation positioning data includes the coordinates of the detection point and the depth of the detection point; and performing parameter fitting on the third navigation positioning data to obtain the fourth navigation positioning data specifically includes:

[0029] The geometric parameters of the arc are calculated according to the coordinate north angle of the undetermined point and the coordinates after adjustment; the towline includes a plurality of arcs, the i-th arc is the arc between the i-th undetermined point and the i+1-th undetermined point, and each arc includes a plurality of detection points;

[0030] The coordinates of the detection point are obtained according to the geometric parameters and the coordinates of the corresponding undetermined point after adjustment; the corresponding undetermined point of the detection point on the i-th arc is the i-th undetermined point;

[0031] According to the depth of the to-be-determined point and the adjusted coordinates of the to-be-determined point, segmented fitting is performed to obtain a depth curve of the towline, and the depth of the detection point is obtained according to the depth curve.

[0032] On the other hand, the present invention provides a device for processing streamer survey navigation positioning data, comprising a first module, a second module, a third module, a fourth module and a fifth module, wherein:

[0033] The first module is used to obtain original navigation and positioning data, and preprocess the original navigation and positioning data to obtain first navigation and positioning data; the preprocessing includes at least two gross error eliminations and at least two filterings;

[0034] The second module is used to perform interpolation processing on the first navigation positioning data to obtain second navigation positioning data; the second navigation positioning data includes the first positioning data synchronized with the shot point time, and the first positioning data includes a measurement angle and a measurement distance;

[0035] The third module is used to correct the observation angle of the non-directional attached wire according to the measured angle, substitute the observation angle and the measured distance into the adjustment equation of the non-directional attached wire, and obtain the third navigation positioning data; the positioning point on the streamer is the undetermined point on the non-directional attached wire;

[0036] The fourth module is used to perform parameter fitting on the third navigation positioning data to obtain fourth navigation positioning data, and calculate the observation point coordinates according to the fourth navigation positioning data and the original navigation positioning data;

[0037] The fifth module is used to output the fourth navigation positioning data and the observation point coordinates as final navigation positioning data.

[0038] In another aspect, the present invention provides a computer-readable storage medium storing a program executable by a processor. When the program executable by the processor is executed by the processor, it is used to perform the method as described above.

[0039] On the other hand, the present invention provides a processing system for towed cable exploration navigation and positioning data, comprising a data acquisition device and a computer device connected to the data acquisition device, wherein the data acquisition device comprises a towed device, a tow, a locator and a seismic source, wherein the towed device is connected to the tow, a locator is arranged on the tow, and a locator is arranged on the seismic source; wherein,

[0040] The locator is used to collect the original navigation and positioning data;

[0041] The towing equipment is used to tow the towing vehicle;

[0042] The seismic source is used to carry the gun array; the computer equipment includes:

[0043] at least one processor;

[0044] at least one memory for storing at least one program;

[0045] When the at least one program is executed by the at least one processor, the at least one processor implements the method described above.

[0046] The implementation of the present invention includes the following beneficial effects: the present invention obtains original navigation positioning data, pre-processes the original navigation positioning data, obtains first navigation positioning data, the pre-processing includes at least two gross error eliminations and at least two filterings, interpolates the first navigation positioning data, and obtains second navigation positioning data; the second navigation positioning data includes first positioning data synchronized with the shot point time, the first positioning data includes a measurement angle and a measurement distance, corrects the measurement angle, obtains the observation angle of the positive non-directional attachment wire, substitutes the observation angle and the measurement distance into the adjustment equation of the non-directional attachment wire, obtains the third navigation positioning data, the positioning point on the towline is the undetermined point on the non-directional attachment wire, performs parameter fitting on the third navigation positioning data, obtains fourth navigation positioning data, calculates the observation point coordinates according to the fourth navigation positioning data and the original navigation positioning data, and uses the fourth navigation positioning data and the observation point coordinates as the final navigation positioning data. First, two gross error elimination and two filtering processes are performed to reduce the influence of gross errors and noise on data processing; then, interpolation processing is used to synchronize the positioning data to the shot point time (in the original data, the time of signal transmission and the time of obtaining the positioning data are generally different), which can increase the accuracy of the data; then, the positioning point on the towed basket is used as the undetermined point on the non-directional attachment wire, and the data is adjusted using the principle of the positioning point as the non-directional attachment wire. The non-directional attachment wire value is calculated based on the line segment. In the present invention, it is considered that the movement state of the towed basket in actual conditions is an arc, and the measurement angle is corrected to obtain the observation angle of the positive non-directional attachment wire, which can well simulate the actual position of each positioning point on the towed basket. Finally, the error between the navigation positioning data obtained by processing and the real navigation positioning data of the towed cable can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a flow chart of the steps of a method for processing towline exploration navigation positioning data provided by the present invention;

[0048] Figure 2 Schematic diagram of three types of gross errors provided by the present invention;

[0049] Figure 3 This is a comparison diagram before and after filtering the compass point data with a moving window of 5 provided by the present invention;

[0050] Figure 4 This is a comparison diagram before and after filtering RGPS data with a moving window of 11 provided by the present invention;

[0051] Figure 5 It is a schematic diagram of a towing shape provided by the present invention, in which the survey area is located in the South China Sea area of ​​a certain projection zone in the northern hemisphere;

[0052] Figure 6 It is a comparison diagram before and after the dragging adjustment provided by the present invention;

[0053] Figure 7 It is a schematic diagram of a towing model obtained by fitting navigation data after adjustment provided by the present invention;

[0054] Figure 8 The present invention provides a coordinate relative offset diagram of the first detection point of the main ship tow cable in a dual-ship exploration;

[0055] Fig. 9 It is a coordinate relative offset diagram change diagram of the first detection point of the auxiliary ship tow cable in a dual-ship exploration provided by the present invention;

[0056] Fig.10 is a schematic diagram of a depth curve provided by the present invention;

[0057] Fig.11 It is a structural schematic diagram of a device for processing towline exploration navigation and positioning data provided by the present invention;

[0058] Fig.12 The present invention provides a processing system for towline exploration navigation and positioning data;

[0059] Fig.13 The present invention provides a raw data processing flow for dual-ship navigation and positioning. DETAILED DESCRIPTION

[0060] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The step numbers in the following embodiments are only provided for the convenience of explanation and description, and the order between the steps is not limited in any way. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0061] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present application. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0062] When the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims. In the description of the present application, it is necessary to understand that the terms "first / S100", "second / S200", "third / S300", etc. are only used to distinguish similar objects, and do not have to be used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0063] In order to better understand the technical solution of the present invention, the system for obtaining original navigation and positioning data is now described: it includes a towing device, a towing basket, and a signal transmitting array. A locator and a detector are installed on the towing basket. The position of the locator is the positioning point, and the position of the detector is the detection point. Several detectors can be included between two adjacent locators. The starting point and the end point of the towing basket are used as the fixed points of the non-directional attachment wire, and the positioning points are the pending points of the non-directional attachment wire.

[0064] The signal transmitting array is used to transmit signals, including but not limited to acoustic signals. The towing device tows and moves the signal transmitting array. For example, in marine exploration operations, the towing device can be a ship.

[0065] like Figure 1 As shown, Figure 1 The present invention provides a method for processing towed cable exploration navigation positioning data, comprising the following steps:

[0066] S100: Acquire original navigation and positioning data, and pre-process the original navigation and positioning data to obtain first navigation and positioning data.

[0067] The preprocessing includes at least two gross error eliminations and at least two filterings.

[0068] The locator includes but is not limited to one or both of a relative global positioning system (RGPS) positioning device and a compass. The original navigation positioning data may include the original first positioning data. The original first positioning data may include one or more of the positioning coordinates of the locator (RGPS) on the towed cable, the measurement angle of the locator (compass), the depth of the locator (compass), and the positioning coordinates of the locator (RGPS) on the source. The original navigation positioning data may also include but is not limited to the navigation positioning engineering parameter header, the triggering time of the seismic gun array shot point (signal emission time), the navigation geographic parameters, and the data measured by the detector. The locator may be but is not limited to a compass; the navigation positioning engineering parameter header includes but is not limited to the real-time parameters of the gun array system, the real-time parameters of the towed cable system, and the seismic recording status parameters; the navigation geographic parameters include but are not limited to the positioning device code, the relative coordinate offset, the operation projection coordinate parameters, and the RGPS observation configuration.

[0069] Specifically, gross errors are those data in the original navigation positioning data that seriously deviate from the facts, such as Figure 2 As shown, Figure 2 is a schematic diagram of three types of gross errors, Figure 2 (a) is a schematic diagram of discrete gross errors. Figure 2 (b) is a schematic diagram of singular value gross errors. Figure 2 (c) is a schematic diagram of continuous gross errors.

[0070] An improved threshold algorithm using a moving window and a curve fitting algorithm based on weighted iterative robust estimation are used to eliminate gross errors from original navigation and positioning data to obtain navigation and positioning data after gross errors have been eliminated. The order of using the improved threshold algorithm using a moving window and the curve fitting algorithm based on weighted iterative robust estimation is not limited. In this embodiment, a method is provided in which the improved threshold algorithm using a moving window is first used to eliminate gross errors from original navigation and positioning data, and then the curve fitting algorithm based on weighted iterative robust estimation is used to eliminate gross errors from the original navigation and positioning data after the first gross errors have been eliminated to obtain navigation and positioning data after gross errors have been eliminated.

[0071] The navigation positioning data after eliminating gross errors is filtered using a first-order lag filtering algorithm and a Gaussian filtering algorithm to obtain first navigation positioning data, wherein the order of using the first-order lag filtering algorithm and the Gaussian filtering algorithm is not limited. In the present embodiment, a method is provided for performing a first filtering on the navigation positioning data after eliminating gross errors using a first-order lag filtering algorithm, and performing a second filtering on the first filtered navigation positioning data using a Gaussian filtering algorithm to obtain first navigation positioning data.

[0072] S200: Perform interpolation processing on the first navigation positioning data to obtain second navigation positioning data.

[0073] The second navigation positioning data includes the first positioning data synchronized with the shot point time, and the first positioning data includes the measured angle and measured distance of the locator.

[0074] Among them, the second navigation positioning data may include the first positioning data synchronized with the shot point moment, the data measured by the detector synchronized with the shot point moment and the depth of the locator synchronized with the shot point moment. Similarly, the second navigation positioning data may also include but is not limited to the navigation positioning engineering parameter header, the seismic gun array shot point trigger time (signal emission time), the positioning equipment code and the relative coordinate offset.

[0075] The measured distance may be, but is not limited to, the length of the tow between two positioning points or the corrected length of the tow between two positioning points.

[0076] Specifically, the first navigation positioning data is interpolated in sequence using the Lagrange interpolation algorithm and the Neville interpolation algorithm, and the original first positioning data in the first navigation positioning data is synchronized to the shot point time to obtain the second navigation positioning data. There is no restriction on the order of using the Lagrange interpolation algorithm and the Neville interpolation algorithm.

[0077] S300, correcting the measurement angle to obtain the observation angle of the positive non-directional auxiliary traverse, substituting the observation angle and the measurement distance into the adjustment equation of the non-directional auxiliary traverse to obtain the third navigation positioning data.

[0078] Among them, the positioning point on the tow cable is the pending point on the non-directional attached wire. In the present invention, the positioning point includes but is not limited to the towing point, the compass point and the tail mark. During the adjustment, the positioning point is used as the pending point on the non-directional attached wire. The towing point and the tail mark are the pending points with known coordinates, and the compass point is the pending point with unknown coordinates.

[0079] The adjustment equations of the non-directional auxiliary traverse include a preset direction error equation, a preset distance error equation and a preset observation equation.

[0080] The third navigation positioning data includes but is not limited to the measured angle after adjustment obtained by using the non-directional attached wire adjustment, the measured distance after adjustment, the coordinates of the point to be determined after adjustment and the depth of the locator synchronized with the shot point time; the third navigation positioning data can also include the navigation positioning engineering parameter header, the seismic gun array shot point trigger time (signal emission time), the positioning equipment code and the relative coordinate offset.

[0081] Specifically, in the actual process, the non-directional attached wire is a broken line, and the actual shape of the drag during the movement is a curve. In order to better reduce the error, the present invention does not directly use the measured angle of the compass as the observation angle of the non-directional attached wire when performing the non-directional attached wire adjustment. First, the observation angle of the non-directional attached wire is corrected using the measured angle, and then the observed angle is substituted into the preset direction error equation to obtain the measured angle after adjustment, and the measured distance is substituted into the preset distance error equation for adjustment to obtain the measured distance after adjustment, and the coordinates of the undetermined point after adjustment are obtained according to the measured angle after adjustment and the measured distance after adjustment.

[0082] S400: Perform parameter fitting on the third navigation and positioning data to obtain fourth navigation and positioning data, and calculate the coordinates of the observation point according to the fourth navigation and positioning data and the original navigation and positioning data.

[0083] Among them, the fourth navigation and positioning data includes but is not limited to several of the measurement angle after adjustment, the coordinates of the points to be determined after adjustment, the depth of the detection points and the coordinates of the detection points, but should at least include the depth of the detection points and the coordinates of the detection points. The fourth navigation and positioning data can also include navigation and positioning engineering parameter header, seismic gun array shot point trigger time (signal emission time), positioning equipment code and relative coordinate offset, gun number (source trigger number), ship position, source coordinates and tail mark coordinates and other navigation and positioning information.

[0084] The observation point coordinates include but are not limited to the coordinates of the ship position, earthquake source, and RGPS mark.

[0085] Specifically, parameter fitting is performed on the third navigation positioning data to obtain a streamer model, the streamer model includes a number of arcs, geometric parameters of the arcs are calculated, and the coordinates of the detection points are obtained according to the geometric parameters of the arcs and the coordinates after adjustment.

[0086] Then, segmented fitting is performed based on the adjusted coordinates and measured depth to obtain the depth curve of the towed cable, and the depth of the detector is obtained based on the depth curve.

[0087] Finally, the coordinates of the source, the center of each receiving channel of the streamer, and the tail mark are obtained according to the relative coordinate offset (RGPS relative distance) of the original navigation positioning data, the positioning coordinates of the RGPS on the source, and the coordinates of the detection point of the fourth navigation positioning data. The position of the seabed reflection point (CMP point, called the common depth reflection point) from the source to each center of the streamer is calculated. Seismic processing obtains a complete and clear seabed stratigraphic profile of the survey line by superimposing the reflected waves and refracted waves of the CMP. By analyzing the profile, geophysical prospectors can understand the geological structure of the seabed in the sea area, the distribution of minerals, and the characteristics of possible oil and gas storage strata.

[0088] S500: Output the fourth navigation positioning data and the observation point coordinates as final navigation positioning data.

[0089] Specifically, the original navigation and positioning data is in UKOOA P2 / 94 format. When outputting, the fourth navigation and positioning data and the observation point coordinates are stored in UKOOA P1 / 90 format to form the final navigation and positioning data.

[0090] In some embodiments, S100 pre-processes the original navigation positioning data to obtain first navigation positioning data, specifically including:

[0091] S110, using a threshold algorithm improved by a moving window and a curve fitting algorithm based on weighted iterative robust estimation to eliminate gross errors from the original navigation positioning data, to obtain navigation positioning data after eliminating gross errors.

[0092] Specifically, for the original navigation positioning data sequence x i ={x 1 ,...,x n}, obeys the normal distribution, where x~N(μ,σ), if x i The conditions that satisfy formula (1-1) are:

[0093] |x i -μ|>kσ(k=1,2,3; i=1,...,n) (1-1)

[0094] Among them, μ is the average value of the original navigation positioning data, σ is the standard deviation of the original navigation positioning data, and k can take any value of 1, 2, or 3.

[0095] Then we assume that x i The gross error is eliminated to obtain the navigation positioning data after the first elimination, where k determines the size of the threshold range.

[0096] In some embodiments, considering that it is impossible to process all the original navigation positioning data at once, the threshold algorithm improved by the moving window is used to perform the first gross error elimination, which includes the following steps: the entire sequence of original navigation positioning data to be processed can be divided into a number of small data segments, and then the moving window is used to perform the threshold method gross error detection on the data in the data segment, as shown in formula (1-2):

[0097] |x i1 -x i1 |>ks i1 (k=1,2,3; i1=1,...,t) (1-2)

[0098] Among them, x i1 ={x 1 ,...,x t} is the small data segment that enters the moving window each time, t is the size of the moving window, x i1is the mathematical expectation of the data in each moving window, k is the threshold range, s i1 is the standard deviation of the small data segment that enters the moving window each time.

[0099] When filtering different navigation positioning data, the size of the moving window can be set to different values.

[0100] like Figure 3-4 As shown, Figure 3 It is a comparison chart of the compass point data before and after filtering with a moving window of 5. Figure 4 This is a comparison diagram of the RGPS data before and after filtering with a moving window of 11. It can be seen from the figure that the improved threshold method can achieve better filtering effect and can be better consistent with the original data.

[0101] The raw navigation positioning data after the first gross error elimination is subjected to a second gross error elimination using a curve fitting algorithm based on weighted iterative robust estimation, which specifically includes the following steps:

[0102] Substitute the original navigation positioning data into the observation equation based on weighted iterative robust estimation, as shown in formula (1-3):

[0103] y=a+bt1+ct1 2 (1-3)

[0104] Among them, y is the first positioning data of the original navigation positioning data, the data measured by the detector or the data of the signal source, t1 is the time in the original navigation positioning data, and a, b, and c represent polynomial coefficients.

[0105] The observation equation based on weighted iterative robust estimation is modified into a new matrix observation equation, as shown in formula (1-4):

[0106]

[0107] Among them, Y represents the original navigation positioning data matrix, B and l represent the coefficient matrix, Represents the time matrix.

[0108] Adjustment is performed according to formula (4) to obtain the polynomial coefficient matrix C as shown in formula (1-5):

[0109] C=(B T PB) -1 B T Pl (1-5)

[0110] Where T represents transposition, P is the weight matrix of the weighted iterative observation value (original navigation positioning data), P = v i / δ,v iis the residual of the original navigation positioning data, δ is the error of the first positioning data, v i =BC-Y T .

[0111] The calculated residuals of the original navigation positioning data are used to calculate the weight matrix of the original navigation positioning data in the next adjustment process using the given weight rule function; in the iterative process, the observations containing gross errors are used to reduce the residual v in the previous adjustment process. i The weight of the original navigation positioning data is greater than the preset value, until the weight is less than the preset value, the preset value tends to zero, and after a preset number of iterations, the residual v i If it is still greater than the preset value, it is considered that the first positioning data contains gross errors and is eliminated. For example, the weighted iteration process is performed until the difference Δv between the two solutions (observation value solution value) is i If the error limit (δmax) (the error limit of the first positioning data) is met, the iteration is terminated to obtain the navigation positioning data after eliminating the gross error.

[0112] The use of a weighted iterative robust estimation curve fitting method not only reduces the problem of the classical least squares method's over-reliance on data distribution, which leads to a weakening of the ability to resist gross errors, but also reduces the problem of a simple curve fitting causing a serious deviation from the original measured value of the measured data. Using this method to estimate the original navigation positioning data can well reduce the large distortion caused by the model estimation parameters, and obtain the best or near-optimal data in the normal mode.

[0113] S120 , filtering the navigation positioning data after eliminating gross errors using a first-order lag filtering algorithm and a Gaussian filtering algorithm to obtain first navigation positioning data.

[0114] Specifically, considering that the collection of navigation positioning data (such as dual-ship seismic positioning data) is often not at equal time intervals, the time intervals range from a few seconds to more than ten seconds, the influence of time factors on data fluctuations will become greater, and the longer the time interval, the smaller the impact on the next data will be, that is, the time interval factor will have a smaller impact on the next filtering result. The present invention uses an improved first-order lag filtering algorithm to perform the first filtering on the navigation positioning data after removing gross errors, as shown in formula (2-2):

[0115]

[0116] in, is the data at time k in the navigation positioning data after removing gross errors, is the previous filtering result, P t is the time weight factor, P vIt is the fluctuation weight factor. The time weight factor mainly plays the role of gradual memory fading, which is used to express the influence of time on the next data, so as to reduce the influence on the subsequent filtering results.

[0117] P t The value of is shown in formula (2-3):

[0118]

[0119] Among them, a 1 is the filter coefficient, which can be determined based on the time interval, t k is the measurement time, t k-1 is the time of the last measurement.

[0120] P v The value of is shown in formula (2-4):

[0121]

[0122] Among them, δ 1 It is the error of navigation positioning data after eliminating gross errors.

[0123] According to the different types of measurement values ​​in the navigation positioning data after eliminating gross errors, it is necessary to select appropriate weight factors according to different characteristics. If the measurement value sampling interval is small (such as RGPS measurement value), the proportion of time weight factor can be appropriately increased to better weaken the influence of noise; if the sampling interval is large, the influence of time on the observation data will be reduced, and the proportion of time weight factor should be reduced to reflect the actual changes in the observation value.

[0124] After the first filtering, the navigation positioning data after the first filtering is filtered for the second time using the Gaussian filtering algorithm to obtain the first navigation positioning data. i2 (t0), i2 = 1, 2, ..., N, and convolve it with a Gaussian curve distribution weight function to obtain x i2 The smoothed value x at (t0) i2 , (t0), as shown in formulas (2-5)-(2-6):

[0125]

[0126]

[0127] Among them, p i2 is the weight of the navigation positioning data after the first filtering, N is the length of the navigation positioning data sequence after the first filtering (the number of data points), a 2is the bandwidth of the Gaussian weight function, which has the same dimension as the time parameter t0. It is essentially a simple weighted average of the navigation positioning data after the first filtering. i2 , the time parameter t0 of (t0) j2 The closer the first filtered navigation positioning data is, the greater the weight is, and the closer it is to t0 j2 The farther the measurement data is, the smaller its weight is.

[0128] The change in the size of the weight of the navigation positioning data sequence after the first filtering follows a Gaussian curve distribution relationship. In this case, the bandwidth a 2 It plays a role in controlling the filtering effect. 2 When the value is large, more navigation positioning data after the first filtering plays a role in determining the weighted average, and a smoothed value with stronger smoothness is obtained: when a 2 When the value is small, that is, less navigation positioning data after the first filtering plays a role in determining the weighted average, and a smoothed value with weaker smoothness is obtained, that is, the number of navigation positioning data after the first filtering that plays a role in determining the weighted average is equal to a. 2 The values ​​are positively correlated.

[0129] Gaussian weighted function filtering can resist gross errors, can filter all data, will not lose the data at both ends of the navigation positioning data sequence after the first filtering, and is suitable for equally spaced and unequally spaced data.

[0130] In some embodiments, step S200 performs interpolation processing on the first navigation positioning data to obtain the second navigation positioning data, which specifically includes:

[0131] S210: Perform a first interpolation on the first navigation positioning data using a Lagrange interpolation algorithm to obtain first interpolated navigation positioning data.

[0132] Specifically, in the original navigation positioning data, the first positioning data and the data measured by the detector are not recorded at the time of source excitation, such as the positioning coordinates of the RGPS positioning device, the measurement angle of the locator, the depth of the locator and the data measured by the detector. Generally, the original measurement data of various locators are recorded in real time between two or more excitations. The purpose of processing the original navigation positioning data is to find the position of each detector in the seismic detector group at the time of source excitation.

[0133] For a certain polynomial function, there are k+1 different data points of the first navigation positioning data on the known interval [a1, b1] (t 0 ,x 0 ),...,(t k ,t k ), where t jcorresponds to the position of the independent variable, that is, the time of the first navigation positioning data, and x j Corresponding to the value of the function at this position, that is, at time t j The first navigation positioning data. The unimproved Lagrange polynomial interpolation algorithm is shown in (3-1):

[0134]

[0135] Among them, each l j (t) is the Lagrange basic polynomial, and its expression is shown in formula (3-2):

[0136]

[0137] Lagrange basic polynomial l j The characteristic of (t) is that j The value is 1 at other points. i , the value is 0 when i≠j.

[0138] The improved Lagrange interpolation method is an improvement of the Lagrange interpolation method. In the Lagrange interpolation method, the polynomial l(t) is defined, and its specific formula is (3-3):

[0139] l(t)=(tt 0 )(tt)…(tt k ) (3-3)

[0140] The above Lagrange basic polynomial l j Substitute (t) into l(x) and rewrite the Lagrange basic polynomial into formula (3-4):

[0141]

[0142] According to the improved Lagrangian basic polynomial l j (t), define the center of gravity weight ω j As shown in formula (3-5):

[0143]

[0144] Improved Lagrange basic polynomial l j (t) can be simplified to formula (3-6):

[0145]

[0146] The improved Lagrange interpolation polynomial is shown in formula (3-7):

[0147]

[0148] According to the mapping relationship of the function, the first navigation positioning data point (t 0 ,x 0 ),...,(t k ,t k ) is substituted into the improved Lagrange interpolation polynomial to obtain the first navigation positioning data at time t after the first interpolation, that is, the navigation positioning data after interpolation.

[0149] S220: Perform a second interpolation on the navigation positioning data after the first interpolation by using the Neville interpolation algorithm to obtain second navigation positioning data.

[0150] Specifically, the time in the first interpolated navigation positioning data and the first positioning data are used as the given data point (t 0 ,x 0 ),...,(t k ,t k ), according to these (t 0 ,x 0 ),...,(t k ,t k ) can get the polynomial of each time point, and the first positioning data of the interpolation point can be obtained according to the polynomial (t i , f(t i )).

[0151] At each time point, the polynomial sequence at each time point can be obtained by formula (3-8):

[0152] T i,0 =f(t i )

[0153]

[0154] Among them, T i,j Yes i The jth polynomial of .

[0155] According to formula (3-8), we can get the following polynomial sequence:

[0156]

[0157] When T is met i，i Satisfy the conditions |T i，i -T i-1，i-1 |≤ε (ε represents the allowable error), T i，i The first positioning data is at t i Interpolation at .

[0158] From the above Neville interpolation method, we can see that the closer the data point is to the interpolation point, the greater the weight will be, that is, the weight of the data point is negatively correlated with the distance to the interpolation point, which fully considers the influence of time factors. In addition, when a new data point needs to be inserted, the calculation order of the process in the Neville interpolation method is directly in T i,i You can continue to add nodes later without having to recalculate all the coefficients. When the accuracy does not meet the required conditions, you can add several nodes, and the previous calculations are still completely valid. The Neville interpolation method has a relatively simple program and low time complexity. It can also automatically select data points and gradually compare accuracy.

[0159] In some embodiments, Figure 5 As shown, Figure 5 It is a schematic diagram of the towing shape of the survey area located east of the central meridian of a projection zone in the northern hemisphere. In the figure, point A is located on the towing equipment, such as on the exploration ship, which is called the shipboard towing point in the double-ship seismic positioning; points B and C are the positions of the locators on the tow cable, such as the compass node positions; the red line represents the tow cable; the dotted line in the figure represents the tangent direction of the positioning point, and the compass measures the tangent angle α of the tangent direction of the tow cable at this point i As in step S300, the positioning points on the A, B and C streamers are also the undetermined points on the non-directional auxiliary wire. Step S300 corrects the measured angle to obtain the observation angle of the non-directional auxiliary wire, which specifically includes:

[0160] S310, converting the measured angle of each to-be-determined point into a coordinate north direction angle.

[0161] Among them, some measured angles are true north directions, and some measured angles are magnetic north directions.

[0162] Specifically, in actual applications, the measuring angle of the compass on the streamer is not like the turning angle in the non-directional traverse. The streamer has a certain toughness and exists in a smooth arc in the ocean. Figure 5 As shown, the magnetic north direction is west of the true north direction, and the magnetic azimuth δ is negative; the true north direction is east of the coordinate north direction, and the meridian convergence angle γ is positive.

[0163] In some embodiments, the measured angle of point A is measured by a navigation compass, and the measured angle is the true north direction angle. The measured angles of point B and all subsequent undetermined points are measured by a compass, and the measured angle is the magnetic north direction angle.

[0164] Determine whether the measured angle is the true north direction angle or the magnetic north direction angle. If the measured angle is the true north direction angle, convert it to the coordinate north direction angle = measured angle + meridian convergence angle. For example, the coordinate north direction angle of point A is α1 1 =α 1+γ; if the measured angle is the magnetic north direction angle, convert it into the coordinate north direction angle = measured angle + magnetic azimuth δ + meridian convergence angle γ, for example, the coordinate north direction angle of point B is α1 2 =α 2 +δ+γ.

[0165] S320 , comparing the measured angle of the i-th point to be determined with the measured angle of the i+1-th point to be determined.

[0166] Wherein, i is a natural number greater than 1, and the i+1th undetermined point represents the next undetermined point after the i-th undetermined point.

[0167] Specifically, the measurement angle of the first positioning data can be traversed according to the dragged positioning points (the pending points without directional attached wires), for example, traversing in sequence starting from point A, comparing the measurement angle of the i-th pending point with the measurement angle of the i+1-th pending point, and executing step S330a or S330b according to the comparison result.

[0168] S330a: If the measured angle of the i-th point to be determined is equal to the measured angle of the (i+1)-th point to be determined, obtain the observation angle of the i-th point to be determined according to the coordinate north angle of the i-th point to be determined.

[0169] Specifically, when the measured angle of the i-th undetermined point is equal to the measured angle of the i+1-th undetermined point, the drag is treated as a straight line. At this time, the observation angle of the i-th line segment in the undirected auxiliary wire = the coordinate north direction angle of the i-th undetermined point.

[0170] S330b. If the measured angle of the i-th undetermined point is greater than or less than the measured angle of the i+1-th undetermined point, the observation angle of the i-th undetermined point is obtained according to the coordinate north direction angle of the i-th undetermined point and the difference between the measured angle of the i+1-th undetermined point and the measured angle of the i-th undetermined point.

[0171] Specifically, when the measured angle of the i-th undetermined point is less than the measured angle of the i+1-th undetermined point, the observation angle of the i-th undetermined point = the coordinate north direction angle of the i-th undetermined point + (the difference between the measured angle of the i+1-th undetermined point and the measured angle of the i-th undetermined point) / 2, that is, when α i+1 >α i When the observation angle of the i-th point to be determined is Simplified to

[0172] When the measured angle of the i-th undetermined point is greater than the measured angle of the i+1-th undetermined point, the observation angle of the i-th undetermined point = the coordinate north direction angle of the i-th undetermined point - (the difference between the measured angle of the i+1-th undetermined point and the measured angle of the i-th undetermined point) / 2, that is, when α i+1 <α i When the observation angle of the i-th point to be determined is Simplified to

[0173] In some embodiments, step S300 substitutes the observation angle and the measured distance into the adjustment equation of the non-directional auxiliary wire to obtain the third navigation positioning data, which specifically includes:

[0174] S340, substituting the observation angle into a preset direction error equation to obtain an optimal solution for the angle error.

[0175] Specifically, the observation angle calculated in steps S330a-S330b is used as the turning angle of the non-directional auxiliary wire.

[0176] Assuming that there are t compass points, 1 towing point and 1 tail mark on a towing cable, the bending degree of the cable is very small. Therefore, in the present invention, the length of the cable between two compass points is directly used as the observation distance. For t compass points, the observation distance is L1 i (i=2~g+1), observation angle is α2 i (i=2~g+1), the preset direction error equation is shown in formula (4-1):

[0177]

[0178] Where j = i + 1, is the X-axis coordinate correction number of the point i to be determined, is the Y-axis coordinate correction number of the point i to be determined, is the X-axis coordinate correction number of the point j to be determined, is the Y-axis coordinate correction number of the point j to be determined, is the observation angle α2 i of error.

[0179] a ij and b ij As shown in formula (4-2):

[0180]

[0181] in, is the X-axis coordinate of the point j to be determined before adjustment, is the approximate Y-axis coordinate of the point j to be determined, The approximate X-axis coordinate of the point i to be determined, is the approximate Y-axis coordinate of the point i to be determined, and ρ" is the observation distance correction coefficient.

[0182] Substitute the approximate coordinate measurement angle of the unknown point i and the approximate coordinates of the unknown point j into (4-1) to find the optimal solution for the correction number and obtain the angle error The optimal solution is that the approximate coordinates of the compass point can be calculated from the measured angle and the measured distance.

[0183] For the towing point, it is taken as the first undetermined point of the non-directional attached wire, and the second undetermined point is compass point 2. The approximate coordinates of the towing point are measured by RGPS, and its coordinates can be calculated based on the survey ship parameters and trigonometric function relationships. No correction number is required. At this time, the preset direction error equation of the first compass point is shown in formula (4-3):

[0184]

[0185] in, is the X-axis coordinate correction number of the point 2 to be determined, is the Y-axis coordinate correction number of the undetermined point 2, is the observation angle α2 1 of error.

[0186] Substitute the approximate coordinates of the towing point, the measured angle and the approximate coordinates of the first compass point into formula (4-3) to find the optimal solution for the correction number and obtain the angle error Optimal solution.

[0187] For the tail beacon, the approximate coordinates of the tail beacon are measured by RGPS, which is equivalent to a known coordinate point. There is no compass or other locator installed at the tail of the towed vehicle. The observation angle of the tail beacon is derived according to the tangential direction of the previous undetermined point (compass point g+1). At this time, the preset direction error equation of the tail beacon is shown in formula (4-4):

[0188]

[0189] Among them, (X TB ,Y TB ) is the RGPS "clean" coordinate value, which can be calculated based on the trigonometric function relationship. are the approximate coordinates of RGPS, is the X-axis coordinate correction of the compass point g+1, is the Y-axis coordinate correction of the compass point g+1, is the observation angle α2 g+2 of error.

[0190] Substitute the approximate coordinates of the tail mark and the measured angle into formula (4-3) to find the optimal solution for the correction number and obtain the angle error Optimal solution.

[0191] In some embodiments, several navigation reference points (NRPs) may be set between the compass points on the towed vehicle, which are equivalent to known points on the towed vehicle. When adjusting these navigation reference points, the processing method of the towed points or tail points is referred to.

[0192] S350, substituting the measured distance coordinates into a preset distance error equation to obtain an optimal solution for the distance error.

[0193] Specifically, the bending degree of the tow is very small, so in the present invention, the length of the tow between two to-be-determined points is directly used as the measurement distance.

[0194] For the t-German compass points, the measured distance is L1 i (i=2~g+1), the preset distance error equation is shown in formula (4-4):

[0195]

[0196] in, is the difference in the X direction between the approximate coordinates of the undetermined point i and the undetermined point j, is the measured distance L1 between the undetermined point i and the undetermined point j i , is the distance error.

[0197] For the towing point, the preset distance error equation is shown in formula (4-5):

[0198]

[0199] in, is the difference in the X direction between the approximate coordinates of the towing point and the approximate coordinates of the compass point closest to it, is the observed distance L1 between the towing point and the compass point closest to it 1 , is the distance error.

[0200] For the tail mark, there is no undetermined point behind it. The observed coordinates of the tail mark are derived according to the approximate coordinates of the previous undetermined point (compass point g+1). The preset distance error equation is shown in formula (4-6):

[0201]

[0202] in, is the difference in the X direction between the tail mark and the approximate coordinates of the compass point g+1, is the approximate coordinate of RGPS (original coordinate), is the observed distance between the compass point g+1 and the tail mark.

[0203] According to the type of the point to be determined, such as compass point, towing point and tail mark, substitute the measured distance into the above formula (4-4) and formula (4-6) respectively to calculate the optimal solution and correction number of the distance error.

[0204] In some embodiments, several NRPs may be set between compass points on the towed pole, which are equivalent to known points on the towed pole. When adjusting these navigation reference points, the processing method of the towed points or tail points is referred to.

[0205] S360: Substitute the optimal solution of the angle error and the optimal solution of the distance error into a preset observation equation to obtain third navigation positioning data.

[0206] The third navigation positioning data may include error ellipse parameters in addition to the explanation in step S300.

[0207] Specifically, the preset observation equation includes a direction-derived observation equation and a distance-derived observation equation. For example, the direction-derived observation equation is shown in formula (4-7):

[0208]

[0209] Among them, α2 i is the observation angle calculated in steps S310-S330, is the optimal solution of the angle error calculated in step S340, is the observed angle after adjustment.

[0210] Similarly, the optimal solution of the distance error can be substituted into the distance derivation observation equation to obtain the distance after adjustment.

[0211] If there are t2 conductor points in the towing network, then the number of unknown coordinates in the entire network is n = 2(t2). 1 The observed angles after adjustment and m 2 The distance after adjustment is substituted into the coordinate observation equation, and the total number of coordinate observation equations is m = m 1 +m 2 , the matrix composed of m coordinate observation equations is shown in formula (4-8):

[0212] V=AX+L (4-8)

[0213] Among them, V is the matrix composed of the adjusted observation angle and the adjusted distance, A is the matrix coefficient, L is the correction constant, and X is the coordinate of the point to be determined after adjustment.

[0214] According to formula (4-6), the covariance matrix of the adjusted coordinates is Q XX =(A T P 1 A) -1 , the matrix P 1 is the weight matrix of matrix V, from which the coordinates after adjustment can be solved, as shown in formula (4-9):

[0215] X=-QXX A T P 1 L (4-9)

[0216] Where T stands for transpose.

[0217] In some embodiments, for the coordinate X after adjustment obtained by the above solution, the accuracy estimation of the trolling network is the accuracy assessment of the wire observation results. Therefore, first of all, the above observation values, including the observation angle after adjustment and the priori mean error m after adjustment, are calculated. s and m R Unit weighted mean error The test is shown in formula (4-10):

[0218]

[0219] Among them, t s is the number of observation stations in the observation direction.

[0220] Due to the prior unit weighted mean error m assumed before adjustment 0 =1, so Valuation χ 2 The inspection should be: f is the degree of freedom of the trawling network, that is, the number of redundant observations in the trawling network (f = mnt s ).

[0221] When the haulage network adjustment program is used for the design of the haulage network, the simulated observation values ​​and the designed observation accuracy are input according to the designed network shape, and the unit weighted mean error m is still used. 0 = 1. The variance and covariance matrix of the adjusted coordinates are obtained according to the covariance matrix of the unknowns and the unit weight error.

[0222] The variance-covariance matrix of the adjusted coordinates is expressed as: Same as above (4-9), passed the test.

[0223] Point error ellipse parameters (major semi-axis E, minor semi-axis F and azimuth φ of the major semi-axis) 0 ) is calculated as shown in (4-11):

[0224]

[0225] Among them, m x is the variance of the X-axis coordinate after compass point adjustment, m y is the variance of the Y-axis coordinate after compass point adjustment, m xy is the covariance of the adjusted coordinates.

[0226] like Figure 6 As shown, Figure 6 It is a comparison chart before and after the dragging adjustment. The solid arc in the figure represents the dragging before adjustment, and the dotted arc represents the dragging after adjustment. In the figure, RGPS-RGPS measurement point, NS1-compass point before adjustment, NS2-compass point after adjustment, Φ-processed dragging deflection angle. Through the above adjustment process, the coordinates and error ellipse parameters of each positioning point (compass point) in the dragging network after adjustment can be obtained.

[0227] In some embodiments, the adjustment equation of the S300 non-directional adjoining traverse is obtained by the following method:

[0228] S370. According to the principle of non-directional and traverse adjustment, the reference direction error equation and the reference distance error equation are obtained.

[0229] Specifically, for any undirected auxiliary wire, the high-level control points at both ends are known, g is the number of undirected wire points, L jk (j=1~g+1) is the direction value (turning angle) of the observed guiding edge jk, s i (i=1~g+1) is the observed side length (observed distance). Each station has an orientation angle, which is the position parameter in the direction coordinate adjustment. Let its adjustment value be Then we have formula (5-1):

[0230]

[0231] From (5-1), we can get the error equation in the jk direction as shown in formula (5-2):

[0232]

[0233] in, is the adjustment value of the azimuth in the jk direction.

[0234] Assume that points j and k are both undetermined points, and their approximate coordinates (measured side) are and Based on these approximate coordinates, the approximate coordinate azimuth between points j and k can be calculated. The approximate side length is and the approximate value of the orientation azimuth is Suppose the approximate coordinate corrections of these two points are and The corrected coordinates are shown in formula (5-3):

[0235]

[0236] Correction number by approximate coordinates and The approximate coordinate azimuth correction caused is δα jk, The adjustment value of the azimuth in the jk direction is as shown in formula (5-4):

[0237]

[0238] Now find the coordinate correction number and the coordinate azimuth correction factor δα jk The linear relationship between them can be obtained from the relationship between angle and coordinates (5-5):

[0239]

[0240] Expanding formula (5-5) according to Taylor's formula, we can get (5-6):

[0241]

[0242] Among them, arctan(.) represents the inverse tangent function, express exist The partial derivative with respect to the abscissa at The meanings are similar.

[0243] In formula (5-6), the first term on the right is the approximate coordinate azimuth calculated from the approximate coordinates. By comparing (5-4), we can get formula (5-7):

[0244]

[0245] Simplifying formula (5-7) we can get formula (5-8):

[0246]

[0247] Where ρ" is the side length correction coefficient (second-order derivative coefficient).

[0248] make:

[0249]

[0250] Then the error equation in the jk direction can be written as (5-10), that is, the error equation in the reference direction is shown in formula (5-10):

[0251]

[0252] In formula (5-10), the constant term is:

[0253]

[0254] According to the relationship between side length and coordinates, we can get the formula (5-8) As shown in formula (5-12):

[0255]

[0256] A similar derivation method can be used to obtain the side length error equation of the non-directional attached conductor as formula (5-13), which is the reference distance error equation:

[0257]

[0258] S380: Obtain a preset direction error equation according to a reference direction error equation and the original navigation positioning data, and obtain a preset distance error equation according to a reference distance error equation and the original navigation positioning data.

[0259] The preset direction error equation may include one or more of a preset direction error equation of a towing point, a preset direction error equation of a compass point, or a preset direction error equation of a tail mark.

[0260] The preset distance error equation may include one or more of a preset distance error equation of a towing point, a preset distance error equation of a compass point, and a preset distance error equation of a tail mark.

[0261] In the original navigation positioning data, the angle and coordinates of the towed positioning point (the undetermined point without directional attached wire) include RGPS measurement values ​​and compass bird measurement values ​​(streamer sinking depth and magnetic north azimuth). Generally speaking, in the original navigation positioning data, the original first positioning data of the towing point and the tail mark are measured by RGPS, and the original first positioning data of the positioning point between the towing point and the tail mark are measured by compass.

[0262] Specifically, in this case, according to the type of the first positioning data in the original navigation positioning data, it is confirmed whether it is a towing point, a compass point or a tail mark. If it is a compass point, the correction formula (5-10) is used to obtain the preset direction error equation (4-1) of the compass point; if it is a towing point, the correction formula (5-10) is used to obtain the preset direction error equation (4-3) of the towing point; if it is a tail mark, the correction formula (5-10) is used to obtain the preset direction error equation (4-4) of the tail mark.

[0263] If it is a compass point, correct formula (5-13) to obtain the preset distance error equation (4-4) of the compass point; if it is a towing point, correct formula (5-13) to obtain the preset distance error equation (4-5) of the towing point; if it is a tail mark, correct formula (5-13) to obtain the preset distance error equation (4-6) of the tail mark.

[0264] In some embodiments, Figure 7 As shown, Figure 7It is a schematic diagram of a dragging model obtained by fitting navigation data after adjustment. In the figure, the blue arc represents an intercepted dragging arc, A and B represent two positioning points therein, and the third navigation positioning data also includes the coordinate north direction angle of the point to be determined; step S400 performs parameter fitting on the third navigation positioning data to obtain the fourth navigation positioning data, which specifically includes:

[0265] S410, calculating the geometric parameters of the arc according to the coordinate north angle of the point to be determined and the coordinates after adjustment.

[0266] The streamer includes a plurality of arcs, the i-th arc is an arc between the i-th pending point and the i+1-th pending point, and each arc includes a plurality of detection points.

[0267] The geometric parameters include the radius of the arc, the central angle, the chord length l between the detection point and the i-th undetermined point, and the central angle of the chord length l.

[0268] Specifically, the i-th arc (a drag) between any i-th pending point and the i+1-th pending point is calculated according to the north direction angle α1 of the i-th pending point. i and the coordinate north direction angle α1 of the i+1th point to be determined i+1 Calculate the central angle α3 of the i-th arc i , as shown in formula (6-1):

[0269] α3 i =α1 i+1 —α1 i (6-1)

[0270] When α3 i Turn right when positive, turn left when negative.

[0271] Substituting the center angle of the i-th arc into the center angle formula (6-2), we can get the radius R of the i-th arc. i :

[0272]

[0273] Among them, L i is the length between two points to be determined.

[0274] After calculating the radius of the arc, the coordinates of any detector node on the arc can be obtained, such as point al in the figure, the arc length L i It is known that at this time, the central angle of the circle can be obtained as θ, and the coordinate azimuth of the chord length l can be obtained according to the central angle of the circle as β=α1 i ±θ / 2, the chord length l is calculated by trigonometric function relationship, as shown in formula (6-3):

[0275]

[0276] S420, obtaining the coordinates of the detection point according to the geometric parameters and the adjusted coordinates of the corresponding point to be determined.

[0277] Among them, the corresponding pending point of the detection point on the i-th arc is the i-th pending point;

[0278] Specifically, the coordinates of the detection point are obtained according to formula (6-4):

[0279]

[0280] Among them, (X i , Y i ) is the adjusted coordinate of the i-th point to be determined, (X node , Y node ) represents the coordinates of the corresponding detection point al, such as Figure 8-9 As shown, Figure 8 It is a relative offset diagram of the coordinates of the first detection point of the main ship's tow cable in a dual-ship survey. Fig. 9 It is a coordinate relative offset diagram of the first detection point of the auxiliary ship tow cable in a dual-ship exploration. The horizontal axis unit in the figure is meter, x-offset represents the relative deviation of the X-axis coordinate, y-offset represents the relative deviation of the Y-axis coordinate, and the horizontal axis represents the number of shot points and the sequence number of the source excitation.

[0281] S430, performing piecewise fitting according to the depth of the to-be-determined point and the adjusted coordinates of the to-be-determined point to obtain a depth curve of the towline, and obtaining the depth of the detection point according to the depth curve.

[0282] Specifically, for the vertical plane coordinates of the detection points, ie, depth positioning, considering the actual accuracy requirements, the present invention adopts a quadratic polynomial fitting method to solve.

[0283] According to the depth of the compass (the depth of the point to be determined), a temporary coordinate system can be established in the vertical plane. According to the actual length of the towline in the plane position process and the depth of the point to be determined, a curve fitting can be performed in the vertical plane to obtain a depth curve, such as Fig.10 As shown, Fig.10 It is a schematic diagram of a depth curve. The ordinate is the depth (unit: m), the abscissa is the position of the detector in the horizontal plane (unit: m), and steamer represents the detector, as shown in formula (6-5):

[0284] y d =a d +b d L1+c d L1 2 (6-5)

[0285] Among them, y drepresents the depth of the point to be determined, L1 represents the actual length of the towline calculated according to the coordinates of the point to be determined after adjustment, and a d 、b d 、c d They represent fitting parameters respectively. When fitting is completed, they are the parameters of the depth curve. One can select 4 to 5 undetermined points for fitting calculation to get the equation of each section. By connecting each section of the equation, the segmented fitting equation of the towline in the vertical plane can be obtained, that is, the depth curve, as shown in the figure.

[0286] Substitute the coordinates of the detection point into the independent variable of the depth curve to obtain the depth of the detection point.

[0287] Finally, the coordinates of the detection point in the plane coordinate system can be obtained by translating and rotating the coordinate system.

[0288] The implementation of the present invention includes the following beneficial effects: the present invention first performs two gross error elimination and two filtering processes to reduce the influence of gross errors and noise on data processing; then uses interpolation processing to synchronize the positioning data to the shot point time (in the original data, the time of signal transmission and the time of obtaining the positioning data are generally different), which can increase the accuracy of the data; then uses the positioning point on the towed basket as the pending point on the non-directional attached wire, and uses the positioning point as the principle of the non-directional attached wire to adjust the data. The non-directional attached wire value is calculated based on the line segment. In the present invention, it is considered that the movement state of the towed basket in actual conditions is an arc, and the measurement angle is corrected to obtain the observation angle of the positive non-directional attached wire, which can well simulate the actual position of each positioning point on the towed basket. Finally, the error between the navigation positioning data obtained by processing and the real navigation positioning data of the towed cable can be reduced.

[0289] like Fig.11 , Fig.11 The present invention is a structural schematic diagram of a processing device for streamer exploration navigation and positioning data. The present invention also provides a processing device for streamer exploration navigation and positioning data, including a first module, a second module, a third module, a fourth module and a fifth module, wherein:

[0290] The first module is used to obtain original navigation and positioning data, and preprocess the original navigation and positioning data to obtain first navigation and positioning data; the preprocessing includes at least two gross error eliminations and at least two filterings;

[0291] The second module is used to perform interpolation processing on the first navigation positioning data to obtain second navigation positioning data; the second navigation positioning data includes the first positioning data synchronized with the shot point time, and the first positioning data includes a measurement angle and a measurement distance;

[0292] The third module is used to correct the observation angle of the non-directional attached wire according to the measured angle, substitute the observation angle and the measured distance into the adjustment equation of the non-directional attached wire, and obtain the third navigation positioning data; the positioning point on the streamer is the undetermined point on the non-directional attached wire;

[0293] The fourth module is used to perform parameter fitting on the third navigation positioning data to obtain fourth navigation positioning data, and calculate the observation point coordinates according to the fourth navigation positioning data and the original navigation positioning data;

[0294] The fifth module is used to output the fourth navigation positioning data and the observation point coordinates as final navigation positioning data.

[0295] Specifically, the first module is also used to process the steps specifically included in step S100, the second module is also used to process the steps specifically included in step S200, the third module is also used to process the steps specifically included in step S300, the fourth module is also used to process the steps specifically included in step S400, and the fifth module is also used to process the steps specifically included in step S500.

[0296] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0297] like Fig.12 As shown, Fig.12 The invention also provides a processing system for towed cable exploration navigation and positioning data, comprising a data acquisition device and a computer device connected to the data acquisition device, wherein the data acquisition device comprises a towed device, a towed can, a locator and a seismic source, wherein the towed device is connected to the towed can, a locator is arranged on the towed can, and a locator is arranged on the seismic source; wherein,

[0298] Positioner, used to collect raw navigation and positioning data;

[0299] Towing equipment, used for towing and hauling;

[0300] The source is used to carry the gun array; the computer equipment includes:

[0301] at least one processor;

[0302] at least one memory for storing at least one program;

[0303] When at least one program is executed by at least one processor, the at least one processor implements the above method.

[0304] Specifically, the processing system may further include a detector, and the detector is located between the positioners.

[0305] The locator includes but is not limited to an RGPS locator and a compass, wherein the RGPS locator is used to measure the navigation positioning data of the towing point and the tail mark, and the compass is used to measure the navigation positioning data of the compass point. A tow truck may include more than two locators, and the system may include more than one tow truck.

[0306] The source can be but not limited to a gun array, the locator on the source can be an RGPS locator, the towing device can be but not limited to an exploration ship, and the number of towing devices can be more than one. When there are more than two towing devices, such as Fig.13 As shown, Fig.13 The present invention is a raw data processing flow of dual-ship navigation and positioning. In the figure, the alienation and reconstruction of dual-ship conductors (streamers) may include but are not limited to the processing of operation area facets and coverage BINs. In addition to the data in step S100, the raw navigation and positioning data may also include relative control parameters of positioning of multiple towing devices, such as relative control of dual-ship positioning.

[0307] Among them, the memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. The memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a remote memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0308] It can be seen that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0309] In addition, the embodiment of the present application also discloses a computer program product or a computer program, and the computer program product or the computer program is stored in a computer-readable storage medium. The processor of the computer device can read the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device performs the above method. Similarly, the contents in the above method embodiment are all applicable to the storage medium embodiment, and the functions specifically implemented by the storage medium embodiment are the same as those in the above method embodiment, and the beneficial effects achieved are also the same as those achieved by the above method embodiment.

[0310] The present invention also provides a computer-readable storage medium, which stores a program executable by a processor. The program executable by the processor is used to implement the above method when executed by the processor.

[0311] It is understood that all or some steps and systems in the disclosed method above can be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassette, magnetic tape, disk storage or other magnetic storage device, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0312] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0313] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A method for processing towline exploration navigation and positioning data, characterized in that: The following steps are involved: Acquire original navigation positioning data, and preprocess the original navigation positioning data to obtain first navigation positioning data; the preprocessing includes at least two gross error eliminations and at least two filterings; Interpolating the first navigation positioning data to obtain second navigation positioning data; the second navigation positioning data includes first positioning data synchronized with the shot point time, and the first positioning data includes a measurement angle and a measurement distance; Correcting the measurement angle to obtain the observation angle of the non-directional attached wire, substituting the observation angle and the measurement distance into the adjustment equation of the non-directional attached wire to obtain the third navigation positioning data; the positioning point on the streamer is the undetermined point on the non-directional attached wire; Performing parameter fitting on the third navigation and positioning data to obtain fourth navigation and positioning data, and calculating the coordinates of the observation point according to the fourth navigation and positioning data and the original navigation and positioning data; Outputting the fourth navigation positioning data and the observation point coordinates as final navigation positioning data; The adjustment equation of the non-directional auxiliary traverse includes a preset direction error equation, a preset distance error equation and a preset observation equation; Substituting the observation angle and the measured distance into the adjustment equation of the non-directional auxiliary wire to obtain the third navigation positioning data specifically includes: Substituting the observation angle into the preset direction error equation to obtain an optimal solution for the angle error; Substituting the measured distance into the preset distance error equation to obtain an optimal solution for the distance error; Substituting the angle error optimal solution and the distance error optimal solution into a preset observation equation to obtain third navigation positioning data; Wherein, the preset direction error equation is in the following form: Where j = i + 1, is the X-axis coordinate correction number of the point i to be determined, is the Y-axis coordinate correction number of the point i to be determined, is the X-axis coordinate correction number of the point j to be determined, is the Y-axis coordinate correction number of the point j to be determined, is the observation angle α2 i The error of a ij and b ij As shown below: in, is the X-axis coordinate of the point j before adjustment, Y j 0 is the approximate Y-axis coordinate of the point j to be determined, The approximate X-axis coordinates of the point i to be determined, Y i 0 is the approximate Y-axis coordinate of the point i to be determined, and ρ" is the observation distance correction coefficient.

2. The method according to claim 1, characterized in that The preprocessing of the original navigation positioning data to obtain the first navigation positioning data specifically includes: Using a threshold algorithm improved by a moving window and a curve fitting algorithm based on weighted iterative robust estimation to eliminate gross errors from the original navigation positioning data, so as to obtain navigation positioning data after eliminating gross errors; The navigation positioning data after eliminating gross errors is filtered using a first-order lag filtering algorithm and a Gaussian filtering algorithm to obtain the first navigation positioning data.

3. The method according to claim 1, characterized in that The interpolating the first navigation positioning data to obtain the second navigation positioning data specifically includes: Performing a first interpolation on the first navigation positioning data using a Lagrange interpolation algorithm to obtain first interpolated navigation positioning data; The Neville interpolation algorithm is used to perform a second interpolation on the navigation positioning data after the first interpolation to obtain the second navigation positioning data.

4. The method according to claim 1, characterized in that: The correcting of the measured angle to obtain the observation angle of the non-directional attached wire specifically includes: Converting the measured angle of each undetermined point into a coordinate north direction angle; the measured angle is a true north direction angle or a magnetic north direction angle; Compare the measured angle of the i-th undetermined point with the measured angle of the i+1-th undetermined point; i is a natural number greater than 1, and the i+1-th undetermined point represents the next undetermined point after the i-th undetermined point; If the measurement angle of the i-th undetermined point is equal to the measurement angle of the i+1-th undetermined point, the observation angle of the i-th undetermined point is obtained according to the coordinate north direction angle of the i-th undetermined point; If the measured angle of the i-th undetermined point is greater than or less than the measured angle of the i+1-th undetermined point, the observation angle of the i-th undetermined point is obtained according to the coordinate north direction angle of the i-th undetermined point and the difference between the measured angle of the i+1-th undetermined point and the measured angle of the i-th undetermined point.

5. The method according to any one of claims 1 to 4, characterized in that: The adjustment equation of the non-directional attached traverse includes a preset direction error equation and a preset distance error equation; the adjustment equation of the non-directional attached traverse is obtained by the following method: According to the non-directional and traverse adjustment principle, the reference direction error equation and the reference distance error equation are obtained; A preset direction error equation is obtained according to the reference direction error equation and the original navigation positioning data, and a preset distance error equation is obtained according to the reference distance error equation and the original navigation positioning data.

6. The method according to claim 1, characterized in that The third navigation positioning data includes the coordinate north direction angle, the coordinates after adjustment and the depth of the to-be-determined point, and the fourth navigation positioning data includes the coordinates of the detection point and the depth of the detection point; the parameter fitting of the third navigation positioning data to obtain the fourth navigation positioning data specifically includes: The geometric parameters of the arc are calculated according to the coordinate north angle of the undetermined point and the coordinates after adjustment; the towline includes a plurality of arcs, the i-th arc is the arc between the i-th undetermined point and the i+1-th undetermined point, and each arc includes a plurality of detection points; The coordinates of the detection point are obtained according to the geometric parameters and the coordinates of the corresponding undetermined point after adjustment; the corresponding undetermined point of the detection point on the i-th arc is the i-th undetermined point; According to the depth of the to-be-determined point and the adjusted coordinates of the to-be-determined point, segmented fitting is performed to obtain a depth curve of the towline, and the depth of the detection point is obtained according to the depth curve.

7. A device for processing towline exploration navigation and positioning data, characterized in that: It includes a first module, a second module, a third module, a fourth module and a fifth module, wherein: The first module is used to obtain original navigation and positioning data, and preprocess the original navigation and positioning data to obtain first navigation and positioning data; the preprocessing includes at least two gross error eliminations and at least two filterings; The second module is used to perform interpolation processing on the first navigation positioning data to obtain second navigation positioning data; the second navigation positioning data includes the first positioning data synchronized with the shot point time, and the first positioning data includes a measurement angle and a measurement distance; The third module is used to correct the measured angle to obtain the observation angle of the non-directional attached wire, substitute the observation angle and the measured distance into the adjustment equation of the non-directional attached wire, and obtain the third navigation positioning data; the positioning point on the streamer is the undetermined point on the non-directional attached wire; The adjustment equation of the non-directional auxiliary traverse includes a preset direction error equation, a preset distance error equation and a preset observation equation; Substituting the observation angle and the measured distance into the adjustment equation of the non-directional auxiliary wire to obtain the third navigation positioning data specifically includes: Substituting the observation angle into the preset direction error equation to obtain an optimal solution for the angle error; Substituting the measured distance into the preset distance error equation to obtain an optimal solution for the distance error; Substituting the angle error optimal solution and the distance error optimal solution into a preset observation equation to obtain third navigation positioning data; Wherein, the preset direction error equation is in the following form: Where j = i + 1, is the X-axis coordinate correction number of the point i to be determined, is the Y-axis coordinate correction number of the point i to be determined, is the X-axis coordinate correction number of the point j to be determined, is the Y-axis coordinate correction number of the point j to be determined, is the observation angle α2 i The error of a ij and b ij As shown below: in, is the X-axis coordinate of the point j before adjustment, Y j 0 is the approximate Y-axis coordinate of the point j to be determined, The approximate X-axis coordinates of the point i to be determined, Y i 0 is the approximate Y-axis coordinate of the point i to be determined, ρ" is the observation distance correction coefficient; The fourth module is used to perform parameter fitting on the third navigation and positioning data to obtain fourth navigation and positioning data, and calculate the coordinates of the observation point according to the fourth navigation and positioning data and the original navigation and positioning data; The fifth module is used to output the fourth navigation positioning data and the observation point coordinates as final navigation positioning data.

8. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform the method according to any one of claims 1 to 6 when executed by the processor.

9. A processing system for towed cable exploration navigation and positioning data, characterized in that: The invention comprises a data acquisition device and a computer device connected to the data acquisition device, wherein the data acquisition device comprises a towing device, a towing basket, a locator and a seismic source, wherein the towing device is connected to the towing basket, a locator is arranged on the towing basket, and a locator is arranged on the seismic source; wherein, The locator is used to collect the original navigation and positioning data; The towing equipment is used to tow the towing vehicle; The seismic source is used to carry the gun array; the computer equipment includes: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 6.

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