A method, device and system for discretizing seismic signals from a controlled source

Abstract

The application discloses a controllable source seismic signal discretization method, device and system. The method comprises the following steps: obtaining seismic signal state data and seismic signal control data according to collected seismic signals; performing discretization processing on the data respectively based on a preset discrete time step, to obtain preliminary discretization state data and preliminary discretization control data; performing data permutation on the matrix parameters of the preliminary discretization state data and a preset data permutation rule, to obtain first state permutation data, and performing inverse operation on the first state permutation data to obtain first state inverse permutation data and second state permutation data; performing discretization processing on the first state permutation data and the preliminary discretization control data, to obtain discretization control data of the seismic signals; and performing discretization processing on the first state inverse permutation data and the second state permutation data, to obtain discretization state data of the seismic signals. The time discrete step can be set, the application scenarios are wide, the discretization data error is small, and the signal fidelity is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of seismic signal processing, and in particular to a controllable seismic source seismic signal discretization method, device and system. BACKGROUND

[0002] Controllable seismic source random control (LQG control) refers to a control method using linear quadratic optimal control (LQR) combined with Kalman filter (Kalman Filter) to perform closed-loop control of the controllable seismic source. The control method analyzes the mathematical model of the controllable seismic source, obtains the LQG control system equation, and then obtains the optimal solution of the input signal under the current reference signal and output signal to form a closed-loop control. When establishing the mathematical model of the controllable seismic source system, the continuous form state equation of the system is obtained, and the continuous form state equation is discretized to realize digital control. Currently, in the discretization of the continuous form state equation of the LQG control, a fixed time step is used for the discretization time step; and a simple Euler method is used for the discretization method. SUMMARY

[0003] The present application inventors found that in the existing LQG control method, the discretization time step is also determined after the circuit form is determined and cannot be modified; since the discretization time steps required by different application scenarios are different, the existing LQG control cannot meet the control requirements of different application scenarios; and the existing LQG control method uses a simple Euler method for the discretization method, which has low accuracy and can cause the phase error and amplitude error between the discretized signal and the reference signal to exceed the expectation, resulting in obvious distortion of the discretized signal and poor tracking effect.

[0004] In view of the above problems, the present application is proposed to provide a controllable seismic source seismic signal discretization method, device and system which can overcome the above problems or at least partially solve the above problems.

[0005] The present application embodiment provides a controllable seismic source seismic signal discretization method, which comprises:

[0006] According to the collected seismic signal, seismic signal state data representing the state quantity of the mathematical model of the controllable seismic source and seismic signal control data representing the input current of the power source of the controllable seismic source are obtained;

[0007] Based on a preset discretization time step, the seismic signal state data and the seismic signal control data are respectively discretized to obtain preliminary discretized state data and preliminary discretized control data;

[0008] According to the matrix parameters of the preliminary discretized state data and a preset data permutation rule, the preliminary discretized state data is subjected to data permutation to obtain first state permutation data and second state permutation data;

[0009] Discretize the first state inverse permutation data and the preliminary discretized control data to obtain discretized control data of the seismic signal.

[0010] Discretize the first state inverse permutation data and the second state permutation data to obtain discretized state data of the seismic signal.

[0011] Preferably, according to the collected seismic signal, seismic signal state data representing state quantities of a mathematical model of a controllable seismic source and seismic signal control data representing input current of a power source of the controllable seismic source are obtained, including:

[0012] The collected seismic signal is input into a pre-constructed mathematical model of a controllable seismic source, and the seismic signal is processed to obtain seismic signal state data representing state quantities of a mathematical model of a controllable seismic source and seismic signal control data representing input current of a power source of the controllable seismic source.

[0013] The mathematical model of the controllable seismic source is a continuous state equation form mathematical model of the controllable seismic source based on mechanism analysis of the controllable seismic source based on seismic generation control parameters of a seismic generation device and characteristic parameters of the earth.

[0014] The seismic generation control parameters include control parameters of a servo valve, a cylinder, a weight and a flat plate.

[0015] Preferably, based on a preset discrete time step, the seismic signal state data and the seismic signal control data are discretized to obtain preliminary discretized state data and preliminary discretized control data, including:

[0016] The discrete time step is multiplied by the seismic signal control data to obtain the preliminary discretized control data.

[0017] The preset discrete time step is shifted to obtain a shifted discrete time step, and the shifted discrete time step is multiplied by the seismic signal state data to obtain the preliminary discretized state data.

[0018] Preferably, according to matrix parameters of the preliminary discretized state data and a preset data permutation rule, the preliminary discretized state data is permuted to obtain first state permutation data and second state permutation data, including:

[0019] It is judged whether the number of rows and the number of columns of the matrix of the preliminary discretized state data are equal.

[0020] If they are equal, the first state permutation data is obtained according to the difference between the given value and the matrix elements of the preliminary discretized state data, and the second state permutation data is obtained according to the sum of the given value and the matrix elements of the preliminary discretized state data.

[0021] If not equal, the matrix element of the preliminary discretization state data is taken negative value to obtain the first state permutation data; the preliminary discretization state data is taken as the second state permutation data.

[0022] Preferably, the first state inverse permutation data after inverse operation of the first state permutation data and the preliminary discretization control data are discretized to obtain the discretization control data of the seismic signal, comprising:

[0023] The first state inverse permutation data is obtained by inverse operation of the first state permutation data; and the first state inverse permutation data and the preliminary discretization control data are multiplied to obtain the discretization control data of the seismic signal.

[0024] The first state inverse permutation data and the second state permutation data are discretized to obtain the discretization state data of the seismic signal, comprising: the first state inverse permutation data and the second state permutation data are multiplied to obtain the discretization state data of the seismic signal.

[0025] Preferably, the controllable seismic source seismic signal discretization method further comprises:

[0026] In the processing system PS of the controllable seismic source seismic signal discretization system, the set discrete time step is obtained through the man-machine interaction mode, so that the programmable logic PL end of the controllable seismic source seismic signal discretization system can perform discretization processing on the seismic signal state data and the seismic signal control data according to the preset discrete time step.

[0027] The embodiment of the application provides a controllable seismic source seismic signal discretization device, comprising: a continuous form state matrix calculation module, a continuous form state matrix calculation module, a bilinear pre-processing module, a bilinear post-processing module and / or a discrete time step module.

[0028] The continuous form state matrix calculation module is used to obtain the seismic signal state data representing the state quantity of the controllable seismic source mathematical model and the seismic signal control data representing the input current of the power source of the controllable seismic source according to the acquired seismic signal.

[0029] The continuous matrix preliminary discretization module is used to perform discretization processing on the seismic signal state data and the seismic signal control data respectively based on the preset discrete time step to obtain the preliminary discretization state data and the preliminary discretization control data.

[0030] The bilinear pre-processing module is used to perform data permutation on the preliminary discretization state data according to the matrix parameters of the preliminary discretization state data and the preset data permutation rule to obtain the first state permutation data and the second state permutation data.

[0031] The bilinear post-processing module is configured to perform discretization processing on the first state inverse permutation data and the preliminary discretization control data to obtain discretization control data of the seismic signal, and perform discretization processing on the first state inverse permutation data and the second state permutation data to obtain discretization state data of the seismic signal.

[0032] The discrete time step module is configured to acquire the set discrete time step through a human-computer interaction mode at the processing system PS end of the controllable seismic source seismic signal discretization system, so that the programmable logic PL end of the controllable seismic source seismic signal discretization system performs discretization processing on the seismic signal state data and the seismic signal control data according to the preset discrete time step.

[0033] The embodiment of the present application provides a controllable seismic source seismic signal discretization system, which comprises a processing system PS end and a programmable logic PL end.

[0034] The PS end is configured to acquire the set discrete time step through a human-computer interaction mode and provide the discrete time step to the PL end.

[0035] The PL end is provided with the controllable seismic source seismic signal discretization device as described above.

[0036] The embodiment of the present application provides a computer storage medium, which stores computer executable instructions, and the computer executable instructions are executed by a processor to realize the controllable seismic source seismic signal discretization method as described above.

[0037] The embodiment of the present application provides a signal discretization device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor realizes the controllable seismic source seismic signal discretization method as described above when executing the program.

[0038] The embodiment of the present application provides the above technical solution, and the beneficial effects at least include:

[0039] According to the acquired seismic signal, seismic signal state data representing state quantities of a controllable seismic source mathematical model and seismic signal control data representing input current of a controllable seismic source power source are obtained, and the conversion process from the seismic signal to the seismic signal state data representing the state quantities of the controllable seismic source mathematical model and the seismic signal control data representing the input current of the controllable seismic source power source is realized.

[0040] Discretization processing is performed on the first state inverse replacement data after inverse operation of the first state replacement data and the preliminary discretization control data to obtain discretization control data of the seismic signal; and discretization processing is performed on the first state inverse replacement data and the second state replacement data to obtain discretization state data of the seismic signal; different discretization methods are used to discretize the seismic signal state data and the seismic signal control data according to different time discretization steps, and corresponding discretization data is obtained; the method can set different discretization steps according to different scenes, and the discretization step is controllable and settable, so that the method can adapt to the needs of different application scenes, better control the phase error and amplitude error between the discretization signal and the reference signal, make the discretization signal fidelity better, and avoid the problem of obvious distortion of the signal, and the signal tracking effect is good.

[0041] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application will be realized and attained by means of the instrumentalities particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0042] The technical solutions of the present application will be further described in detail below with the help of the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings, which are included to provide a further understanding of the present application and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain the present application. In the drawings:

[0044] Figure 1 A flowchart of the controllable seismic source seismic signal discretization method in the embodiment one of the present application;

[0045] Figure 2 A flowchart of the specific implementation of the controllable seismic source seismic signal discretization method in the embodiment two of the present application;

[0046] Figure 3 An example diagram of the controllable seismic source seismic signal discretization processing algorithm principle in the embodiment of the present application;

[0047] Figure 4 An example diagram of the controllable seismic source seismic signal discretization processing algorithm flow in the embodiment of the present application;

[0048] Figure 5 Figure 1 is a structural schematic diagram of a controllable seismic source seismic signal discretization device according to an embodiment of the present application;

[0049] Figure 6 Figure 2 is a structural schematic diagram of a controllable seismic source seismic signal discretization system according to an embodiment of the present application;

[0050] Figure 7 Figure 3 is a specific architecture example diagram of a controllable seismic source seismic signal discretization system according to an embodiment of the present application. DETAILED DESCRIPTION

[0051] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0052] To solve the problems in the prior art, an embodiment of the present application provides a controllable seismic source seismic signal discretization method, device and system.

[0053] Embodiment one

[0054] Embodiment one of the present application provides a controllable seismic source seismic signal discretization method, the flowchart of which is shown in Figure 1, comprising the following steps: Figure 1

[0055] Step S101: According to the collected seismic signal, obtain seismic signal state data representing controllable seismic source mathematical model state variables and seismic signal control data representing controllable seismic source power source input current.

[0056] The collected seismic signal is input into a pre-constructed controllable seismic source mathematical model to process the seismic signal, to obtain seismic signal state data representing controllable seismic source mathematical model state variables and seismic signal control data representing controllable seismic source power source input current; the controllable seismic source mathematical model can be pre-constructed, the controllable seismic source mathematical model is a controllable seismic source mathematical model in the form of a continuous state equation based on mechanism analysis of the controllable seismic source based on seismic generation control parameters of a seismic generation device and characteristic parameters of the earth; the seismic generation control parameters include control parameters of servo valves, oil cylinders, heavy hammers and flat plates, etc.

[0057] Step S102: Based on a pre-set discrete time step, discretize the seismic signal state data and the seismic signal control data respectively to obtain preliminary discretized state data and preliminary discretized control data.

[0058] ​The discrete time steps can be preset, and the seismic signal is discretized according to different discrete time steps. The seismic signal state data and the seismic signal control data can be discretized respectively. The discrete time steps are multiplied by the seismic signal control data to obtain preliminary discretized control data. The preset discrete time steps are shifted to obtain shifted discrete time steps. The shifted discrete time steps are multiplied by the seismic signal state data to obtain preliminary discretized state data.

[0059] Step S103: According to the matrix parameters of the preliminary discretized state data and the preset data permutation rule, the data permutation of the preliminary discretized state data is performed to obtain first state permutation data and second state permutation data.

[0060] After the preliminary discretization of the seismic signal state data and the seismic signal control data, the data permutation of the preliminary discretized state data can be performed based on the matrix parameters, and the data permutation rule can also be preset according to the parameters of the matrix. For example, the data permutation is realized according to the number of rows and columns of the matrix and the selection of the data permutation rule. The process of data permutation includes: judging whether the number of rows and the number of columns of the matrix of the preliminary discretized state data are equal; if they are equal, the first state permutation data is obtained according to the difference between the given value and the matrix element of the preliminary discretized state data, and the second state permutation data is obtained according to the sum of the given value and the matrix element of the preliminary discretized state data; if they are not equal, the first state permutation data is obtained by taking the negative value of the matrix element of the preliminary discretized state data; and the preliminary discretized state data is taken as the second state permutation data.

[0061] Step S104: The first state inverse permutation data obtained by inverse operation of the first state permutation data and the preliminary discretized control data are discretized to obtain the discretized control data of the seismic signal.

[0062] The discretized control data can be obtained by discretizing the first state inverse permutation data and the preliminary discretized control data according to a certain discretization algorithm. Optionally, the first state inverse permutation data is obtained by inverse operation of the first state permutation data; the first state inverse permutation data and the preliminary discretized control data are multiplied to obtain the discretized control data of the seismic signal.

[0063] Step S105: The first state inverse permutation data and the second state permutation data are discretized to obtain the discretized state data of the seismic signal.

[0064] The discretized state data can be obtained by discretizing the first state inverse permutation data and the second state permutation data according to a certain discretization algorithm. Optionally, the first state inverse permutation data and the second state permutation data are multiplied to obtain the discretized state data of the seismic signal.

[0065] Embodiment two

[0066] Embodiment two of the present application provides a specific implementation process of the controllable seismic signal discretization method, the process of which is shown in Figure 2 The algorithm principle and process of implementing the method are shown in Figure 3 and Figure 4 The method comprises the following steps:

[0067] Step S201: Pre-set the discrete time step.

[0068] Optionally, before performing controllable seismic signal discretization, the discrete time step can be set as needed, and the signal is discretized based on different discrete time steps. This parameter can be configured through the software program of the PS end. An optional implementation can include: at the PS end of the controllable seismic signal discretization system processing system, the set discrete time step is obtained through human-computer interaction, so that the PL end of the controllable seismic signal discretization system performs discretization processing on the seismic signal state data and the seismic signal control data according to the pre-set discrete time step.

[0069] As shown in Figure 3 The PS end of the processing system includes CPU, random memory (DDR), human-computer interaction module, bus (AXI), and the required discrete time step is obtained by analyzing the specific project of the controllable source. The discrete time step is input in the human-computer interaction module, and the random memory (DDR) outputs and transmits the discrete time step data to the continuous matrix preliminary discretization module through the bus (AXI).

[0070] Step S202: Input the collected seismic signal into the pre-constructed controllable seismic mathematical model to process the seismic signal, and obtain the seismic signal state data representing the state quantity of the controllable seismic mathematical model and the seismic signal control data representing the input current of the controllable seismic power source.

[0071] The controllable seismic mathematical model can be pre-constructed. The modeling process includes: obtaining the seismic generation control parameters of servo valve, oil cylinder, heavy hammer, flat plate and the characteristic parameters of the earth, based on the seismic generation control parameters and the characteristic parameters of the earth, the mechanism of the controllable source is analyzed, and the state equation form of the controllable seismic mathematical model is established. According to the established controllable seismic mathematical model, the calculation formula of the seismic signal state data (Ac) and the seismic signal control data (Bc) can be obtained, wherein Ac is the state matrix related to the state quantity of the controllable source model, and Bc is the control matrix related to the input current of the controllable source torque motor. Referring to Figure 3 The AC and Bc calculated by the continuous form state matrix calculation module can be stored in the corresponding memory.

[0072] Step S203: Based on the preset discrete time step, the seismic signal state data and seismic signal control data are discretized to obtain preliminary discretized state data and preliminary discretized control data.

[0073] See Figure 3 As shown, the seismic signal state data and seismic signal control data are discretized in the continuous matrix preliminary discretization module. (See [link to documentation]). Figure 4 As shown, for seismic signal control data (Bc), multiplying the discrete time step with the seismic signal control data yields preliminary discretized control data (Bc1). This process can be implemented using a vector-scalar multiplication unit. For seismic signal state data (Ac), shifting the preset discrete time step (dt) yields the shifted discrete time step; multiplying the shifted discrete time step with the seismic signal state data yields preliminary discretized state data (Ac1). This process can be implemented using a matrix-scalar multiplication unit.

[0074] The discrete time step (dt) is shifted using a shifter. Specifically, the discrete time step (dt) is input into a floating-point shifter and shifted one bit to the right. The shift result is multiplied with the seismic signal state data in a matrix-scalar multiplication unit. The result is the preliminary discretized state data (Ac), which is written into the storage unit. The seismic signal control data is multiplied with the discrete time step (dt) in a vector-scalar multiplication unit. The result is the preliminary discretized control data (Bc), which can be stored in the corresponding memory.

[0075] Step S204: Based on the matrix parameters of the preliminary discretized state data and the preset data permutation rules, perform data permutation on the preliminary discretized state data to obtain the first state permutation data and the second state permutation data.

[0076] See Figure 3 and Figure 4 As shown, data permutation is implemented in the bilinear preprocessing module. Based on the number of rows and columns of the initially discretized state data matrix and preset permutation rules, data permutation is achieved. One possible method is described in [link to example]. Figure 4 As shown, it is determined whether the number of rows (i) and columns (j) of the matrix of the initial discretized state data (Ac1) are equal; if they are equal, the first state permutation data is obtained based on the difference between the given value and the matrix elements of the initial discretized state data, and the second state permutation data is obtained based on the sum of the matrix elements of the given value and the initial discretized state data; the given value can be set as needed, and here we take the given value as 1 as an example; if they are not equal, the matrix elements of the initial discretized state data are negative to obtain the first state permutation data; the initial discretized state data is used as the second state permutation data.

[0077] Referring to Figure 4 As shown, the preliminary discretization state data row and column are traversed, the intermediate value (tmp = Ac1[i][j]) is equal to the value of the i-th row and j-th column of the preliminary discretization state data (Ac1), if the value of row i is equal to the value of column j, the value (tmp1[i][j]) of the i-th row and j-th column of the first state permutation data matrix (tmp1) is equal to 1-intermediate value (tmp), the value (tmp2[i][j]) of the i-th row and j-th column of the second state permutation data matrix (tmp2) is equal to 1+intermediate value (tmp); otherwise, the value (tmp1[i][j]) of the i-th row and j-th column of the first state permutation data (tmp1) is equal to the negative intermediate value (tmp), and the value (tmp2[i][j]) of the i-th row and j-th column of the second state permutation data matrix (tmp2) is equal to the intermediate value (tmp); finally, two result matrices, the first state permutation data (tmp1) and the second state permutation data (tmp2) can be stored in the corresponding memory.

[0078] Step S205: Inverse operation is performed on the first state permutation data to obtain the first state inverse permutation data; the first state inverse permutation data and the preliminary discretization control data are multiplied to obtain the discretization control data of the seismic signal.

[0079] Step S206: The first state inverse permutation data and the second state permutation data are multiplied to obtain the discretization state data of the seismic signal.

[0080] Referring to Figure 3 As shown, the above steps S205 and S206 are implemented in the bilinear post-processing module to obtain the discretization control data (Bd) and the discretization state data (Ad) of the seismic signal, and the obtained discretization control data (Bd) and the discretization state data (Ad) can be used in the subsequent Log calculation module.

[0081] For example Figure 4 As shown, the matrix inversion unit in the bilinear post-processing module inverts the first state permutation data (tmp1) to obtain the first state inverse permutation data (inv_tmp1), and inputs the first state inverse permutation data (inv_tmp1) and the second state permutation data (tmp2) into the matrix-matrix multiplication unit to multiply, to obtain the discretization time state equation matrix (Ad), i.e. the discretization state data can be stored in the corresponding memory; the first state inverse permutation data (inv_tmp1) and the preliminary discretization control data (Bc1) are input into the matrix-vector multiplication unit to multiply, to obtain the discretization time state equation matrix (Bd), i.e. the discretization control data can be stored in the corresponding memory.

[0082] In the method of the second embodiment of the present application, the bilinear discretization module comprises a continuous matrix preliminary discretization module, a bilinear preprocessing module and a bilinear postprocessing module. The first input end of the bilinear discretization module receives the continuous form state matrix output from the preceding continuous form state matrix calculation module, i.e. the seismic signal state data. The second input end receives the continuous form state matrix output from the preceding continuous form state matrix calculation module, i.e. the seismic signal control data. The third input end receives the discrete time step (dt) sent from the PS end DDR through the AXI bus under the control of the PS end CPU. The discrete time step can be configured through the software program of the PS end. The bilinear discretization module discretizes the dynamic continuous time matrix, i.e. the seismic signal state data and the seismic signal control data, to generate the discrete time state matrix, i.e. the discretized state data and the discretized control data, and store them in the storage blocks [Ad] and [Bd]. The first output end of the bilinear discretization module outputs the discrete time state matrix, i.e. the discretized state data. The second output end outputs the discrete time state matrix, i.e. the discretized control data. The two output ends are connected to the subsequent LQG calculation module for further calculation.

[0083] The bilinear discretization module comprises a continuous matrix preliminary discretization module, a bilinear preprocessing module and a bilinear postprocessing module. The continuous matrix preliminary discretization module receives the discrete time step (dt) and the seismic signal state data and the seismic signal control data stored in the dynamic matrix storage block, calculates the preliminary discretization result matrix, i.e. the preliminary discretized state data (Ac) and the preliminary discretized control data (Bc), and outputs them to the preliminary discretization result matrix storage block. The bilinear preprocessing module receives the preliminary discretized state data stored in the preliminary discretization result matrix storage block, calculates the preprocessing result matrix, i.e. the first state permutation data (tmp1) and the first state permutation data (tmp2), and outputs them to the preprocessing result matrix storage block. The bilinear postprocessing module receives the first state permutation data (tmp1) and the first state permutation data (tmp2) stored in the preprocessing result matrix storage block and the preliminary discretized control data stored in the preliminary discretization result matrix storage block, calculates the postprocessing result matrix, i.e. the discretized state data (Ad) and the discretized control data (Bd), and outputs them to the postprocessing result matrix storage block. The postprocessing result matrix, i.e. the discretized state data (Ad) and the discretized control data (Bd), is the required final discrete time state matrix. The discrete time state equation matrix, i.e. the discretized state data (Ad) and the discretized control data (Bd), is used for subsequent LQG calculation.

[0084] Based on the same inventive concept, the present application also provides a controllable seismic source seismic signal discretization device. The structure of the device is as shown in Figure 5As shown, the device comprises: a continuous form state matrix calculation module 102, a continuous matrix preliminary discretization module 103, a bilinear pre-processing module 104, and a bilinear post-processing module 105.

[0085] The continuous form state matrix calculation module 102 is configured to obtain, according to the collected seismic signals, seismic signal state data representing state quantities of a mathematical model of a controllable seismic source and seismic signal control data representing input currents of a power source of the controllable seismic source.

[0086] The continuous matrix preliminary discretization module 103 is configured to discretize the seismic signal state data and the seismic signal control data based on a preset discrete time step, to obtain preliminary discretized state data and preliminary discretized control data.

[0087] The bilinear pre-processing module 104 is configured to perform data permutation on the preliminary discretized state data according to matrix parameters of the preliminary discretized state data and a preset data permutation rule, to obtain first state permutation data and second state permutation data.

[0088] The bilinear post-processing module 105 is configured to perform discretization processing on first state inverse permutation data obtained by inverse operation of the first state permutation data and the preliminary discretized control data, to obtain discretized control data of the seismic signal; and perform discretization processing on the first state inverse permutation data and the second state permutation data, to obtain discretized state data of the seismic signal.

[0089] Optionally, the continuous matrix preliminary discretization module 103 is configured to receive the discrete time step (dt) and the seismic signal state data and the seismic signal control data, calculate preliminary discretization results to obtain the preliminary discretized state data and the preliminary discretized control data, and output the preliminary discretization results to a preliminary discretization result matrix storage block.

[0090] Optionally, the bilinear pre-processing module 104 is configured to receive the preliminary discretized state data, calculate pre-processing result matrix first state permutation data (tmp1) and second state permutation data (tmp2), and output the pre-processing result matrix to a pre-processing result matrix storage block.

[0091] Optionally, the bilinear post-processing module 105 is configured to receive the first permutation data (tmp1), the second permutation data (tmp2), and the preliminary discretized control data (Bc), calculate post-processing results to obtain discretized state data (Ad) and discretized control data (Bd), and store the post-processing results in a storage module.

[0092] In some optional embodiments, the device further comprises a discrete time step module 101.

[0093] The discrete time step module 101 can be arranged at the processing system PS end, and the CPU included in the PS end realizes the control and processing of the step setting. The discrete time step data set can be stored in the random memory (DDR), and the discrete time step (dt) is synchronized to the continuous matrix preliminary discretization module through the bus (AXI). The discrete time step (dt) can be configured through the software program of the PS end.

[0094] The discrete time step module 101 is used in the processing system PS end of the controllable seismic source signal discretization system, and the set discrete time step is obtained through the man-machine interaction mode, so that the programmable logic PL end of the controllable seismic source signal discretization system performs discretization processing on the seismic signal state data and the seismic signal control data according to the preset discrete time step.

[0095] The specific functions of the modules in the above device are described in the embodiments one and two.

[0096] The embodiment of the present application also provides a controllable seismic source signal discretization system, and a structure diagram thereof is shown in Figure 6 The controllable seismic source signal discretization system comprises a processing system PS end 601 and a programmable logic PL end 602.

[0097] The PS end 601 is used for obtaining the set discrete time step through the man-machine interaction mode and providing the PL end;

[0098] The PL end 602 is provided with the controllable seismic source signal discretization device as described above.

[0099] A specific architecture of the controllable seismic source signal discretization system is shown in Figure 7 The thick solid line frame realizes the controllable seismic source signal discretization method, and the controllable seismic source signal discretization device can be arranged in the optimal control module. The system comprises an algorithm verification platform based on FPGA and a closed-loop feedback software and hardware control system. The algorithm verification platform based on FPGA comprises an ideal scanning signal generator and a mathematical model, a phase tracking module, the closed-loop feedback software and hardware control system comprises an optimal control module, a Kalman module, a motor, a valve, a heavy hammer, a flat plate and various sensors, such as current, displacement and acceleration common sensors for different devices.

[0100] The ideal scanning signal generator at least comprises a digital-to-analog signal module (DDS) and a coded pulse module (Chirp). The corresponding analog signal is generated through the digital-to-analog signal module (DDS), and the analog signal is processed through the coded pulse module (Chirp). The pulse signal generated by the ideal scanning signal generator can be input as a reference signal to the optimal control module.

[0101] The state estimation equation module of the system mathematical modeling is used for pre-constructing a mathematical model.

[0102] The phase tracking module realizes the phase tracking function of the signal.

[0103] The optimal control module realizes the discretization processing of the controllable seismic signal in combination with the Kalman module, and performs feedback control on the motor, the valve, the weight and the flat plate according to the discretization processing result.

[0104] The optimal control module receives the pulse signal generated by the ideal scanning signal generator, and the phase tracking module realizes the phase tracking of the pulse signal; the flat plate is tightly coupled with the earth; the optimal control module drives the valve by the motor to control the weight to strike the flat plate, so as to generate a controllable seismic source, which is an analog signal; in the closed-loop feedback software and hardware control system, the seismic generation control parameters and the characteristic parameters of the earth are input into the Kalman module; the controllable seismic source is analyzed based on the seismic generation control parameters and the characteristic parameters of the earth to establish a mathematical model, the state estimation equation of the system mathematical modeling is contained in the mathematical model, and the parameters in the Kalman are operated through the state estimation equation; the controllable seismic source control system outputs the seismic signal state data and the seismic signal control data.

[0105] The application provides a controllable seismic source seismic signal discretization method, device and system with configurable and high-discrete-precision state matrix discretization, solves the problems of that the state equation calculation cannot configure a discrete time step and that the tracking precision is low and the error is large, improves the tracking precision, reduces the phase error and amplitude distortion between the output signal and the reference signal, and is convenient for configuring different time steps in different application scenarios and is more suitable.

[0106] Based on the same inventive concept, the application also provides a computer storage medium, which stores computer executable instructions, and the computer executable instructions are executed by a processor to realize the controllable seismic source seismic signal discretization method.

[0107] Based on the same inventive concept, the application also provides a signal discretization device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor realizes the controllable seismic source seismic signal discretization method when executing the program.

[0108] As to the device in the above-mentioned embodiments, the specific manner in which each module performs the operation has been described in detail in the embodiments related to the method, and will not be described in detail here.

[0109] Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, and the like, can refer to an action or process of one or more processing or computing systems, or similar devices, that manipulate or transform data represented as physical (e.g., electronic) quantities within the systems' registers or memories into other data similarly represented as physical quantities within the systems' memories, registers or other such information storage, transmission or display devices. The terms "information," "data," "instructions," “command,” “signal,” “bit,” “symbol,” and the like refer to physical quantities presumed to represent a pertinent physical reality.

[0110] It should be understood that the particular order in which the steps in the disclosed processes have been presented is exemplary. Based on design preferences, it is understood that the particular order of steps in the processes can be rearranged without departing from the scope of the disclosure. The accompanying method claims present elements of the various steps in exemplary order and are not meant to be limited to the specific order or hierarchy presented.

[0111] In the above detailed description, various features are grouped together in single embodiments for the purpose of streamlining the disclosure. This disclosed approach is not to be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are expressly recited in each claim. Rather, as the claims below reflect, inventive subject matter lies in fewer than all features of the disclosed single embodiments. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate preferred embodiment.

[0112] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

[0113] The steps of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in a user terminal. In the alternative, the processor and the storage medium can reside as discrete components in a user terminal.

[0114] For a software implementation, the techniques described herein can be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes can be stored in memory units and executed by processors. The memory unit can be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.

[0115] The above description includes one or more examples of the embodiments. Of course, not all possible combinations of components or methods described above can be claimed as embodiments. One of ordinary skill in the art can recognize that modifications and variations of the described embodiments can be made without departing from the scope of the present disclosure. It is therefore intended that the embodiments described herein be considered in all respects as illustrative and not restrictive, particularly as numerous modifications and further embodiments can become apparent to those skilled in the art. Accordingly, the scope of the present disclosure is intended to be defined by the following claims rather than the description. Moreover, the use of the terms "first", "second", etc. do not denote any order or importance, but rather the terms are used to distinguish one element from another. Furthermore, the use of the terms "including", "containing", etc. are meant to encompass the terms "consisting of" and / or "consisting essentially of". Moreover, the use of the term "or" is meant to encompass "and / or", unless otherwise indicated.

Claims

1. A method for discretizing controllable source seismic signals, characterized in that, include: Based on the collected seismic signals, seismic signal state data characterizing the state quantities of the mathematical model of the controllable source and seismic signal control data characterizing the input current of the power source of the controllable source are obtained. Multiply the discrete time step by the seismic signal control data to obtain preliminary discretized control data; The preset discrete time step is shifted to obtain the shifted discrete time step; the shifted discrete time step is multiplied by the seismic signal state data to obtain the preliminary discretized state data. Determine whether the number of rows and columns of the matrix of the preliminary discretized state data are equal; If they are equal, the first state permutation data is obtained based on the difference between the matrix elements of the given value and the initial discretized state data, and the second state permutation data is obtained based on the sum of the matrix elements of the given value and the initial discretized state data. If they are not equal, the matrix elements of the initial discretized state data are negative to obtain the first state permutation data; the initial discretized state data is used as the second state permutation data. Perform the inverse operation on the first-state permutation data to obtain the first-state inverse permutation data; multiply the first-state inverse permutation data and the preliminary discretized control data to obtain the discretized control data of the seismic signal; The discretization process of the first-state inverse permutation data and the second-state permutation data to obtain the discretized state data of the seismic signal includes: multiplying the first-state inverse permutation data and the second-state permutation data to obtain the discretized state data of the seismic signal. Discretize the first-state inverse permutation data and the second-state permutation data to obtain the discretized state data of the seismic signal.

2. The method as described in claim 1, characterized in that, The process of obtaining seismic signal state data characterizing the state variables of the controllable source mathematical model and seismic signal control data characterizing the input current of the controllable source dynamic source based on the acquired seismic signals includes: The collected seismic signals are input into a pre-constructed mathematical model of a controllable source, and the seismic signals are processed to obtain seismic signal state data characterizing the state variables of the mathematical model of the controllable source and seismic signal control data characterizing the input current of the dynamic source of the controllable source. The controllable source mathematical model is a continuous state equation form mathematical model of the controllable source constructed based on the mechanism analysis of the earthquake generation control parameters of the earthquake generator and the characteristic parameters of the earth. Earthquake control parameters include those for servo valves, hydraulic cylinders, counterweights, and platens.

3. The method as described in any one of claims 1-2, characterized in that, It also includes obtaining the set discrete time step through human-computer interaction at the PS end of the controllable source seismic signal discretization system, so that the programmable logic PL end of the controllable source seismic signal discretization system can discretize the seismic signal state data and seismic signal control data according to the preset discrete time step.

4. A controllable source seismic signal discretization device, characterized in that, include: Continuous form state matrix calculation module: used to obtain seismic signal state data characterizing the state quantities of the controllable source mathematical model and seismic signal control data characterizing the input current of the controllable source power source based on the acquired seismic signals; The continuous matrix preliminary discretization module is used to multiply the discrete time step and the seismic signal control data to obtain preliminary discretized control data; shift the preset discrete time step to obtain the shifted discrete time step; and multiply the shifted discrete time step and the seismic signal state data to obtain preliminary discretized state data. Bilinear preprocessing module: used to determine whether the number of rows and columns of the matrix of the preliminary discretized state data are equal; if they are equal, the first state permutation data is obtained based on the difference between the given value and the matrix elements of the preliminary discretized state data, and the second state permutation data is obtained based on the sum of the matrix elements of the given value and the preliminary discretized state data; if they are not equal, the matrix elements of the preliminary discretized state data are negative to obtain the first state permutation data; the preliminary discretized state data is used as the second state permutation data. Bilinear post-processing module: used to perform inverse operation on the first state permutation data to obtain the first state inverse permutation data; multiply the first state inverse permutation data and the preliminary discretization control data to obtain the discretization control data of the seismic signal; the discretization processing of the first state inverse permutation data and the second state permutation data to obtain the discretization state data of the seismic signal includes: multiplying the first state inverse permutation data and the second state permutation data to obtain the discretization state data of the seismic signal. Discretize the first-state inverse permutation data and the second-state permutation data to obtain the discretized state data of the seismic signal.

5. The controllable source seismic signal discretization device as described in claim 4, characterized in that, Also includes: Discrete Time Step Module: Used to obtain the set discrete time step on the PS terminal of the controllable source seismic signal discretization system through human-computer interaction, so that the programmable logic PL terminal of the controllable source seismic signal discretization system can discretize the seismic signal state data and seismic signal control data according to the preset discrete time step.

6. A controllable source seismic signal discretization system, characterized in that, include: Processing system PS terminal and programmable logic PL terminal; The processing system PS terminal is used to obtain the set discrete time step through human-computer interaction and provide it to the PL terminal. The programmable logic PL terminal is provided with a controllable source seismic signal discretization device as described in any one of claims 4-5.

7. A computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions, which, when executed by a processor, implement the controllable source seismic signal discretization method according to any one of claims 1-3.

8. A signal discretization device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements a controllable source seismic signal discretization method according to any one of claims 1-3.

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