Underwater production system manifold leakage three-dimensional positioning method based on underwater acoustic signals

Abstract

The invention belongs to the technical field of petroleum engineering, and particularly relates to a three-dimensional positioning method for manifold leakage of an underwater production system based on underwater acoustic signals. According to the positioning method, by establishing association of underwater acoustic signals among different hydrophones of multiple channels and setting a double-threshold detection means, the accuracy and reliability of a manifold leakage positioning detection result of the underwater production system are effectively improved, and technical support is provided for rapidly determining the three-dimensional coordinate position of a leakage sound source. The invention provides an underwater production system manifold leakage three-dimensional positioning method based on underwater acoustic signals. The underwater production system manifold leakage three-dimensional positioning method comprises the following steps that P1, the underwater acoustic signals are preprocessed; p2, calculating the time difference of arrival between the underwater acoustic signals when the reference hydrophone and other hydrophones detect leakage for the first time in the multi-channel hydrophone; and P3, constructing a leakage sound source three-dimensional positioning model, and calculating to obtain the three-dimensional coordinates of the manifold leakage of the underwater production system.

Description

Technical Field

[0001] The invention belongs to the technical field of petroleum engineering, and in particular relates to a three-dimensional positioning method for manifold leakage of an underwater production system based on hydroacoustic signals. Background Art

[0002] The underwater production system manifold consists of several pipeline modules and manifold modules, which are mainly used to collect various fluids required in the production process of oil and gas reservoirs through underwater wellheads and Christmas trees, and then complete the gathering and transportation operations through submarine pipeline terminal equipment. However, due to the complex and changeable working environment of the underwater production system manifold, once a leakage failure occurs, it will not only cause significant economic losses, but also may cause serious damage to the marine ecological environment.

[0003] In order to detect and identify possible leakage in the manifold of the underwater production system, a hydrophone device is usually used in the prior art to collect the hydroacoustic signals generated during the operation of the manifold of the underwater production system, and to screen and analyze the above signals. This technical method is based on the sound waves caused by the leakage, and realizes the detection and identification of the leakage based on its vibration characteristics, thereby providing a reliable basis for taking timely countermeasures.

[0004] However, in further research, the inventors found that due to the influence of multiple factors such as the complex pipeline structure of the underwater production system manifold and different types of noise pollution in the underwater environment, there are large errors in the existing leakage detection and positioning results based on hydroacoustic signals, and false alarms and missed alarms are prone to occur. The above situation greatly increases the difficulty of underwater production system manifold leakage detection. Therefore, it is urgently necessary for technical personnel in this field to design and provide a new underwater production system manifold leakage three-dimensional positioning method, so as to be able to quickly respond to leakage incidents and provide assistance to ensure the efficient and safe operation of the underwater production system manifold. Summary of the invention

[0005] The present invention provides a three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals. The positioning method effectively improves the accuracy and reliability of underwater production system manifold leakage positioning detection results by establishing the correlation of hydroacoustic signals between multi-channel different hydrophones and setting a double threshold detection means, and provides technical support for quickly determining the three-dimensional coordinate position of the leakage sound source.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides a three-dimensional positioning method for manifold leakage in an underwater production system based on hydroacoustic signals, comprising the following steps: Step P1: pre-processing the underwater acoustic signal; Step P2: Calculate the arrival time difference between the reference hydrophone and the water acoustic signal of other hydrophones in the multi-channel hydrophone when the leak is first detected; Step P3: Construct a three-dimensional positioning model of the leakage sound source and calculate the three-dimensional coordinates of the leakage of the underwater production system manifold.

[0007] Preferably, the process of preprocessing the underwater acoustic signal in step P1 is specifically described as follows: Step P101: Calculate the time domain average value of the water acoustic signal; eliminate the DC component in the water acoustic signal to correct its baseline deviation; Step P102: Use frame splitting and windowing processing to achieve time domain segmentation of the underwater acoustic signal.

[0008] Preferably, the time domain average value of the water acoustic signal in step P101 and the water acoustic signal after eliminating the DC component are specifically described as follows: The water acoustic signal is represented as x(t), and the time domain average value of the water acoustic signal satisfies: (1); In formula (1), N is the length of the underwater acoustic signal sample; The underwater acoustic signal after eliminating the DC component satisfies: (2).

[0009] Preferably, the step P102 is specifically described as follows: For an underwater acoustic signal with a sample length of N, the length of each frame is l, the displacement of the next frame to the previous frame is m, and the overlapping part is o=lm, so we get frame; in, satisfy: (3); Then the underwater acoustic signal after frame and window processing satisfies: (4); In formula (4), w(i) is the Hamming window function, c is the windowing position; Further, the time domain waveform of the underwater acoustic signal is set to s(n), then the i-th frame underwater acoustic signal s obtained after frame segmentation and windowing processing is i (n), satisfying: (5); Among them, the i-th frame underwater acoustic signal s i (n) short-term energy, satisfying: (6); In formula (5) and (6), .

[0010] Preferably, the process of calculating the arrival time difference between the reference hydrophone and the water acoustic signal of the other hydrophones in the multi-channel hydrophone when the leak is first detected in step P2 is specifically described as follows: Step P201: establishing a correlation relationship between the reference hydrophone and the water acoustic signals of other hydrophones in the multi-channel hydrophone; Step P202: Counting the time point when each hydrophone in the multi-channel hydrophone detects a leak for the first time; Step P203: According to the time node when each hydrophone in the multi-channel hydrophone detects the leak for the first time calculated in step P202, the arrival time difference between the water acoustic signal when the reference hydrophone and other hydrophones in the multi-channel hydrophone detect the leak for the first time is calculated.

[0011] Preferably, the process of establishing the correlation relationship between the water acoustic signals of the reference hydrophone and other hydrophones in the multi-channel hydrophone in step P201 is specifically described as follows: Construct a multivariate regression model that integrates multi-channel hydrophone characteristics, frequency response parameters, and measured energy values; Among them, the constructed multivariate regression model satisfies: (7); In formula (7), S 1 is the short-time energy value of the reference hydrophone in the multi-channel hydrophone; S i is the observation value of other hydrophones in the multi-channel hydrophone, iÎ[2,5]; β 0 , β 1 , …, β n is the regression coefficient of the multiple regression model, S 1 2 , S 1 3 ,…,S 1 n is the short-time energy value S 1 is a high power of ; ε is an independently distributed error term with constant variance; Among them, the coefficient combination β that best fits the predicted value to the observed value 0 , β 1 , …, β n ,satisfy: (8); Construct the matrix X and solve the regression coefficients according to the normal equations to satisfy: (9).

[0012] Preferably, the process of obtaining the time point when each hydrophone in the multi-channel hydrophone detects the leak for the first time in step P202 is specifically described as follows: Setting the double threshold value of the reference hydrophone in the multi-channel hydrophone; Among them, the double threshold value of the reference hydrophone in the multi-channel hydrophone satisfies: (10); (11); In formula (10) and (11), , ; Based on the regression coefficients obtained by analyzing the multivariate regression model, double threshold values ​​of other hydrophones in the multi-channel hydrophone are determined; Among them, the double threshold values ​​of other hydrophones in the multi-channel hydrophone meet the following requirements: (12); (13); In formula (13), ; Among them, the first threshold value in the double threshold value is used to preliminarily screen the hydroacoustic signal when the multi-channel hydrophone detects a leak for the first time, so as to determine the interval in which the hydroacoustic signal is located when the leak is first detected; the second threshold value in the double threshold value is used to detect and determine the starting position of the hydroacoustic signal when the multi-channel hydrophone detects a leak for the first time.

[0013] Preferably, the three-dimensional localization model of the leakage sound source constructed in step P3 is specifically described as follows: The three-dimensional positioning model of the leakage sound source meets the following requirements: (14); (15); In equations (14) and (15), the spatial coordinates of each hydrophone in the multi-channel hydrophone are (x i ,y i , z i ), the spatial coordinates of the leakage sound source to be determined are (x, y, z); Formula (14) can be further expressed as: (16); In formula (16), K i =x i 2 +y i 2 +z i 2 ; And, according to formula (15), we can further obtain the following relationship: (17); Substituting formula (17) into formula (16), we get: (18); In formula (18), x i1 =x i -x 1 ,y i1 =y i -y 1 , z i1 =z i -z 1 .

[0014] The present invention provides a three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals, which includes the following steps: step P1: preprocessing the hydroacoustic signal; step P2: calculating the arrival time difference between the hydroacoustic signal when the reference hydrophone and other hydrophones in the multi-channel hydrophone detect the leakage for the first time; step P3: constructing a three-dimensional positioning model of the leakage sound source, and calculating the three-dimensional coordinates of the underwater production system manifold leakage.

[0015] Compared with the prior art, the three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals with the above-mentioned step features has at least the following technical advantages: (1) The three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals provided by the present invention establishes a correlation relationship between the hydroacoustic signals of the reference hydrophone and other hydrophones in the multi-channel hydrophone, and achieves the technical effect of synchronous detection of the multi-channel hydrophone array. Compared with the traditional single hydrophone leakage positioning method, the three-dimensional positioning method has higher positioning accuracy and more reliable positioning results.

[0016] (2) The three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals provided by the present invention constructs a multivariate regression model that integrates multi-channel hydrophone characteristics, frequency response parameters and measured energy values, realizes comprehensive response processing of environmental noise and sound wave propagation characteristics, and overcomes the influence of environmental noise on leakage hydroacoustic signals to a great extent, providing help for optimizing the accuracy of sound source positioning results. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the following drawings: Figure 1 A schematic flow chart of a method for three-dimensionally locating a manifold leakage in an underwater production system based on hydroacoustic signals provided by the present invention. DETAILED DESCRIPTION

[0018] The present invention provides a three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals. The positioning method effectively improves the accuracy and reliability of underwater production system manifold leakage positioning detection results by establishing the correlation of hydroacoustic signals between multi-channel different hydrophones and setting a double threshold detection means, and provides technical support for quickly determining the three-dimensional coordinate position of the leakage sound source.

[0019] like Figure 1 As shown, the present invention provides a three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals, comprising the following steps: Step P1: pre-process the underwater acoustic signal.

[0020] It is worth noting that the hydroacoustic signal will be interfered by environmental noise and the hydrophone (specific frequency introduced by its DC power supply) that collects the hydroacoustic signal, resulting in spectrum aliasing. Therefore, when implementing the three-dimensional positioning of the manifold leakage in the underwater production system, the hydroacoustic signal needs to be pre-processed first.

[0021] As a preferred embodiment of the present invention, the process of preprocessing the underwater acoustic signal in step P1 is specifically described as follows: Step P101: Calculate the time domain average value of the water acoustic signal; eliminate the DC component in the water acoustic signal to correct its baseline deviation.

[0022] Step P102: Use frame splitting and windowing processing to achieve time domain segmentation of the underwater acoustic signal.

[0023] The time domain average value of the water acoustic signal in step P101 and the water acoustic signal after the DC component is eliminated are preferably specifically described as follows: The water acoustic signal is represented as x(t), and the time domain average value of the water acoustic signal satisfies: (1); In formula (1), N is the length of the underwater acoustic signal sample.

[0024] The underwater acoustic signal after eliminating the DC component satisfies: (2).

[0025] Step P102 is preferably specifically described as follows: For an underwater acoustic signal with a sample length of N, the length of each frame is l, the displacement of the next frame to the previous frame is m, and the overlapping part is o=lm, so we get frame; in, satisfy: (3).

[0026] Then the underwater acoustic signal after frame and window processing satisfies: (4); In formula (4), w(i) is the Hamming window function and c is the windowing position.

[0027] Further, the time domain waveform of the underwater acoustic signal is set to s(n), then the i-th frame underwater acoustic signal s obtained after frame segmentation and windowing processing is i (n), satisfying: (5).

[0028] Among them, the i-th frame underwater acoustic signal s i (n) short-term energy, satisfying: (6); In formula (5) and (6), .

[0029] Step P2: Calculate the arrival time difference between the reference hydrophone and the other hydrophones in the multi-channel hydrophone when the leak is first detected.

[0030] On the basis of completing step P1, the arrival time difference between the reference hydrophone and the water acoustic signal of other hydrophones when the leak is first detected is further calculated.

[0031] As a preferred embodiment of the present invention, the process of calculating the arrival time difference between the reference hydrophone and the other hydrophones in the multi-channel hydrophone when the leak is first detected in step P2 is specifically described as follows: Step P201: establishing a correlation relationship between the reference hydrophone and the water acoustic signals of other hydrophones in the multi-channel hydrophone.

[0032] Step P202: Count and obtain the time point when each hydrophone in the multi-channel hydrophone detects a leak for the first time.

[0033] Step P203: According to the time node when each hydrophone in the multi-channel hydrophone detects the leak for the first time calculated in step P202, the arrival time difference between the water acoustic signal when the reference hydrophone and other hydrophones in the multi-channel hydrophone detect the leak for the first time is calculated.

[0034] It is worth noting that there are many complex factors that affect the hydroacoustic signals of the reference hydrophone and other hydrophones in the multi-channel hydrophone, such as the inherent characteristics of different hydrophone sensors, the spatial arrangement of the multi-channel hydrophone array, environmental noise, sound wave propagation characteristics, etc. Therefore, it is necessary to determine the correlation between the hydroacoustic signals of the reference hydrophone and other hydrophones, and use appropriate thresholds to improve the accuracy of screening hydroacoustic signals.

[0035] Preferably, the process of establishing the correlation relationship between the water acoustic signals of the reference hydrophone and other hydrophones in the multi-channel hydrophone in step P201 is specifically described as follows: A multivariate regression model integrating multi-channel hydrophone characteristics, frequency response parameters and measured energy values ​​was constructed.

[0036] Among them, the constructed multivariate regression model satisfies: (7); In formula (7), S 1 is the short-time energy value of the reference hydrophone in the multi-channel hydrophone; S i is the observation value of other hydrophones in the multi-channel hydrophone, iÎ[2,5]; β 0 , β 1 , …, β n is the regression coefficient of the multiple regression model, S 1 2 , S 1 3 ,…,S 1 n is the short-time energy value S 1 is a high-order power of ; ε is an independently distributed error term with constant variance.

[0037] It should be noted that the multivariate regression model is specifically used to compensate for the sensitivity differences between the hydrophones and to achieve noise reduction processing for the spatial heterogeneity of the environmental noise.

[0038] Furthermore, the coefficient combination β that best fits the predicted value to the observed value 0 , β 1 , …, β n ,satisfy: (8); Construct the matrix X and solve the regression coefficients according to the normal equations to satisfy: (9).

[0039] One additional point is to prove that the above multivariate regression model is indeed true and effective. Here, you can choose to substitute the hydroacoustic signal data set into the multivariate regression model for solution. Among them, the hydroacoustic signal data set is obtained by collecting multi-environment sound waves with a multi-channel hydrophone after a standard tap on a fixed position, so its data set may contain the characteristics of different working conditions. After substituting the hydroacoustic signal data set into the multivariate regression model, the least squares method is used for parameter estimation; then, the residual sum of squares is minimized through iterative optimization. It is worth noting that with the continuous increase in the amount of data in the data set and the accumulation of calculation times, the regression coefficients gradually converge to a stable solution, thereby obtaining the coefficient combination that best fits the predicted value and the observed value.

[0040] Further preferably, the process of obtaining the time node when each hydrophone in the multi-channel hydrophone detects the leak for the first time in step P202 is specifically described as follows: Setting the double threshold value of the reference hydrophone in the multi-channel hydrophone; Among them, the double threshold value of the reference hydrophone in the multi-channel hydrophone satisfies: (10); (11); In formula (10) and (11), , ; Based on the regression coefficients obtained by analyzing the multivariate regression model, double threshold values ​​of other hydrophones in the multi-channel hydrophone are determined; Among them, the double threshold values ​​of other hydrophones in the multi-channel hydrophone meet the following requirements: (12); (13); In formula (13), ; Among them, the first threshold value in the double threshold value is used to preliminarily screen the hydroacoustic signal when the multi-channel hydrophone detects a leak for the first time, so as to determine the interval in which the hydroacoustic signal is located when the leak is first detected; the second threshold value in the double threshold value is used to detect and determine the starting position of the hydroacoustic signal when the multi-channel hydrophone detects a leak for the first time.

[0041] It should be noted that by setting the double threshold of each hydrophone as the leakage criterion, the time node when each hydrophone first detects the leakage signal can be accurately calibrated, which are marked as t 1 ,t i , where iÎ[2,5]. Then the arrival time difference between the reference hydrophone and other hydrophones in the multi-channel hydrophone when the leak is first detected satisfies: (19).

[0042] As a basic parameter in underwater acoustic propagation research, the precise measurement of underwater acoustic propagation velocity is directly related to the accuracy of sound source positioning. In a fluid medium, sound waves propagate in the form of elastic longitudinal waves, and their propagation velocity can be expressed by equation (20): (20); In formula (20), ρ is the density of the medium; κ is the adiabatic compressibility coefficient of the medium. Further research found that ρ and κ in seawater are functions of temperature, salinity and pressure, so the speed of sound in seawater is also a function of temperature, salinity and pressure.

[0043] Step P3: Construct a three-dimensional positioning model of the leakage sound source and calculate the three-dimensional coordinates of the leakage of the underwater production system manifold.

[0044] On the basis of completing step P2, step P3 is further implemented to construct a three-dimensional positioning model of the leakage sound source. On this basis, based on the three-dimensional positioning model of the leakage sound source, combined with the known spatial position information of the multi-channel hydrophone array and the various time difference data calculated in the above steps, the three-dimensional coordinates of the leakage sound source can be accurately estimated.

[0045] As a preferred embodiment of the present invention, the three-dimensional localization model of the leakage sound source constructed in step P3 is specifically described as follows: The three-dimensional positioning model of the leakage sound source meets the following requirements: (14); (15); In equations (14) and (15), the spatial coordinates of each hydrophone in the multi-channel hydrophone are (x i ,y i , z i ), the spatial coordinates of the leakage sound source to be determined are (x, y, z).

[0046] Formula (14) can be further expressed as: (16); In formula (16), K i =x i 2 +y i 2 +z i 2 .

[0047] And, according to formula (15), we can further obtain the following relationship: (17).

[0048] Substituting formula (17) into formula (16), we get: (18); In formula (18), x i1 =x i -x 1 ,y i1 =y i -y 1 , z i1 =z i -z 1 .

[0049] It can be found that formula (18) eliminates the quadratic terms of the unknowns and only retains the linear terms, resulting in a system of linear equations. After obtaining the calculation result of formula (18), the following deduction can be made to complete the three-dimensional location of the leak based on the arrival time between the reference hydrophone and the other hydrophones in the multi-channel hydrophone when the leak is first detected.

[0050] Specifically, for example, when i=2, 3, 4, there are the following expressions: (twenty one); In formula (21), r i1 , K i 、x i1 Known, unknown items are r 1 , x, y, z. If we assume r 1 It is known that, then equation (21) can be regarded as a linear equation system to be solved, and by eliminating variables we can obtain: (twenty two).

[0051] Formula (22) can be rewritten as: (twenty three).

[0052] A x =C; using the inverse of the matrix, that is, x=A-1C, the following three coordinates can be obtained: (twenty four); In formula (24), C 1 =(K 2 -K 1 )-(r 21 2 +2r 21 r 1 ).

[0053] C 1 , C 2 , C 3 Substituting into equation (24), we can simplify it to obtain: (25); p 1 ,q 1 See the following formulas (26) and (27), p 2 、p 3 ,q 2 ,q 3 Form and p 1 ,q 1 The same, no further details will be given here. In formula (25), only r 1 an unknown solution; therefore, find r 1 , the exact location of the leak can be solved.

[0054] (26); Substituting equation (25) into equation (15) and setting i = 1, we can obtain the following equation (28). 1 For a quadratic equation with unknown variables, two root values ​​can be obtained. Based on the prior information, an invalid root is discarded and the valid r 1 By using equation (25), the three-dimensional coordinate position of the leakage sound source can be obtained.

[0055] (27); (28).

[0056] So far, through the above calculations, the three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals provided by the present invention finally realizes the three-dimensional positioning of underwater production system manifold leakage.

[0057] The present invention provides a three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals, which includes the following steps: step P1: preprocessing the hydroacoustic signal; step P2: calculating the arrival time difference between the hydroacoustic signal when the reference hydrophone and other hydrophones in the multi-channel hydrophone detect the leakage for the first time; step P3: constructing a three-dimensional positioning model of the leakage sound source, and calculating the three-dimensional coordinates of the underwater production system manifold leakage.

[0058] Compared with the prior art, the three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals with the above-mentioned step features has at least the following technical advantages: (1) The three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals provided by the present invention establishes a correlation relationship between the hydroacoustic signals of the reference hydrophone and other hydrophones in the multi-channel hydrophone, and achieves the technical effect of synchronous detection of the multi-channel hydrophone array. Compared with the traditional single hydrophone leakage positioning method, the three-dimensional positioning method has higher positioning accuracy and more reliable positioning results.

[0059] (2) The three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals provided by the present invention constructs a multivariate regression model that integrates multi-channel hydrophone characteristics, frequency response parameters and measured energy values, realizes comprehensive response processing of environmental noise and sound wave propagation characteristics, and overcomes the influence of environmental noise on leakage hydroacoustic signals to a great extent, providing help for optimizing the accuracy of sound source positioning results.

[0060] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals, characterized in that: The steps include: Step P1: preprocessing the underwater acoustic signal; Step P2: Calculate the arrival time difference between the reference hydrophone and the water acoustic signal of other hydrophones in the multi-channel hydrophone when the leak is first detected; Step P3: Construct a three-dimensional positioning model of the leakage sound source and calculate the three-dimensional coordinates of the leakage of the underwater production system manifold.

2. The method for three-dimensional positioning of manifold leakage in an underwater production system based on hydroacoustic signals according to claim 1 is characterized in that: The process of preprocessing the underwater acoustic signal in step P1 is specifically described as follows: Step P101: Calculate the time domain average value of the water acoustic signal; eliminate the DC component in the water acoustic signal to correct its baseline deviation; Step P102: Use frame splitting and windowing processing to achieve time domain segmentation of the underwater acoustic signal.

3. The three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals according to claim 2 is characterized in that: The time domain average value of the water acoustic signal in step P101 and the water acoustic signal after the DC component is eliminated are specifically described as follows: The water acoustic signal is represented as x(t), and the time domain average value of the water acoustic signal satisfies: （1）； In formula (1), N is the length of the underwater acoustic signal sample; The underwater acoustic signal after eliminating the DC component satisfies: （2）。 4. The method for three-dimensional positioning of manifold leakage in an underwater production system based on hydroacoustic signals according to claim 2 is characterized in that: The step P102 is specifically described as: For an underwater acoustic signal with a sample length of N, the length of each frame is l, the displacement of the next frame to the previous frame is m, and the overlapping part is o=lm, so we get frame; in, satisfy: (3); Then the underwater acoustic signal after frame and window processing satisfies: （4）； In formula (4), w(i) is the Hamming window function, c is the windowing position; Further, the time domain waveform of the underwater acoustic signal is set to s(n), then the i-th frame underwater acoustic signal s obtained after frame segmentation and windowing processing is i (n), satisfying: （5）； Among them, the i-th frame underwater acoustic signal s i (n) short-term energy, satisfying: （6）； In formula (5) and (6), .

5. The three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals according to claim 1 is characterized in that: The process of calculating the arrival time difference between the reference hydrophone and the other hydrophones in the multi-channel hydrophone when the leak is first detected in step P2 is specifically described as follows: Step P201: establishing a correlation relationship between the reference hydrophone and the water acoustic signals of other hydrophones in the multi-channel hydrophone; Step P202: Counting the time point when each hydrophone in the multi-channel hydrophone detects a leak for the first time; Step P203: According to the time node when each hydrophone in the multi-channel hydrophone detects the leak for the first time calculated in step P202, the arrival time difference between the water acoustic signal when the reference hydrophone and other hydrophones in the multi-channel hydrophone detect the leak for the first time is calculated.

6. The method for three-dimensional positioning of manifold leakage in an underwater production system based on hydroacoustic signals according to claim 5 is characterized in that: The process of establishing the correlation relationship between the reference hydrophone and the other hydrophone water acoustic signals in the multi-channel hydrophone in step P201 is specifically described as follows: Construct a multivariate regression model that integrates multi-channel hydrophone characteristics, frequency response parameters, and measured energy values; Among them, the constructed multivariate regression model satisfies: （7）； In formula (7), S1 is the short-time energy value of the reference hydrophone in the multi-channel hydrophone; S i are the observation values ​​of other hydrophones in the multi-channel hydrophone, iÎ[2,5]; β0, β1, …, β n is the regression coefficient of the multiple regression model, S1 2 、S1 3 ,…,S1 n is the high-order power of the short-time energy value S1; ε is an independently distributed error term with constant variance; The coefficient combination β0, β1, …, β1 that best fits the predicted value to the observed value is n ,satisfy: （8）； Construct the matrix X and solve the regression coefficients according to the normal equations to satisfy: （9）。 7. The three-dimensional positioning method for underwater production system manifold leakage based on hydroacoustic signals according to claim 5 is characterized in that: The process of obtaining the time point when each hydrophone in the multi-channel hydrophone detects the leak for the first time in step P202 is specifically described as follows: Setting the double threshold value of the reference hydrophone in the multi-channel hydrophone; Among them, the double threshold value of the reference hydrophone in the multi-channel hydrophone satisfies: （10）； （11）； In formula (10) and (11), , ; Based on the regression coefficients obtained by analyzing the multivariate regression model, double threshold values ​​of other hydrophones in the multi-channel hydrophone are determined; Among them, the double threshold values ​​of other hydrophones in the multi-channel hydrophone meet the following requirements: （12）； （13）； In formula (13), ; Among them, the first threshold value in the double threshold value is used to preliminarily screen the hydroacoustic signal when the multi-channel hydrophone detects a leak for the first time, so as to determine the interval in which the hydroacoustic signal is located when the leak is first detected; the second threshold value in the double threshold value is used to detect and determine the starting position of the hydroacoustic signal when the multi-channel hydrophone detects a leak for the first time.

8. The method for three-dimensional positioning of manifold leakage in an underwater production system based on hydroacoustic signals according to claim 1, characterized in that: The three-dimensional positioning model of the leakage sound source constructed in step P3 is specifically described as follows: The three-dimensional positioning model of the leakage sound source meets the following requirements: （14）； （15）； In equations (14) and (15), the spatial coordinates of each hydrophone in the multi-channel hydrophone are (x i ,y i , z i ), the spatial coordinates of the leakage sound source to be determined are (x, y, z); Formula (14) can be further expressed as: （16）； In formula (16), K i =x i 2 +y i 2 +z i 2 ; And, according to formula (15), we can further obtain the following relationship: （17）； Substituting formula (17) into formula (16), we get: （18）； In formula (18), x i1 = x i - x1, y i1 = y i - y1, z i1 = z i - z1.

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