Multi-ship cooperative cannon control method and device

Abstract

The embodiment of the invention discloses a multi-ship cooperative cannon control method and device. The method comprises the steps that operation configuration processing is conducted on multiple ships; the main ship predicts the shot time of the next shot; if it is determined that the master ship triggers the boats according to the boats sequence, the master ship sends the boats time of the next boats to all the slave ships towing the cables; if it is determined that the cannon is triggered by the slave ship according to the cannon sequence, the master ship generates a random value, the excitation time of the slave ship is determined according to the random value and the cannon time of the next cannon, and the excitation time of the slave ship is sent to the slave ship waiting for cannon and all the slave ships towing cables; the gun-controlled excitation gun of the ship is triggered by the gun-sounding ship according to the gun-sounding time of the next gun or the excitation time of the ship, and the instrument of the ship is triggered by other ships with cables to acquire seismic data according to the gun-sounding time of the next gun or the excitation time of the ship, so that the problem of collaborative operation in marine towing multi-ship wide-azimuth seismic exploration is well solved; and the problem of seismic data aliasing caused by uncertain seismic source excitation time of several seismic source ships is effectively avoided.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of exploration technology, and specifically to a method and device for controlling multi-ship coordinated cannon fire. Background Art

[0002] With the continuous improvement of the exploration and development of offshore oil fields, all parties have gradually realized that the seismic data collected by the "two wides and one high" (wide bandwidth, wide azimuth, high precision) technology is of better quality and has better imaging of special geological bodies such as small faults and high and steep structures. Conventional single-ship towing operations can only form a narrow azimuth observation system, which has poor imaging effects on deep layers and special geological bodies. In addition, in three-dimensional work areas with large work areas and short data collection time requirements, the coordinated operation of multiple source ships alternating in firing can greatly improve construction efficiency, and the number of coverage will be doubled compared to single-ship towing operations.

[0003] At present, the main mode of coordinated operation of towed multi-ships is: each ship has an independent front-drawn line, that is, a line connecting the coordinates of the pre-defined theoretical shot points. After defining the shot reference point of the ship, it is independently predicted and controlled. When the shot reference point reaches the design point of the ship, the source or recording system of the ship is triggered. This method is similar to onshore seismic exploration and is an ideal method for offshore operations. The advantage is that the actual shot point position is closer to the front-drawn shot point. The disadvantage is that the time interval between shots is uneven. If the ship speed is not properly controlled, it is possible that one source ship has just arrived at the design point for triggering, and another source ship has also arrived at its design point for triggering. The time distance between the two shots is too close, resulting in aliasing of seismic data, which is unacceptable during the acquisition process. Summary of the invention

[0004] In view of the above problems, the present application is proposed to provide a method, apparatus, computing device, computer storage medium and computer program product for multi-ship coordinated cannon control that overcomes the above problems or at least partially solves the above problems.

[0005] According to one aspect of an embodiment of the present application, a method for controlling a multi-ship coordinated cannon is provided, comprising:

[0006] Performing operation configuration processing for multiple ships, wherein the operation configuration includes: configuring the master ship, configuring the slave ship, and the corresponding cannon reference points and cannon sequence of each ship;

[0007] The master ship determines the coordinates of the current master ship cannon firing reference point and the final master ship cannon firing reference point speed based on the observation data, and predicts the next cannon firing time based on the coordinates of the current master ship cannon firing reference point and the final master ship cannon firing reference point speed;

[0008] If it is determined that the master ship triggers the cannon according to the cannon firing sequence, the master ship will send the next cannon firing time to all the slave ships towing the cable, and the master ship will trigger the gun control excitation cannon of its own ship according to the next cannon firing time, and all the slave ships towing the cable will trigger the instruments of its own ship to collect seismic data according to the next cannon firing time;

[0009] If it is determined according to the sequence of cannon firing that the slave ship triggers the cannon firing, the master ship generates a random value, determines the slave ship excitation time according to the random value and the time of the next cannon firing, and sends the slave ship excitation time to the slave ship to be fired and all slave ships towing cables. The slave ship to be fired triggers the gun-controlled cannon firing of its own ship according to the slave ship excitation time. All other ships towing cables except the slave ship to be fired trigger the instruments of its own ship to collect seismic data according to the slave ship excitation time.

[0010] Optionally, the host ship determines the coordinates of the current host ship cannon reference point and the final host ship cannon reference point speed according to the observation data further including:

[0011] The host ship calculates the actual gun firing reference point based on the observation data;

[0012] Predict the coordinates of the cannon reference point of the current epoch according to the coordinates of the cannon reference point of the epoch in the storage array to obtain the predicted value of the current epoch;

[0013] Determine the coordinates of the current main ship cannon reference point based on the comparison result between the actual cannon reference point and the current epoch prediction value;

[0014] The final main ship cannon reference point speed is calculated based on the current main ship cannon reference point coordinates.

[0015] Optionally, determining the coordinates of the current main ship cannon reference point according to the comparison result between the actual cannon reference point and the current epoch prediction value further includes:

[0016] If the difference between the actual cannon reference point and the current epoch prediction value is less than the first preset distance threshold, the actual cannon reference point is determined as the current main ship cannon reference point coordinate, the actual cannon reference point is added to the storage array, and the cannon reference point coordinate first stored in the storage array is deleted for use in the next epoch prediction;

[0017] If the difference between the actual cannon reference point and the current epoch prediction value is greater than or equal to the first preset distance threshold, the current epoch prediction value is determined as the coordinate of the current main ship cannon reference point.

[0018] Optionally, calculating the final main ship cannon reference point speed according to the current main ship cannon reference point coordinates further includes:

[0019] Obtain the coordinates of the historical cannon reference points corresponding to the main ship, and calculate at least one initial main ship cannon reference point speed based on the coordinates of two adjacent cannon reference points;

[0020] A final master ship gun reference point velocity is determined based on at least one initial master ship gun reference point velocity.

[0021] Optionally, predicting the next cannon firing time according to the coordinates of the current main ship cannon firing reference point and the final main ship cannon firing reference point speed further includes:

[0022] According to the coordinates of the current main ship cannon reference point, the coordinates of the starting point of the survey line and the coordinates of the cannon point drawn before the next cannon, the distance along the line between the current main ship cannon reference point and the cannon point drawn before the next cannon is calculated;

[0023] The time of the next cannon shot is predicted based on the distance along the line, the speed of the final main ship cannon firing reference point and the current time.

[0024] Optionally, according to the coordinates of the current main ship cannon reference point, the coordinates of the starting point of the survey line and the coordinates of the cannon point drawn before the next cannon, calculating the distance along the line between the current main ship cannon reference point and the cannon point drawn before the next cannon further includes:

[0025] The distance along the line is calculated using the following formula:

[0026]

[0027] Among them, ds is the distance along the line, the current main ship cannon reference point coordinates (x1, y1), the starting point coordinates of the survey line (x start ,y start ), draw the shot point coordinates (x preplot ,y preplot ), α ps Draw the azimuth and α between the shot point and the starting point of the survey line before the next shot ms is the azimuth between the current main ship cannon reference point and the starting point of the survey line, α l is a known azimuth.

[0028] Optionally, the method further comprises: the master ship records the master ship navigation timestamp when the cannon fire event occurs, and receives the slave ship navigation timestamp recorded by the slave ship when the cannon fire event occurs;

[0029] Trigger consistency quality control is performed based on the difference between the master ship navigation timestamp and the slave ship navigation timestamp to determine whether the acquired seismic data is discarded.

[0030] Optionally, the operation configuration includes: an initial position corresponding to each ship;

[0031] The method further includes: determining the relative positions of the master ship and the slave ship according to the initial positions corresponding to the ships;

[0032] If the speed of the master ship changes, the bull's eye position is updated, and the slave ship is steered according to the updated bull's eye position and the relative position of the master ship and the slave ship.

[0033] Optionally, the method further comprises: calculating a cannon firing deviation between an actual cannon firing point corresponding to the ship that triggers the cannon firing and a front-drawn cannon firing point;

[0034] Calculate the distance and azimuth between the actual firing point and the previously drawn firing point based on the firing deviation;

[0035] If the distance is greater than the second preset distance threshold and / or the azimuth is greater than the first preset azimuth threshold, the rudder of each ship is repaired according to the distance and the azimuth.

[0036] According to another aspect of an embodiment of the present application, a multi-ship coordinated cannon control device is provided, comprising:

[0037] The configuration module is suitable for performing operation configuration processing on multiple ships, wherein the operation configuration includes: configuring the master ship, configuring the slave ship, and the corresponding cannon reference points and cannon sequence of each ship;

[0038] The prediction module is suitable for the host ship to determine the coordinates of the current host ship cannon reference point and the final host ship cannon reference point speed according to the observation data, and predict the next cannon firing time according to the coordinates of the current host ship cannon reference point and the final host ship cannon reference point speed;

[0039] The cannon control module is suitable for, if it is determined according to the cannon sequence that the main ship triggers the cannon, the main ship sends the next cannon firing time to all slave ships with towed cables, the main ship triggers the gun-controlled cannon firing of its own ship according to the next cannon firing time, and all slave ships with towed cables trigger their own instruments to collect seismic data according to the next cannon firing time; if it is determined according to the cannon sequence that the slave ship triggers the cannon, the main ship generates a random value, determines the slave ship excitation time according to the random value and the next cannon firing time, sends the slave ship excitation time to the slave ship to be fired and all slave ships with towed cables, the slave ship to be fired triggers its own gun-controlled cannon firing according to the slave ship excitation time, and all ships with towed cables except the slave ship to be fired trigger their own instruments to collect seismic data according to the slave ship excitation time.

[0040] According to another aspect of the embodiment of the present application, there is provided a computing device, including: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus;

[0041] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute operations corresponding to the above-mentioned multi-ship coordinated cannon control method.

[0042] According to another aspect of the embodiment of the present application, a computer storage medium is provided, in which at least one executable instruction is stored, and the executable instruction enables a processor to perform operations corresponding to the above-mentioned multi-ship coordinated cannon control method.

[0043] According to another aspect of the embodiment of the present application, a computer program product is provided, comprising at least one executable instruction, wherein the executable instruction enables a processor to execute operations corresponding to the above-mentioned multi-ship coordinated cannon control method.

[0044] The multi-ship coordinated cannon control method and device provided in the embodiment of the present application well solves the problem of coordinated operation in multi-ship and wide-azimuth seismic exploration with ocean towed ships, effectively avoids the aliasing of seismic data caused by the uncertainty of the source excitation time of several source ships, and simultaneously sets a variety of quality control measures to ensure the availability of seismic data, effectively improving the quality of towed seismic data and construction efficiency.

[0045] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation method of the embodiment of the present application is listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only used for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the embodiments of the present application. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0047] Figure 1 A schematic diagram of a process of a multi-ship coordinated cannon control method according to an embodiment of the present application is shown;

[0048] Figure 2 It is the overall deployment diagram of multiple ships;

[0049] Figure 3A-3C Schematic diagram for the selection of reference points for the main ship's gunfire;

[0050] Figure 4 Trigger schematic diagram for each ship;

[0051] Figure 5 Schematic diagram of the survey vessel's coordinate system;

[0052] Figure 6 Schematic diagram of the configuration of each ship in collaborative operation;

[0053] Figure 7 A structural block diagram of a multi-ship coordinated cannon control device according to an embodiment of the present application is shown;

[0054] Figure 8 A schematic diagram of the structure of a computing device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0055] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0056] Figure 1 FIG. 1 shows a flow chart of a method for controlling a multi-ship coordinated cannon according to an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0057] Step S101, performing operation configuration processing on multiple ships, wherein the operation configuration includes: configuring the master ship, configuring the slave ships, and the cannon reference points and cannon sequence corresponding to each ship.

[0058] The multi-ship coordinated cannon control method provided in this application is mainly used for the coordinated operation of towed multi-source ships. Each ship should be equipped with a differential global satellite positioning system (DGPS), a depth sounder, a gyrocompass, a high-speed, low-latency network radio for communication, a real-time navigation data acquisition platform and real-time navigation software, a towed source or cable at the stern, and an RGPS mounted on the source. A communication radio station is built between each ship. In actual operation, it is recommended to use two or more frequency bands of wireless communication to ensure that key data can be transmitted in a timely and correct manner. After the construction is completed, data transmission delay and data throughput tests should be performed. The data delay should be less than 1ms, and the throughput capacity should be based on the network rate required for actual operation. The maximum amount of data that can be transmitted at one time is obtained. Ensuring that the network communication indicators are normal is the premise of multi-ship coordinated operation, otherwise it is necessary to adjust the radio antenna layout angle or the communication distance between the two ships. Secondly, the GNSS receiver in each ship can use the high-precision time standard provided by the GNSS satellite to synchronize the ship's equipment, ensuring that each navigation control electronic equipment and server between ships and under the ship's local area network are synchronized with the GNSS satellite time. After synchronization, the time difference between the two servers should be checked. If the time stamp difference is less than 1ms, it indicates that the synchronization is normal and meets the conditions for coordinated cannon operation. If not, resynchronize with GPS time. Figure 2 shown.

[0059] After completing multi-ship communication and satellite signal time synchronization, it is necessary to configure the operation of multiple ships. First, select a ship as the master ship. The selection of the master ship has nothing to do with the towing body. It is only used for cannon prediction and distribution of cannon time. Other ships are slave ships, which are used to receive cannon time and control the ship's record or gun control system. Each ship can tow an air gun, a cable, or any combination. Secondly, set a unique cannon reference point for each ship. If the ship is only towing a cable, select the center point of the average value of the first track of each tow cable (Mean Receiver Position, MRP) as the cannon reference point; if the ship is only towing a gun or towing a gun and a tow cable at the same time, select the geometric center point of the gun's source (Mean Gun Position, MGP) as the cannon reference point. Figure 3A-3C This is a schematic diagram of the selection of the reference point for the master ship's cannon. The selection of the reference point for the other slave ships' cannons is similar. Figure 3A This is a schematic diagram of the reference point selection for the main ship's cannon fire when the main ship is only towing the cable. Figure 3B This is a schematic diagram of the selection of the main ship's gun firing reference point when the main ship is towing the gun and cable. Figure 3C Schematic diagram of the master ship's gun firing reference point selection when the master ship is only towing guns. Define the order of each ship firing in turn for firing guns, such as one master ship and one slave ship, the order of firing guns is as follows: master ship right source-slave ship left source-master ship left source-slave ship right source.

[0060] Step S102, the master ship determines the coordinates of the current master ship cannon reference point and the final master ship cannon reference point speed based on the observation data, and predicts the next cannon firing time based on the coordinates of the current master ship cannon reference point and the final master ship cannon reference point speed.

[0061] After completing the above-mentioned operation configuration, the main ship can determine the coordinates of the current main ship's cannon reference point based on the observation data, wherein the observation data can include DGPS observation data and RGPS observation data. The coordinates of the current main ship's cannon reference point can be determined through the above-mentioned observation data, and then the final main ship's cannon reference point speed can be determined based on the current main ship's cannon reference point coordinates. The current main ship's cannon reference point coordinates reflect the current location of the main ship's cannon reference point, and the final main ship's cannon reference point speed reflects the current speed of the main ship's cannon reference point. Therefore, the time of the next cannon shot can be predicted based on the determined current main ship's cannon reference point coordinates and the final main ship's cannon reference point speed.

[0062] Before the operation begins, the pre-drawn survey line file needs to be imported into the integrated navigation system, and various sensor data such as gyrocompass, GPS, depth sounder, etc. need to be connected to the navigation data acquisition platform, and the real-time navigation software will perform corresponding processing.

[0063] Step S103, if it is determined according to the cannon firing sequence that the master ship triggers the cannon firing, the master ship sends the time of the next cannon firing to all slave ships towing the cable, the master ship triggers its own gun-controlled cannon firing according to the time of the next cannon firing, and all slave ships towing the cable trigger their own instruments to collect seismic data according to the time of the next cannon firing.

[0064] Step S104, if it is determined according to the sequence of cannon firing that the slave ship triggers the cannon firing, the master ship generates a random value, determines the slave ship excitation time according to the random value and the time of the next cannon firing, and sends the slave ship excitation time to the slave ship to be fired and all slave ships towing cables. The slave ship to be fired triggers the gun-controlled cannon firing of its own ship according to the slave ship excitation time, and all other ships towing cables except the slave ship to be fired trigger the instruments of its own ship to collect seismic data according to the slave ship excitation time.

[0065] The master ship determines which source ship should trigger the cannon event according to the configured cannon sequence. If it is the master ship that fires the cannon, the predicted next cannon time will be directly sent to all slave ships towing cables. If it is a slave ship that fires the cannon, the real-time navigation software in the master ship will generate a random value. For example, the navigation software can obtain the current system time, generate a random number seed through the current system time, to ensure that the random number sequence generated each time is unique, thereby improving the quality of randomness, generate a random value according to the random number seed and the specified interval, and obtain the slave ship excitation time according to the random value and the next cannon time, wherein the slave ship excitation time = random value + next cannon time, and record it in the cannon file along with the cannon information, wherein the cannon information may include: the cannon source identifier of the slave ship that triggers the cannon, the predicted next cannon time, the random value, etc. The slave ship excitation time is published to the slave ship to be fired and all slave ships towing cables, in order to make the slave ship randomly delayed or advanced in time, and to show obvious randomness between the seismic data of the two shots for easy wave field separation. If the current system time reaches the slave ship excitation time, the slave ship waiting to fire the cannon will trigger the gun control of the own ship to fire the cannon according to the slave ship excitation time, and all other slave ships towing cables will trigger the own ship's instruments to collect seismic data according to the slave ship excitation time. If the master ship also tows the cable, then the master ship will also trigger the own ship's instruments to collect seismic data according to the slave ship excitation time. In other words, if it is determined that the cannon is triggered by the slave ship, then all ships towing cables, except the slave ship waiting to fire the cannon, will trigger the own ship's instruments to collect seismic data according to the slave ship excitation time.

[0066] If the master ship tows the gun and determines that the gun should be triggered by the master ship, only the next gun firing time is sent to all slave ships towing cables. After receiving the next gun firing time, each slave ship triggers the ship's instrument to collect seismic data.

[0067] It should be noted that if the master ship only tows the cable, the master ship will not trigger the cannon, and the cannon will be triggered by the slave ship.

[0068] The solution provided in the present application is applicable to the situation where at least two ships tow guns. For example, in the situation where two ships tow guns, it can be a main ship towing a gun and a towline, and a slave ship towing a gun and a towline; if the main ship does not tow a gun, at least two slave ships tow guns are required.

[0069] In an optional implementation, the following method may be used to determine the coordinates of the current main ship cannon reference point and the final main ship cannon reference point speed:

[0070] The host ship calculates the actual gun firing reference point based on the observation data;

[0071] Predict the coordinates of the cannon reference point of the current epoch according to the coordinates of the cannon reference point of the epoch in the storage array to obtain the predicted value of the current epoch;

[0072] The coordinates of the current main ship cannon reference point are determined based on the comparison result between the actual cannon reference point and the current epoch prediction value; for example, if the difference between the actual cannon reference point and the current epoch prediction value is less than a first preset distance threshold, the actual cannon reference point is determined as the coordinates of the current main ship cannon reference point, the actual cannon reference point is added to the storage array, and the cannon reference point coordinates first stored in the storage array are deleted for use in the next epoch prediction; if the difference between the actual cannon reference point and the current epoch prediction value is greater than or equal to the first preset distance threshold, the current epoch prediction value is determined as the coordinates of the current main ship cannon reference point.

[0073] The final main ship cannon reference point speed is calculated based on the current main ship cannon reference point coordinates.

[0074] Specifically, taking the main ship as the reference point of the gun, the coordinates of the DGPS point are calculated according to the DGPS observation data, and the DGPS points are checked against each other, and the coordinates of the NRP point on the geophysical exploration ship are calculated by weight. NRP (x nrp ,y nrp );

[0075] Secondly, according to the coordinates of the NRP point on the geophysical exploration ship and the relative position relationship between other nodes on the geophysical exploration ship and the NRP point, calculate the coordinates (x, y) of other nodes:

[0076]

[0077] Where: (x, y) is the coordinate of any node on the exploration ship except the NRP point, θ is the azimuth of the geophysical exploration ship collected by the gyrocompass, (Δx, Δy) is the relative offset value between the node on the geophysical exploration ship and the NRP point on the geophysical exploration ship;

[0078] Then, the RGPS coordinates are calculated based on the RGPS observation values ​​and the coordinates of the RGPS reference station on the geophysical exploration ship obtained in the previous step:

[0079]

[0080] Where: (x rgps ,y rgps )、(x ref ,y ref ) are the RGPS coordinates on the gun needle and the coordinates of the RGPS reference station on the geophysical exploration vessel, L and β are the azimuth and slant distance between the RGNSS reference station on the geophysical exploration vessel and the RGNSS mobile station on the gun array, respectively.

[0081] Finally, the actual cannon reference point coord is calculated based on the weighted calculation of multiple normal RGPS coordinates. G .

[0082] When the host ship selects the MRP point as the cannon reference point, the MRP coordinates are calculated from the center coordinates of the average value of the first detector of each tow cable to obtain the actual cannon reference point coord G .

[0083] The data in the storage array changes dynamically. The storage array stores N data. The coordinates of the cannon reference point of the current epoch are predicted based on the coordinates of the cannon reference point of the epoch in the storage array to obtain the predicted value of the current epoch. For example, the coordinates of the cannon reference point of the epoch in the storage array are processed using the least squares estimation to determine the polynomial coefficient vector. With the current epoch as t i , then the storage array stores t i-N ...t i-1 The coordinates of the cannon reference point of the epoch. Since the trajectory of the exploration ship during the cannon firing process is approximately a straight line, the linear fitting method can be used to predict the coordinates of the cannon reference point of the current epoch. For example, the predicted value can be calculated using the following formula:

[0084]

[0085] in, is the predicted value of the node position vector at time t, a0 and a1 are polynomial coefficient vectors, which are determined by processing the coordinates of the cannon reference points of the epochs in the storage array using the least squares estimate. i Substituting into the above formula, we can get the predicted value

[0086] The actual cannon reference point calculated above is the actual calculated position coord of the cannon reference point at the current epoch G , and compare it with the current epoch prediction value. If the distance between the two is less than the first preset distance threshold, the actual cannon reference point is added to the storage array. At this time, the data epoch in the storage array becomes t i-N+1 ...t iAt the same time, the actual cannon reference point is used as the current main ship cannon reference point coordinate; if the distance between the two is greater than the first preset distance threshold, it is considered that the calculated actual cannon reference point contains a gross error and will not be added to the storage array. The current epoch prediction value obtained based on the cannon reference point coordinate prediction of the historical epoch is directly used as the current main ship cannon reference point coordinate.

[0087] Optionally, after calculating the coordinates of the current main ship cannon reference point, the coordinates of the cannon reference point calculated historically can be combined to perform geometric verification of the cannon reference point coordinates. For example, the coordinates of the cannon reference point of M epochs before the current epoch are obtained, and the distance S between the coordinates of the main ship cannon reference point of the current epoch and the coordinates of the main ship cannon reference point of M epochs and the center point of the stern and the DA value S of S are calculated respectively. DA and the DC value of S DC , a total of M+1 S, S DA , S DC , calculate M+1 S, S DA , S DC Mean of the series , if S and If the difference between is greater than or equal to the fourth preset distance threshold for K consecutive times (for example, 3 times), it is necessary to re-determine the main ship's cannon reference point, which refers to the most recent K times; With S DA or With S DC If the difference is greater than the second preset azimuth angle threshold for M consecutive times, it is necessary to redetermine the main ship's cannon reference point.

[0088] In an optional implementation, the following method may be used to calculate the final main ship cannon reference point speed:

[0089] Obtain the coordinates of the historical cannon reference points corresponding to the main ship, and calculate at least one initial main ship cannon reference point speed based on the coordinates of two adjacent cannon reference points;

[0090] A final master ship gun reference point velocity is determined based on at least one initial master ship gun reference point velocity.

[0091] After determining the coordinates of the current main ship cannon reference point, the final main ship cannon reference point speed can be calculated in combination with the coordinates of the historical cannon reference point corresponding to the main ship. Specifically, the coordinates of the historical cannon reference point corresponding to the main ship are obtained, and at least one initial main ship cannon reference point speed can be calculated using the coordinates of two adjacent cannon reference points. The two adjacent cannon reference point coordinates can be the coordinates of the current main ship cannon reference point and its adjacent historical cannon reference point coordinates, or the coordinates of the current main ship cannon reference point and its adjacent historical cannon reference point coordinates and the coordinates of two adjacent historical cannon reference points. For example, the coordinate difference between the two adjacent cannon reference point coordinates and the time difference between two adjacent moments can be calculated first, and the initial main ship cannon reference point speed can be calculated based on the coordinate difference between the two adjacent cannon reference point coordinates and the time difference between two adjacent moments, wherein the initial main ship cannon reference point speed = the coordinate difference between the two adjacent cannon reference point coordinates / the time difference between two adjacent moments.

[0092] Then, the final main ship cannon reference point speed is determined based on at least one initial main ship cannon reference point speed. Wherein, the total number of cannon reference point coordinates is different, and after determining at least one initial main ship cannon reference point speed, the method used to determine the final main ship cannon reference point speed will be different. The number of cannon reference point coordinates obtained by statistical calculation (here including the current main ship cannon reference point coordinates and the calculated historical cannon reference point coordinates), assuming the number of cannon reference point coordinates is n, when 2≤n≤5, the n-1 initial main ship cannon reference point speeds can be calculated using the coordinates of two adjacent cannon reference points, and the weighted average of the n-1 initial main ship cannon reference point speeds is taken as the final main ship cannon reference point speed; when n≥5, the n-1 initial main ship cannon reference point speeds can be calculated using the coordinates of two adjacent cannon reference points, and a linear function is used to fit the speed time series, and the fitting value is taken as the final main ship cannon reference point speed V (v x ,v y ).

[0093] In an optional implementation, the following method can be used to predict the time of the next gun firing:

[0094] According to the coordinates of the current main ship cannon reference point, the coordinates of the starting point of the survey line and the coordinates of the cannon point drawn before the next shot, the distance along the line between the current main ship cannon reference point and the cannon point drawn before the next shot is calculated. Specifically, the distance along the line can be calculated using the following formula:

[0095]

[0096] Among them, ds is the distance along the line, the current main ship cannon reference point coordinates (x1, y1), the starting point coordinates of the survey line (x start ,y start), draw the shot point coordinates (x preplot ,y preplot ), α ps Draw the azimuth and α between the shot point and the starting point of the survey line before the next shot ms is the azimuth between the current main ship cannon reference point and the starting point of the survey line, α l is a known azimuth;

[0097] The time of the next cannon firing is predicted based on the distance along the line, the speed of the final main ship cannon firing reference point and the current time. For example, the time of the next cannon firing is predicted using the following formula:

[0098] t=t0+|ds| / v da

[0099] v da =v x cosα1+v y sinα1

[0100] Among them, t is the time of the next cannon firing, t0 is the current time, and the final main ship cannon firing reference point speed V (v x ,v y ).

[0101] In an optional embodiment, the method further includes: the master ship records the master ship navigation timestamp when the cannon fire event occurs, and receives the slave ship navigation timestamp recorded by the slave ship when the cannon fire event occurs;

[0102] Trigger consistency quality control is performed based on the difference between the master ship navigation timestamp and the slave ship navigation timestamp to determine whether the acquired seismic data is discarded.

[0103] Regardless of whether the master ship needs to fire a cannon this time, the real-time navigation software will trigger a port of the electronic device at the predicted zero time of the cannon fire, and the port will return an accurate timestamp, i.e., the master ship's navigation timestamp, with an accuracy of 1us. The slave ship participating in this cannon fire event will also obtain a timestamp after triggering a port of its own electronic device at zero time, i.e., the slave ship's navigation timestamp, which will be transmitted back to the master ship via the radio. The master ship's real-time navigation software will perform trigger consistency quality control on the navigation timestamp difference between the master and slave ships participating in this cannon fire event, calculate the time difference between the master ship's navigation timestamp and the slave ship's navigation timestamp respectively, and compare the time difference with a preset time difference threshold. For example, the preset time difference threshold is set to 1ms. If the time difference is less than the preset time difference threshold, the collected seismic data can be retained. If the time difference is greater than or equal to the preset time difference threshold, the collected seismic data needs to be discarded.

[0104] Figure 4 This is a schematic diagram of the triggering of each ship. This diagram takes the alternating firing of the guns and cables of the master ship and the slave ship only towing the guns as an example. Figure 6, indicating the timing of each ship triggering external equipment and navigation equipment when the system is operating. The navigation port trigger occurs at the zero moment of the predicted cannon fire. All ships need to be triggered at each cannon fire. It is used to record the trigger timestamp to control the time synchronization of the two ships. The source port trigger is used to drive the gun control system to excite the source. The gun control of the ship is triggered alternately according to the operation configuration. It needs to be triggered before the zero moment of the cannon fire. The time offset is related to the performance of the gun control system. The recording port trigger is used to drive seismic data acquisition. It needs to be triggered before the zero moment of the cannon fire. The time offset is related to the performance of the recording system.

[0105] In an optional embodiment, the operation configuration includes: an initial position corresponding to each ship;

[0106] The method further includes: determining the relative positions of the master ship and the slave ship according to the initial positions corresponding to the ships;

[0107] If the speed of the master ship changes, the bull's eye position is updated, and the slave ship is steered according to the updated bull's eye position and the relative position of the master ship and the slave ship.

[0108] During the operation, each ship should share positioning data such as ship position, bow, ship speed, and cannon reference point position in real time. The master ship should keep the bow and speed as stable as possible, and the slave ship should always maintain a consistent relative position with the master ship.

[0109] Therefore, it is necessary to configure the initial positions of each ship during the operation configuration phase; specifically, define the exploration ship coordinate system, such as Figure 5 As shown in the figure, its origin is the navigation reference point (NRP), the y-axis points to the bow, the x-axis points to the starboard side of the ship and is perpendicular to the y-axis, and the z-axis points directly above the ship and is perpendicular to the plane formed by the x- and y-axis. The x-offset in the vertical survey line direction and the y-offset along the survey line direction of each slave ship's cannon reference point relative to the master ship's cannon reference point are configured as the initial position definition of each ship before formal operation, as shown in the figure below: Figure 6 As shown. Thus, the relative position of the master ship and the slave ship can be determined according to the initial position corresponding to each ship; the relative position set is the initial position of each ship before the official cannon operation. Due to the dynamic driving of the ship, the relative position is inevitably changed. Therefore, the bull's eye position is introduced to enhance the master ship's monitoring of the relative position and speed change of the slave ship. When the magnitude and direction of the master ship's speed change, each bull's eye position is updated accordingly. Each slave ship performs real-time rudder repair according to the real-time changing bull's eye position and relative position to ensure the normal relative position.

[0110] In an optional embodiment, the method further comprises: calculating a cannon firing deviation between an actual cannon firing point corresponding to the ship that triggers the cannon firing and a previously drawn cannon firing point;

[0111] Calculate the distance and azimuth between the actual firing point and the previously drawn firing point based on the firing deviation;

[0112] If the distance is greater than the second preset distance threshold and / or the azimuth is greater than the first preset azimuth threshold, the rudder of each ship is repaired according to the distance and the azimuth.

[0113] Specifically, the shot deviations between the actual shot points and the pre-drawn shot points of each ship participating in the source excitation event are calculated separately, including the offset Da along the survey line and the offset Dc in the direction perpendicular to the survey line, where dlength and θ are the distance and azimuth of the actual shot point and the pre-drawn shot point, respectively, which can be obtained by reverse calculation using the following formula. The smaller the value, the higher the accuracy of the shot, and the better the control level of multi-ship collaborative operation. Usually, the Da and Dc deviation thresholds are configured in advance and monitored in the real-time display interface. After each shot is fired, if the Da and Dc directions are less than the threshold values, a green circle is displayed at the actual shot position, and if they are greater, a red circle is displayed.

[0114] Da=dlengthcos(θ-α l )

[0115] Dc=dlengthsin(θ-α l )

[0116] If the distance dlength is greater than the second preset distance threshold and / or the azimuth angle θ is greater than the first preset azimuth angle threshold, the rudder of each ship is repaired according to the distance and the azimuth angle.

[0117] The present application can effectively avoid the aliasing effect of seismic data that may be caused by the successive excitation of multiple seismic sources during ocean towed multi-ship seismic exploration operations, while ensuring the orderly and efficient collaborative operation of each seismic source ship and towed cable ship, thereby improving operational efficiency. The application has strong practical applicability, and the tow guns and tow cables of each master and slave ship can be arbitrarily configured, which has strong flexibility.

[0118] This application conducts quality control on the coordinated firing process of multiple ships on towed cables from the perspectives of time and space. The quality control method is rigorous, highly operational, and can effectively monitor the quality of coordinated operations of multiple ships.

[0119] This application introduces a bull's-eye calculation method that can follow the speed and direction of the main ship's cannon reference point in real time, which helps to maintain a relatively uniform position relationship between the ships during the operation, reduce the impact of the slave ship's cannon point position deviating from the previously drawn cannon point, and provides a reference for other multi-ship collaborative operation methods.

[0120] According to the method provided in the embodiment of the present application, the method is simple, effective and practical, and it well solves the problem of coordinated operation in multi-ship and wide-azimuth seismic exploration of ocean towed ships, effectively avoids the aliasing of seismic data caused by the uncertainty of the source excitation time of several source ships, and at the same time sets a variety of quality control measures to ensure the availability of seismic data, effectively improving the quality of towed seismic data and construction efficiency.

[0121] Figure 7 FIG. 1 shows a structural block diagram of a multi-ship coordinated cannon control device according to an embodiment of the present application. Figure 7 As shown, the device comprises:

[0122] Configuration module 701 is suitable for performing operation configuration processing on multiple ships, wherein the operation configuration includes: configuring the master ship, configuring the slave ship, and the cannon reference points and cannon sequence corresponding to each ship;

[0123] Prediction module 702, adapted for the host ship to determine the coordinates of the current host ship cannon reference point and the final host ship cannon reference point speed according to the observation data, and predict the next cannon firing time according to the coordinates of the current host ship cannon reference point and the final host ship cannon reference point speed;

[0124] The cannon control module 703 is suitable for, if it is determined according to the cannon sequence that the cannon is triggered by the master ship, the master ship sends the next cannon firing time to all slave ships with towed cables, the master ship triggers its own ship's gun-controlled cannon firing according to the next cannon firing time, and all slave ships with towed cables trigger their own ship's instruments to collect seismic data according to the next cannon firing time; if it is determined according to the cannon sequence that the slave ship triggers the cannon, the master ship generates a random value, determines the slave ship firing time according to the random value and the next cannon firing time, sends the slave ship firing time to the slave ship to be fired and all slave ships with towed cables, the slave ship to be fired triggers its own ship's gun-controlled cannon firing according to the slave ship firing time, and all ships with towed cables except the slave ship to be fired trigger their own ship's instruments to collect seismic data according to the slave ship firing time.

[0125] Optionally, the prediction module is further adapted to: the host ship calculates the actual cannon reference point based on the observation data;

[0126] Predict the coordinates of the cannon reference point of the current epoch according to the coordinates of the cannon reference point of the epoch in the storage array to obtain the predicted value of the current epoch;

[0127] Determine the coordinates of the current main ship cannon reference point based on the comparison result between the actual cannon reference point and the current epoch prediction value;

[0128] The final main ship cannon reference point speed is calculated based on the current main ship cannon reference point coordinates.

[0129] Optionally, the prediction module is further adapted to: if the difference between the actual cannon reference point and the current epoch prediction value is less than a first preset distance threshold, determine the actual cannon reference point as the current host ship cannon reference point coordinate, add the actual cannon reference point to the storage array, delete the cannon reference point coordinate first stored in the storage array, and use it for the next epoch prediction;

[0130] If the difference between the actual cannon reference point and the current epoch prediction value is greater than or equal to the first preset distance threshold, the current epoch prediction value is determined as the coordinate of the current main ship cannon reference point.

[0131] Optionally, the prediction module is further adapted to: obtain the coordinates of the historical cannon reference points corresponding to the host ship, and calculate at least one initial host ship cannon reference point speed according to the coordinates of two adjacent cannon reference points;

[0132] A final master ship gun reference point velocity is determined based on at least one initial master ship gun reference point velocity.

[0133] Optionally, the prediction module is further adapted to: calculate the distance along the line between the current main ship cannon reference point and the next shot forward drawn shot point according to the coordinates of the current main ship cannon reference point, the coordinates of the survey line starting point and the coordinates of the next shot forward drawn shot point;

[0134] The time of the next cannon shot is predicted based on the distance along the line, the speed of the final main ship cannon firing reference point and the current time.

[0135] Optionally, the prediction module is further adapted to: calculate the distance along the line using the following formula:

[0136]

[0137] Among them, ds is the distance along the line, the current main ship cannon reference point coordinates (x1, y1), the starting point coordinates of the survey line (x start ,y start ), draw the shot point coordinates (x preplot ,y preplot ), α ps Draw the azimuth and α between the shot point and the starting point of the survey line before the next shot ms is the azimuth between the current main ship cannon reference point and the starting point of the survey line, α l is a known azimuth.

[0138] Optionally, the device further comprises: a trigger consistency quality control module, adapted for the master ship to record the master ship navigation timestamp when the cannon fire event occurs, and to receive the slave ship navigation timestamp recorded by the slave ship when the cannon fire event occurs;

[0139] Trigger consistency quality control is performed based on the difference between the master ship navigation timestamp and the slave ship navigation timestamp to determine whether the acquired seismic data is discarded.

[0140] Optionally, the operation configuration includes: an initial position corresponding to each ship;

[0141] The device also includes: a relative position quality control module, adapted to determine the relative position of the master ship and the slave ship according to the initial positions corresponding to the respective ships;

[0142] If the speed of the master ship changes, the bull's eye position is updated, and the slave ship is steered according to the updated bull's eye position and the relative position of the master ship and the slave ship.

[0143] Optionally, the device further comprises: a cannon deviation quality control module, adapted to calculate the cannon deviation between the actual cannon point corresponding to the ship that triggers the cannon and the fore-drawn cannon point;

[0144] Calculate the distance and azimuth between the actual firing point and the previously drawn firing point based on the firing deviation;

[0145] If the distance is greater than the second preset distance threshold and / or the azimuth is greater than the first preset azimuth threshold, the rudder of each ship is repaired according to the distance and the azimuth.

[0146] The description of each module above refers to the corresponding description in the method embodiment and will not be repeated here.

[0147] The device provided in the embodiment of the present application solves the problem of coordinated operation in multi-vessel, wide-azimuth seismic exploration using ocean towed ships, effectively avoids the aliasing of seismic data caused by the uncertainty of the source excitation time of several source ships, and simultaneously provides a variety of quality control measures to ensure the availability of seismic data, effectively improving the quality of towed seismic data and construction efficiency.

[0148] An embodiment of the present application provides a non-volatile computer storage medium, which stores at least one executable instruction or computer program, and the executable instruction or computer program can enable a processor to execute operations corresponding to the multi-ship coordinated cannon control method in any of the above-mentioned method embodiments.

[0149] An embodiment of the present application provides a computer program product, which includes at least one executable instruction or computer program, which can enable a processor to execute operations corresponding to the multi-ship coordinated cannon control method in any of the above-mentioned method embodiments.

[0150] Figure 8 A schematic diagram of the structure of an embodiment of a computing device of the present application is shown. The specific embodiment of the present application does not limit the specific implementation of the computing device.

[0151] like Figure 8 As shown, the computing device may include: a processor (processor) 802 , a communication interface (Communications Interface) 804 , a memory (memory) 806 , and a communication bus 808 .

[0152] The processor 802, the communication interface 804, and the memory 806 communicate with each other via a communication bus 808. The communication interface 804 is used to communicate with other devices such as a client or other server network elements. The processor 802 is used to execute a program 810, which can specifically execute the relevant steps in the embodiment of the multi-ship coordinated cannon control method for a computing device.

[0153] Specifically, the program 810 may include program codes, which include computer operation instructions.

[0154] The processor 802 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the computing device may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0155] The memory 806 is used to store the program 810. The memory 806 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0156] Program 810 can be specifically used to enable processor 802 to execute the multi-ship coordinated cannon control method in any of the above-mentioned method embodiments. The specific implementation of each step in program 810 can refer to the corresponding descriptions in the corresponding steps and units in the above-mentioned multi-ship coordinated cannon control embodiment, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described equipment and modules can refer to the corresponding process description in the above-mentioned method embodiment, which will not be repeated here.

[0157] The algorithm and display provided herein are not inherently related to any specific computer, virtual system or other equipment. Various general purpose systems can also be used together with the teachings based on this. According to the above description, it is obvious to construct the structure required for this type of system. In addition, the present application embodiment is not directed to any specific programming language yet. It should be understood that various programming languages ​​can be utilized to realize the content of the present application embodiment described herein, and the above description of specific languages ​​is to disclose the best mode of implementation of the present application embodiment.

[0158] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0159] Similarly, it should be understood that in order to streamline the present disclosure and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the embodiments of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be interpreted as reflecting the following intention: the claimed embodiments of the present application require more features than the features clearly stated in each claim. More specifically, as reflected in the claims below, the inventive aspects are less than all the features of the single embodiment disclosed above. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the embodiment of the present application.

[0160] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition they may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0161] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the embodiments of the present application and to form different embodiments. For example, in the claims below, any one of the claimed embodiments may be used in any combination.

[0162] The various component embodiments of the embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some or all components according to the embodiments of the present application. The embodiments of the present application can also be implemented as a device or apparatus program (e.g., computer program and computer program product) for executing part or all of the methods described herein. Such a program implementing the embodiments of the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0163] It should be noted that the above embodiments illustrate rather than limit the embodiments of the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The embodiments of the present application may be implemented by means of hardware including several different elements and by means of appropriately programmed computers. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

Claims

1. A method for controlling a multi-ship coordinated cannon, comprising: Performing operation configuration processing for multiple ships, wherein the operation configuration includes: configuring the master ship, configuring the slave ship, and the corresponding cannon reference points and cannon sequence of each ship; The master ship determines the coordinates of the current master ship cannon firing reference point and the final master ship cannon firing reference point speed according to the observation data, and predicts the next cannon firing time according to the coordinates of the current master ship cannon firing reference point and the final master ship cannon firing reference point speed; If it is determined that the master ship triggers the cannon according to the cannon sequence, the master ship sends the next cannon time to all the slave ships towing the cable, the master ship triggers the gun control excitation cannon of its own ship according to the next cannon time, and all the slave ships towing the cable trigger the instruments of its own ship to collect seismic data according to the next cannon time; If it is determined according to the sequence of cannon shots that the slave ship triggers the cannon shot, the master ship generates a random value, determines the slave ship excitation time according to the random value and the time of the next cannon shot, and sends the slave ship excitation time to the slave ship to be fired and all slave ships towing cables. The slave ship to be fired triggers the gun-controlled cannon shot of its own ship according to the slave ship excitation time, and all other ships towing cables except the slave ship to be fired trigger the instruments of its own ship to collect seismic data according to the slave ship excitation time.

2. The method according to claim 1, wherein: The host ship further determines the coordinates of the current host ship cannon reference point and the final host ship cannon reference point speed according to the observation data: The host ship calculates the coordinates of the actual cannon reference point based on the observation data; Predict the coordinates of the cannon reference point of the current epoch according to the coordinates of the cannon reference point of the epoch in the storage array to obtain the predicted value of the current epoch; Determine the current main ship cannon reference point coordinates based on the comparison result between the actual cannon reference point coordinates and the current epoch prediction value; The final main ship cannon reference point speed is calculated based on the current main ship cannon reference point coordinates.

3. The method according to claim 2, wherein: Determining the coordinates of the current main ship cannon reference point based on the comparison result between the actual cannon reference point and the current epoch prediction value further includes: If the difference between the actual cannon reference point coordinates and the current epoch prediction value is less than a first preset distance threshold, the actual cannon reference point coordinates are determined as the current host ship cannon reference point coordinates, the actual cannon reference point coordinates are added to the storage array, and the cannon reference point coordinates first stored in the storage array are deleted for use in the next epoch prediction; If the difference between the actual cannon reference point coordinates and the current epoch prediction value is greater than or equal to the first preset distance threshold, the current epoch prediction value is determined as the current main ship cannon reference point coordinates.

4. The method according to claim 2 or 3, wherein: The calculation of the final main ship cannon reference point speed according to the current main ship cannon reference point coordinates further includes: Obtain the coordinates of the historical cannon reference points corresponding to the main ship, and calculate at least one initial main ship cannon reference point speed based on the coordinates of two adjacent cannon reference points; A final host ship cannon reference point speed is determined based on the at least one initial host ship cannon reference point speed.

5. The method according to any one of claims 1 to 3, wherein: The predicting of the next cannon firing time according to the coordinates of the current main ship cannon firing reference point and the final main ship cannon firing reference point speed further comprises: According to the coordinates of the current main ship cannon reference point, the coordinates of the starting point of the survey line and the coordinates of the cannon point drawn before the next cannon, the distance along the line between the current main ship cannon reference point and the cannon point drawn before the next cannon is calculated; The time of the next cannon shot is predicted based on the distance along the line, the speed of the final main ship cannon firing reference point and the current time.

6. The method according to claim 5, wherein: The calculating of the distance along the line between the current main ship cannon reference point and the next cannon point drawn before the next cannon according to the coordinates of the current main ship cannon reference point, the coordinates of the starting point of the survey line and the coordinates of the cannon point drawn before the next cannon further comprises: The distance along the line is calculated using the following formula: Among them, ds is the distance along the line, the current main ship cannon reference point coordinates (x1, y1), the starting point coordinates of the survey line (x start ,y start ), draw the shot point coordinates (x preplot ,y preplot ), α ps Draw the azimuth and α between the shot point and the starting point of the survey line before the next shot ms is the azimuth between the current main ship cannon reference point and the starting point of the survey line, α l is a known azimuth.

7. The method according to any one of claims 1 to 3, wherein: The method further comprises: the master ship records the master ship navigation timestamp when the cannon fire event occurs, and receives the slave ship navigation timestamp recorded by the slave ship when the cannon fire event occurs; Trigger consistency quality control is performed based on the difference between the master ship navigation timestamp and the slave ship navigation timestamp to determine whether the acquired seismic data is discarded.

8. The method according to any one of claims 1 to 3, wherein: The operation configuration includes: the initial position corresponding to each ship; The method further comprises: determining the relative positions of the master ship and the slave ship according to the initial positions corresponding to the respective ships; If the speed of the master ship changes, the bull's eye position is updated, and the slave ship is steered according to the updated bull's eye position and the relative position of the master ship and the slave ship.

9. The method according to any one of claims 1 to 3, wherein: The method further includes: calculating a cannon firing deviation between an actual cannon firing point corresponding to the ship that triggers the cannon firing and a pre-drawn cannon firing point; Calculate the distance and azimuth between the actual firing point and the previously drawn firing point according to the firing deviation; If the distance is greater than the second preset distance threshold and / or the azimuth is greater than the first preset azimuth threshold, the rudder of each ship is repaired according to the distance and the azimuth.

10. A multi-ship coordinated cannon control device, comprising: The configuration module is suitable for performing operation configuration processing on multiple ships, wherein the operation configuration includes: configuring the master ship, configuring the slave ship, and the corresponding cannon reference points and cannon sequence of each ship; A prediction module, adapted for the host ship to determine the coordinates of the current host ship cannon reference point and the final host ship cannon reference point speed according to the observation data, and predict the next cannon firing time according to the coordinates of the current host ship cannon reference point and the final host ship cannon reference point speed; A cannon control module is suitable for, if it is determined according to the cannon sequence that the main ship triggers the cannon, the main ship sends the next cannon firing time to all slave ships with towed cables, the main ship triggers its own ship's gun-controlled cannon firing according to the next cannon firing time, and all slave ships with towed cables trigger their own ship's instruments to collect seismic data according to the next cannon firing time; if it is determined according to the cannon sequence that the slave ship triggers the cannon, the main ship generates a random value, determines the slave ship excitation time according to the random value and the next cannon firing time, sends the slave ship excitation time to the slave ship to be fired and all slave ships with towed cables, the slave ship to be fired triggers its own ship's gun-controlled cannon firing according to the slave ship excitation time, and all ships with towed cables except the slave ship to be fired trigger their own ship's instruments to collect seismic data according to the slave ship excitation time.

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