Omnidirectional geophone dip angle calibration method and system and computing equipment

Abstract

The invention discloses an omnidirectional geophone inclination angle calibration method and system, and a computing device. The method comprises the following steps: enabling an X component, a Y component and a Z component of an omnidirectional geophone to coincide with an X axis, a Y axis and a Z axis of an accelerometer respectively; the polarity of each component of the omnidirectional geophone is correspondingly consistent with that of each component of the accelerometer; the positive and negative directions of the X axis, the Y axis and the Z axis of the accelerometer are made to coincide with the gravity acceleration direction, and acceleration values output by the accelerometer in the six postures are obtained; calculating an acceleration calibration coefficient of the accelerometer based on the obtained acceleration value; based on the acceleration calibration coefficient, calibrating an acceleration value output by the accelerometer in any attitude; calculating an inclination angle value of the omnidirectional geophone based on the calibrated acceleration value; and calculating a seismic data calibration matrix of the omnidirectional geophone based on the dip angle value and calibrating seismic data output by the omnidirectional geophone. The method can eliminate the influence of the attitude of the omnidirectional detector on the output seismic data.

Description

Technical Field

[0001] The present invention relates to the field of marine geophysical exploration, and particularly to an omnidirectional geophone inclination calibration method, system, computing device, and computer storage medium. Background Art

[0002] Marine subsea seismic exploration is usually achieved by artificially exciting seismic waves and receiving formation reflection waves by multiple subsea cables laid on the seabed. The subsea cable seismic acquisition system is oriented to the subsea seismic acquisition scenario and solves the demand of the geophysical industry for marine surveys with a larger number of seismic channels. The construction advantages of high deployment flexibility, repeatable deployment, and laying on the seabed surface ensure the operation efficiency. The 4-C subsea seismic acquisition (Four-Component subsea seismic data acquisition technology) can provide high-fidelity seismic data with excellent coupling. The geophone unit of the subsea cable seismic acquisition system consists of a single-component hydrophone and an omnidirectional geophone, and requires the geophone unit to be insensitive to tilt and have a high degree of vector fidelity; the cable body is powered by DC high voltage, and the single-cable length can reach 16 Km; GPS clock synchronization, global clock synchronous acquisition, and two recording modes of single-shot synchronous acquisition and continuous acquisition can be provided. The subsea cable seismic acquisition system takes into account the operation efficiency of offshore construction and the use and maintenance costs, and pursues the maximum use value.

[0003] When using a subsea cable seismic acquisition system for marine subsea seismic exploration, inclination calibration is a key link to ensure the vector fidelity of the omnidirectional geophone. In the prior art, the omnidirectional geophone adopts a combination of an orthogonal three-component moving coil geophone and a three-axis accelerometer, and the coordinate system where the orthogonal three-component moving coil geophone is located coincides with the coordinate system of the three-axis accelerometer. The orthogonality accuracy of the orthogonal three-component moving coil geophone is ensured by the machining accuracy of the three-component nickel-aluminum bronze bracket, and the coincidence accuracy of the two coordinate systems is determined by the machining accuracy and the assembly accuracy.

[0004] However, the acceleration data of the three-axis accelerometer cannot be directly used to calculate the inclination value of the omnidirectional geophone, because when the errors caused by zero offset and sensitivity mismatch are superimposed, the error may become quite large, completely exceeding the range that the omnidirectional geophone tilt detection can receive. Therefore, there is an urgent need for a method to calibrate the original acceleration value output by the accelerometer in real time. Summary of the Invention

[0005] In view of the above problems, the present invention is proposed to provide an omnidirectional geophone inclination calibration method, system, computing device, and computer storage medium that overcome the above problems or at least partially solve the above problems.

[0006] According to one aspect of the present invention, an omnidirectional geophone inclination calibration method is provided, including:

[0007] Align the X, Y, and Z components of the omnidirectional geophone with the X, Y, and Z axes of the accelerometer respectively, and ensure that the polarities of the components of the omnidirectional geophone correspond to those of the components of the accelerometer.

[0008] Align the positive and negative directions of the X, Y, and Z axes of the accelerometer with the direction of gravitational acceleration respectively, and obtain the acceleration values output by the accelerometer in six postures.

[0009] Calculate the acceleration calibration coefficient of the accelerometer based on the obtained acceleration values.

[0010] Calibrate the acceleration value output by the accelerometer in any posture based on the acceleration calibration coefficient.

[0011] Calculate the tilt angle value of the omnidirectional geophone based on the calibrated acceleration value; and

[0012] Calculate the seismic data calibration matrix of the omnidirectional geophone based on the tilt angle value, and calibrate the seismic data output by the omnidirectional geophone.

[0013] Optionally, the six postures include: the positive direction of the X axis of the accelerometer coincides with the direction of gravitational acceleration; the negative direction of the X axis of the accelerometer coincides with the direction of gravitational acceleration; the positive direction of the Y axis of the accelerometer coincides with the direction of gravitational acceleration; the negative direction of the Y axis of the accelerometer coincides with the direction of gravitational acceleration; the positive direction of the Z axis of the accelerometer coincides with the direction of gravitational acceleration; the negative direction of the Z axis of the accelerometer coincides with the direction of gravitational acceleration.

[0014] Optionally, obtaining the acceleration values output by the accelerometer in six postures further includes: for any posture, power on the accelerometer, continuously collect N measurement samples according to a preset acceleration sampling interval, and when the fluctuation deviation of gravitational acceleration does not exceed a preset value, calculate the acceleration mean of the N measurement samples as the acceleration value output in this posture.

[0015] Optionally, calculating the acceleration calibration coefficient of the accelerometer based on the acquired acceleration values further includes: calculating the X-axis gain of the accelerometer, the cross-axis gain between the X-axis and the Y-axis, and the cross-axis gain between the X-axis and the Z-axis based on the acquired acceleration values; calculating the Y-axis gain of the accelerometer, the cross-axis gain between the Y-axis and the X-axis, and the cross-axis gain between the Y-axis and the Z-axis; calculating the Z-axis gain of the accelerometer, the cross-axis gain between the Z-axis and the X-axis, and the cross-axis gain between the Z-axis and the Y-axis; respectively calculating the X-axis zero bias, the Y-axis zero bias, and the Z-axis zero bias of the accelerometer; and calculating the acceleration calibration coefficient of the accelerometer based on the X-axis gain of the accelerometer, the cross-axis gain between the X-axis and the Y-axis, the cross-axis gain between the X-axis and the Z-axis, the Y-axis gain of the accelerometer, the cross-axis gain between the Y-axis and the X-axis, the cross-axis gain between the Y-axis and the Z-axis, the Z-axis gain of the accelerometer, the cross-axis gain between the Z-axis and the X-axis, the cross-axis gain between the Z-axis and the Y-axis, and the X-axis zero bias, the Y-axis zero bias, and the Z-axis zero bias of the accelerometer.

[0016] Optionally, calculating the seismic data calibration matrix of the omnidirectional geophone based on the tilt value and calibrating the seismic data output by the omnidirectional geophone further includes: calculating the tilt calibration matrix of the omnidirectional geophone based on the tilt value and the seismic data output by the omnidirectional geophone; and calibrating the seismic data output by the omnidirectional geophone based on the tilt calibration matrix.

[0017] According to another aspect of the present invention, there is provided an omnidirectional geophone tilt calibration system, including: an omnidirectional geophone, an omnidirectional geophone calibration module, and a host computer. Among them, the omnidirectional geophone includes a three-component moving coil geophone, an accelerometer, and a parameter storage unit. Among them, the X component, Y component, and Z component of the three-component moving coil geophone coincide with the X-axis, Y-axis, and Z-axis of the accelerometer respectively, and the polarities of the respective components of the three-component moving coil geophone correspond to the polarities of the respective components of the accelerometer; the omnidirectional geophone calibration module includes: a processor;

[0018] Respectively making the positive and negative directions of the X-axis, Y-axis, and Z-axis of the accelerometer coincide with the direction of the gravitational acceleration, the host computer is configured to: acquire the acceleration values output by the accelerometer in six postures through the processor, calculate the acceleration calibration coefficient of the accelerometer based on the acquired acceleration values, and write the acceleration calibration coefficient into the parameter storage unit through the processor;

[0019] The processor is configured to: read the acceleration calibration coefficient from the parameter storage unit, calibrate the acceleration value output by the accelerometer in any posture; calculate the tilt value of the omnidirectional geophone based on the calibrated acceleration value;

[0020] The host computer is further configured to: read the inclination angle value of the omnidirectional seismic geophone through the processor, calculate the seismic data calibration matrix of the omnidirectional seismic geophone based on the inclination angle value, and calibrate the seismic data output by the omnidirectional seismic geophone through the processor.

[0021] Optionally, the processor includes: a first processor and a second processor, where the first processor includes: a seismic data reading module, an inclination angle calibration module, and a calibration data reading module; the host computer is specifically configured to: send the acceleration calibration coefficient to the second processor through the first processor, and write the acceleration calibration coefficient into the parameter storage unit through the second processor; the second processor is configured to: read the acceleration calibration coefficient from the parameter storage unit, calibrate the acceleration value output by the accelerometer in any posture; calculate the inclination angle value of the omnidirectional seismic geophone based on the calibrated acceleration value; the host computer is further specifically configured to: access the second processor through the calibration data reading module to read the inclination angle value of the omnidirectional seismic geophone, read the seismic data output by the omnidirectional seismic geophone through the seismic data reading module; and calibrate the seismic data output by the omnidirectional seismic geophone through the inclination angle calibration module.

[0022] Optionally, the parameter storage unit is an EEPROM.

[0023] According to another aspect of the present invention, there is provided a computing device, including: a processor, a memory, a communication interface, and a communication bus, and the processor, the memory, and the communication interface complete communication with each other through the communication bus;

[0024] The memory is used to store at least one executable instruction, and the executable instruction causes the processor to execute the operations corresponding to the above-mentioned inclination angle calibration method of the omnidirectional seismic geophone.

[0025] According to still another aspect of the present invention, there is provided a computer storage medium, and at least one executable instruction is stored in the storage medium, and the executable instruction causes the processor to execute the operations corresponding to the above-mentioned inclination angle calibration method of the omnidirectional seismic geophone.

[0026] According to the omnidirectional geophone tilt calibration method, system, computing device and computer storage medium of the present invention, the X component, Y component, and Z component of the omnidirectional geophone are respectively coincident with the X axis, Y axis, and Z axis of the accelerometer, and the polarities of the respective components of the omnidirectional geophone correspond to the polarities of the respective components of the accelerometer; the positive and negative directions of the X axis, Y axis, and Z axis of the accelerometer are respectively made coincident with the direction of the gravitational acceleration, and the acceleration values output by the accelerometer in six postures are obtained; based on the obtained acceleration values, the acceleration calibration coefficients of the accelerometer are calculated; based on the acceleration calibration coefficients, the acceleration values output by the accelerometer in any posture are calibrated; based on the calibrated acceleration values, the tilt values of the omnidirectional geophone are calculated; and based on the tilt values, the seismic data calibration matrix of the omnidirectional geophone is calculated, and the seismic data output by the omnidirectional geophone is calibrated. Based on the omnidirectional geophone tilt calibration method of the present invention, the accuracy of the omnidirectional geophone tilt measurement can be significantly improved. The omnidirectional geophone tilt calibration matrix is calculated according to the measured tilt values, and the three-component seismic data output by the omnidirectional geophone is calibrated, which can eliminate the influence of the omnidirectional geophone posture on the output seismic data and achieve high-fidelity vector detection; in addition, the omnidirectional geophone tilt calibration method of the present invention has universality and is also applicable to the tilt calibration of omnidirectional three-component MEMS (Micro-Electro-Mechanical Systems) geophones and the tilt calibration of multi-component towed geophones.

[0027] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are specifically exemplified below. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0029] Figure 1 shows a schematic flow chart of the omnidirectional geophone tilt calibration method according to an embodiment of the present invention;

[0030] Figure 2 shows a schematic structural diagram of an omnidirectional geophone according to an embodiment of the present invention;

[0031] Figure 3 shows a schematic structural diagram of an omnidirectional geophone tilt calibration system according to an embodiment of the present invention;

[0032] Figure 4 shows another structural schematic diagram of the omnidirectional geophone tilt calibration system according to an embodiment of the present invention; and

[0033] Figure 5 shows a structural schematic diagram of a computing device provided according to an embodiment of the present invention. Detailed implementation manners

[0034] Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be fully conveyed to those skilled in the art.

[0035] Figure 1 shows a schematic flow chart of the omnidirectional geophone tilt calibration method according to an embodiment of the present invention. As Figure 1 shown, the omnidirectional geophone tilt calibration method includes steps S110 - S160.

[0036] In step S110, the X component, Y component, and Z component of the omnidirectional geophone are respectively aligned with the X axis, Y axis, and Z axis of the accelerometer, and the polarities of the respective components of the omnidirectional geophone correspond to the polarities of the respective components of the accelerometer.

[0037] In step S120, the positive and negative directions of the X axis, Y axis, and Z axis of the accelerometer are respectively aligned with the direction of the gravitational acceleration, and the acceleration values output by the accelerometer in six postures are obtained.

[0038] Specifically, the six postures include the positive direction of the X axis of the accelerometer being aligned with the direction of the gravitational acceleration, the negative direction of the X axis of the accelerometer being aligned with the direction of the gravitational acceleration, the positive direction of the Y axis of the accelerometer being aligned with the direction of the gravitational acceleration, the negative direction of the Y axis of the accelerometer being aligned with the direction of the gravitational acceleration, the positive direction of the Z axis of the accelerometer being aligned with the direction of the gravitational acceleration, and the negative direction of the Z axis of the accelerometer being aligned with the direction of the gravitational acceleration.

[0039] For any of the above postures, power on the accelerometer, and continuously collect N measurement samples according to a preset acceleration sampling interval. When the fluctuation deviation of the gravitational acceleration does not exceed a preset value, calculate the acceleration mean value of the N measurement samples as the acceleration value output in this posture. For example, in the posture where the positive direction of the X-axis of the accelerometer coincides with the direction of the gravitational acceleration, the preset acceleration sampling interval can be set to 2 ms, the number of measurement samples can be set to 500, and when the fluctuation deviation of the gravitational acceleration is set to not exceed ±30 mg, calculate the acceleration value in this posture. The acceleration sampling interval, the number of measurement samples, and the fluctuation deviation of the gravitational acceleration can be set according to specific circumstances and are not limited here.

[0040] Step S130, calculate the acceleration calibration coefficient of the accelerometer based on the obtained acceleration value.

[0041] Specifically, based on the acceleration value obtained in step S120, calculate the X-axis gain of the accelerometer, the cross-axis gain between the X-axis and the Y-axis, and the cross-axis gain between the X-axis and the Z-axis; calculate the Y-axis gain of the accelerometer, the cross-axis gain between the Y-axis and the X-axis, and the cross-axis gain between the Y-axis and the Z-axis; calculate the Z-axis gain of the accelerometer, the cross-axis gain between the Z-axis and the X-axis, and the cross-axis gain between the Z-axis and the Y-axis; respectively calculate the X-axis zero-point deviation, the Y-axis zero-point deviation, and the Z-axis zero-point deviation of the accelerometer; and based on the X-axis gain of the accelerometer, the cross-axis gain between the X-axis and the Y-axis, the cross-axis gain between the X-axis and the Z-axis, the Y-axis gain of the accelerometer, the cross-axis gain between the Y-axis and the X-axis, the cross-axis gain between the Y-axis and the Z-axis, the Z-axis gain of the accelerometer, the cross-axis gain between the Z-axis and the X-axis, the cross-axis gain between the Z-axis and the Y-axis, and the X-axis zero-point deviation, Y-axis zero-point deviation, and Z-axis zero-point deviation of the accelerometer, calculate the acceleration calibration coefficient of the accelerometer. Specifically, the acceleration calibration coefficient includes the offset error calibration coefficient and the bias error calibration coefficient of the accelerometer.

[0042] Step S140, calibrate the acceleration value output by the accelerometer in any posture based on the acceleration calibration coefficient.

[0043] Specifically, store the acceleration calibration coefficient in the storage unit, read the acceleration calibration coefficient from the storage unit, and calibrate the original acceleration value output by the omnidirectional geophone read from the accelerometer at any posture angle. Optionally, the storage unit is an EEPROM (Electrically Erasable Programmable Read-Only Memory), and the storage unit can also be other types of non-volatile memories.

[0044] Step S150, calculate the inclination angle value of the omnidirectional geophone based on the calibrated acceleration value.

[0045] After completing the acceleration calibration, calculate the attitude angle of the omnidirectional geophone based on the calibrated acceleration value.

[0046] Step S160: Calculate the seismic data calibration matrix of the omnidirectional geophone based on the inclination value, and calibrate the seismic data output by the omnidirectional geophone.

[0047] Specifically, the storage unit reads the inclination value of the omnidirectional geophone and the collected omnidirectional geophone data, calculates the inclination calibration matrix of the omnidirectional geophone based on the inclination value and the seismic data output by the omnidirectional geophone; and calibrates the seismic data output by the omnidirectional geophone based on the inclination calibration matrix, effectively eliminating the influence of any attitude of the omnidirectional geophone on the output three-component seismic data, and realizing high-fidelity seismic data acquisition.

[0048] The following will illustrate the inclination calibration method of the omnidirectional geophone in this embodiment through examples.

[0049] First, align the X component, Y component, and Z component of the omnidirectional geophone with the X-axis component, Y-axis component, and Z-axis component of the accelerometer respectively, and the polarities of the respective components of the omnidirectional geophone correspond to the polarities of the respective components of the accelerometer. Figure 2 shows a schematic structural diagram of an omnidirectional geophone according to an embodiment of the present invention, as Figure 2 shown, use an accelerometer to measure the attitude of the omnidirectional geophone.

[0050] Align the positive direction of the X axis of the accelerometer with the direction of gravity acceleration, power on the accelerometer, set the acceleration sampling interval to 2 ms, and the gravity acceleration of 500 consecutive measurement samples When the fluctuation deviation does not exceed ±30 mg, calculate the acceleration mean value of these 500 measurement samples, record it as the acceleration sample point (AccX1, AccY1, AccZ1) output by the accelerometer in this attitude, and read and store the acceleration value output by the accelerometer.

[0051] Align the negative direction of the X axis of the accelerometer with the direction of gravity acceleration, power on the accelerometer, set the acceleration sampling interval to 2 ms, and the gravity acceleration of 500 consecutive measurement samples When the fluctuation deviation does not exceed ±30 mg, calculate the acceleration mean value of these 500 measurement samples, record it as the acceleration sample point (AccX2, AccY2, AccZ2) output by the accelerometer in this attitude, and read and store the acceleration value output by the accelerometer.

[0052] Align the positive direction of the Y axis of the accelerometer with the direction of gravity acceleration, power on the accelerometer, set the acceleration sampling interval to 2 ms, and the gravity acceleration of 500 consecutive measurement samples When the fluctuation deviation does not exceed ±30 mg, calculate the acceleration mean value of these 500 measurement samples, record it as the acceleration sample points (AccX3, AccY3, AccZ3) output by the accelerometer in this posture, read the acceleration value output by the accelerometer and store it.

[0053] Align the negative Y-axis direction of the omnidirectional geophone unit accelerometer with the direction of gravitational acceleration, power on the accelerometer, with an acceleration sampling interval of 2 ms, and 500 consecutive measurement samples of gravitational acceleration When the fluctuation deviation does not exceed ±30 mg, calculate the acceleration mean value of these 500 measurement samples, record it as the acceleration sample points (AccX4, AccY4, AccZ4) output by the accelerometer in this posture, read the acceleration value output by the accelerometer and store it.

[0054] Align the positive Z-axis direction of the accelerometer with the direction of gravitational acceleration, power on the accelerometer, set the acceleration sampling interval to 2 ms, and 500 consecutive measurement samples of gravitational acceleration When the fluctuation deviation does not exceed ±30 mg, calculate the acceleration mean value of these 500 measurement samples, record it as the acceleration sample points (AccX5, AccY5, AccZ5) output by the accelerometer in this posture, read the acceleration value output by the accelerometer and store it.

[0055] Align the negative Z-axis direction of the accelerometer with the direction of gravitational acceleration, power on the accelerometer, set the acceleration sampling interval to 2 ms, and 500 consecutive measurement samples of gravitational acceleration When the fluctuation deviation does not exceed ±30 mg, calculate the acceleration mean value of these 500 measurement samples, record it as the acceleration sample points (AccX6, AccY6, AccZ6) output by the accelerometer in this posture, read the acceleration value output by the accelerometer and store it.

[0056] Read the stored acceleration value, according to Calculate the X-axis gain of the accelerometer; according to Calculate the cross-axis gain between the X-axis and the Y-axis; according to Calculate the cross-axis gain between the X-axis and the Z-axis; according to Calculate the Y-axis gain of the accelerometer; according to Calculate the cross-axis gain between the Y-axis and the X-axis; according to Calculate the cross-axis gain between the Y-axis and the Z-axis; according to Calculate the Z-axis gain of the accelerometer; according to Calculate the cross-axis gain between the Z-axis and the X-axis; according to Calculate the cross-axis gain between the Z-axis and the Y-axis; according to Calculate the X-axis zero-point deviation of the accelerometer; according to Calculate the zero - point deviation of the Y - axis of the accelerometer; according to Calculate the zero - point deviation of the Z - axis of the accelerometer. According to the following formula

[0057]

[0058] Calculate the acceleration calibration coefficient of the accelerometer.

[0059] Store the acceleration calibration coefficient in the storage unit, read the acceleration calibration coefficient from the storage unit, and calibrate the original acceleration value output by the omnidirectional geophone at any attitude angle read from the accelerometer. After completing the acceleration calibration, calculate the attitude angle of the omnidirectional geophone, that is, the dip value, according to the calibrated acceleration value.

[0060] Read the dip value of the omnidirectional geophone and the collected omnidirectional geophone data from the storage unit, calculate the dip calibration matrix of the omnidirectional geophone, complete the dip calibration of the three - component seismic data output by the omnidirectional geophone, effectively eliminate the influence of any attitude of the omnidirectional geophone on the output three - component seismic data, and realize high - fidelity seismic data acquisition.

[0061] According to the omnidirectional geophone dip calibration method of the embodiment of the present invention, the accuracy of the omnidirectional geophone dip measurement can be significantly improved. Calculating the omnidirectional geophone dip calibration matrix according to the measured dip value can effectively eliminate the influence of any attitude of the omnidirectional geophone on the output three - component seismic data and realize high - fidelity vector detection; in addition, the omnidirectional geophone dip calibration method of the present invention has universality and is also applicable to the dip calibration of omnidirectional three - component MEMS geophones and the dip calibration of multi - component towed geophones.

[0062] Figure 3 Fig. shows a functional structure diagram of an omnidirectional geophone dip calibration system 300 provided according to Embodiment 2 of the present invention. As Figure 3 shown, the omnidirectional geophone dip calibration system 300 includes: an omnidirectional geophone 310, an omnidirectional geophone calibration module 320, and a host computer 330. Among them, the omnidirectional geophone 310 includes a three - component moving - coil geophone 311, an accelerometer 312, and a parameter storage unit 313. Among them, the X - component, Y - component, and Z - component of the three - component moving - coil geophone 311 coincide with the X - axis, Y - axis, and Z - axis of the accelerometer 312 respectively, and the polarities of the respective components of the three - component moving - coil geophone 311 correspond to the polarities of the respective components of the accelerometer 312; the omnidirectional geophone calibration module 320 includes: a processor 321;

[0063] Align the positive and negative directions of the X-axis, Y-axis, and Z-axis of the accelerometer 312 with the direction of the gravitational acceleration respectively. The host computer 330 is used to: obtain the acceleration values output by the accelerometer in six postures through the processor 321, calculate the acceleration calibration coefficient of the accelerometer 312 based on the obtained acceleration values, and write the acceleration calibration coefficient into the parameter storage unit 313 through the processor 321;

[0064] The processor 321 is used to: read the acceleration calibration coefficient from the parameter storage unit 313 and calibrate the acceleration value output by the accelerometer in any posture; calculate the inclination angle value of the omnidirectional geophone based on the calibrated acceleration value;

[0065] The host computer 330 is further used to: read the inclination angle value of the omnidirectional geophone 310 through the processor 321, calculate the seismic data calibration matrix of the omnidirectional geophone 310 based on the inclination angle value, and calibrate the seismic data output by the omnidirectional geophone 310 through the processor 321.

[0066] Figure 4 Fig. shows another structural schematic diagram of the inclination angle calibration system of the omnidirectional geophone according to an embodiment of the present invention. The processor 321 includes: a first processor 3211 and a second processor 3212. The first processor 3211 includes: a seismic data reading module 32111, an inclination angle calibration module 32112, and a calibration data reading module 32113. The host computer 330 is specifically used to: send the acceleration calibration coefficient to the second processor 3212 through the first processor 3211 and write the acceleration calibration coefficient into the parameter storage unit 313 through the second processor 3212; the second processor 3212 is used to: read the acceleration calibration coefficient from the parameter storage unit 313 and calibrate the acceleration value output by the accelerometer 312 in any posture; calculate the inclination angle value of the omnidirectional geophone 310 based on the calibrated acceleration value; the host computer 330 is further specifically used to: access the second processor 3212 through the calibration data reading module 32113 to read the inclination angle value of the omnidirectional geophone 310, read the seismic data output by the omnidirectional geophone 310 through the seismic data reading module 32111; and calibrate the seismic data output by the omnidirectional geophone 310 through the inclination angle calibration module 32112. In addition, the host computer 330 can also send a command to the inclination angle calibration module 32112 of the first processor 3211 to select to read the omnidirectional geophone data that has been calibrated for inclination angle from the first processor 3211. The first processor 3211 and the second processor 3212 can be microprocessors, or microcontrollers, field programmable gate arrays, application specific integrated circuits, etc.

[0067] Optionally, the parameter storage unit 313 is an EEPROM (Electrically Erasable Programmable Read-Only Memory), and the parameter storage unit 313 can also be other types of non-volatile memories.

[0068] The omnidirectional geophone dip angle calibration system according to the embodiment of the present invention can significantly improve the accuracy of the dip angle measurement of the omnidirectional geophone. By calculating the omnidirectional geophone dip angle calibration matrix based on the measured dip angle value, it can effectively eliminate the influence of any attitude of the omnidirectional geophone on the output three-component seismic data and achieve high-fidelity vector detection. In addition, the omnidirectional geophone dip angle calibration method of the present invention has universality and is also applicable to the dip angle calibration of omnidirectional three-component MEMS geophones and the dip angle calibration of multi-component streamer geophones.

[0069] According to Embodiment 3 of the present invention, a non-volatile computer storage medium is also provided. The computer storage medium stores at least one executable instruction, and the computer executable instruction can execute the method in any of the above method embodiments.

[0070] Figure 5 FIG. shows a schematic structural diagram of a computing device according to Embodiment 4 of the present invention. The specific implementation of the computing device is not limited in the specific embodiments of the present invention.

[0071] As Figure 5 shown, the computing device may include: a processor 402, a communications interface 404, a memory 406, and a communication bus 408.

[0072] Wherein: the processor 402, the communications interface 404, and the memory 406 communicate with each other through the communication bus 408. The communications interface 404 is used to communicate with network elements of other devices such as clients or other servers. The processor 402 is used to execute the program 410, and specifically can execute the relevant steps in the above method embodiments.

[0073] Specifically, the program 410 may include program code, and the program code includes computer operation instructions.

[0074] The processor 402 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. One or more processors included in the computing device may be of the same type, such as one or more CPUs; or may be of different types, such as one or more CPUs and one or more ASICs.

[0075] A memory 406 for storing a program 410. The memory 406 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0076] The program 410 may specifically be configured to cause the processor 402 to execute the methods in any of the above method embodiments.

[0077] Thus, it can be seen that the omnidirectional geophone dip angle calibration method according to this embodiment can significantly improve the accuracy of the omnidirectional geophone dip angle measurement. Calculating the omnidirectional geophone dip angle calibration matrix based on the measured dip angle value can effectively eliminate the influence of any posture of the omnidirectional geophone on the output three-component seismic data, and achieve high-fidelity vector detection. In addition, the omnidirectional geophone dip angle calibration method of the present invention has universality and is also applicable to the dip angle calibration of omnidirectional three-component MEMS geophones and the dip angle calibration of multi-component streamer geophones.

[0078] In the specification provided here, a large number of specific details are described. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail so as not to obscure the understanding of this specification.

[0079] Similarly, it should be understood that, in order to streamline the present invention and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, the inventive aspects lie in less than all the features of the single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate embodiment of the present invention.

[0080] Those skilled in the art can understand that the modules in the devices in the embodiments can be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise explicitly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0081] In addition, those skilled in the art can understand that although some of the embodiments herein include certain features included in other embodiments rather than other features, the combination of the features of different embodiments means that it is within the scope of the present invention and forms different embodiments. For example, in the following claims, any one of the claimed embodiments can be used in any combination.

[0082] It should be noted that the above embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" before an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a properly programmed computer. In a unit claim listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. An omnidirectional geophone dip angle calibration method, characterized in that, Including: Coincide the X component, Y component, and Z component of the omnidirectional geophone with the X axis, Y axis, and Z axis of the accelerometer respectively, and the polarities of the respective components of the omnidirectional geophone correspond to the polarities of the respective components of the accelerometer; Respectively make the positive and negative directions of the X axis, Y axis, and Z axis of the accelerometer coincide with the direction of gravitational acceleration, and obtain the acceleration values output by the accelerometer in six postures; Based on the obtained acceleration values, calculate the acceleration calibration coefficient of the accelerometer; Based on the acceleration calibration coefficient, calibrate the acceleration values output by the accelerometer in any posture; Based on the calibrated acceleration values, calculate the inclination angle value of the omnidirectional geophone; And Based on the inclination angle value, calculate the seismic data calibration matrix of the omnidirectional geophone, and calibrate the seismic data output by the omnidirectional geophone.

2. The method according to claim 1, wherein The six postures include: The positive direction of the X axis of the accelerometer coincides with the direction of gravitational acceleration; The negative direction of the X axis of the accelerometer coincides with the direction of gravitational acceleration; The positive direction of the Y axis of the accelerometer coincides with the direction of gravitational acceleration; The negative direction of the Y axis of the accelerometer coincides with the direction of gravitational acceleration; The positive direction of the Z axis of the accelerometer coincides with the direction of gravitational acceleration; The negative direction of the Z axis of the accelerometer coincides with the direction of gravitational acceleration.

3. The method according to claim 1 or 2, characterized in that, The obtaining the acceleration values output by the accelerometer in six postures further includes: For any posture, power on the accelerometer, continuously collect N measurement samples according to a preset acceleration sampling interval, and when the fluctuation deviation of gravitational acceleration does not exceed a preset value, calculate the acceleration mean value of the N measurement samples as the acceleration value output in this posture.

4. The method according to claim 1 or 2, characterized in that, The calculating the acceleration calibration coefficient of the accelerometer based on the obtained acceleration values further includes: Based on the obtained acceleration values, calculate the X-axis gain of the accelerometer and the cross-axis gains between the X axis and the Y axis, and between the X axis and the Z axis, calculate the Y-axis gain of the accelerometer and the cross-axis gains between the Y axis and the X axis, and between the Y axis and the Z axis, calculate the Z-axis gain of the accelerometer and the cross-axis gains between the Z axis and the X axis, and between the Z axis and the Y axis; Respectively calculate the X-axis zero-point deviation, Y-axis zero-point deviation, and Z-axis zero-point deviation of the accelerometer; and Based on the X-axis gain of the accelerometer and the cross-axis gains between the X axis and the Y axis, and between the X axis and the Z axis, the Y-axis gain of the accelerometer and the cross-axis gains between the Y axis and the X axis, and between the Y axis and the Z axis, the Z-axis gain of the accelerometer and the cross-axis gains between the Z axis and the X axis, and between the Z axis and the Y axis, and the X-axis zero-point deviation, Y-axis zero-point deviation, and Z-axis zero-point deviation of the accelerometer, calculate the acceleration calibration coefficient of the accelerometer.

5. The method according to claim 1, characterized in that, The calculating the seismic data calibration matrix of the omnidirectional geophone based on the inclination angle value and calibrating the seismic data output by the omnidirectional geophone further includes: Calculate an inclination calibration matrix of the omnidirectional geophone based on the inclination value and seismic data output by the omnidirectional geophone; and Calibrate the seismic data output by the omnidirectional geophone based on the inclination calibration matrix.

6. An omnidirectional geophone dip angle calibration system, characterized in that, Comprising: An omnidirectional geophone, an omnidirectional geophone calibration module, and a host computer. Among them, the omnidirectional geophone includes a three-component moving coil geophone, an accelerometer, and a parameter storage unit. Among them, the X component, Y component, and Z component of the three-component moving coil geophone coincide with the X axis, Y axis, and Z axis of the accelerometer respectively, and the polarities of the respective components of the three-component moving coil geophone correspond to the polarities of the respective components of the accelerometer; the omnidirectional geophone calibration module includes: a processor; Respectively make the positive and negative directions of the X axis, Y axis, and Z axis of the accelerometer coincide with the direction of gravitational acceleration. The host computer is used for: obtaining the acceleration values output by the accelerometer in six postures through the processor, calculating the acceleration calibration coefficient of the accelerometer based on the obtained acceleration values, and writing the acceleration calibration coefficient into the parameter storage unit through the processor; The processor is used for: reading the acceleration calibration coefficient from the parameter storage unit, calibrating the acceleration value output by the accelerometer in any posture; calculating the inclination value of the omnidirectional geophone based on the calibrated acceleration value; The host computer is further used for: reading the inclination value of the omnidirectional geophone through the processor, calculating the seismic data calibration matrix of the omnidirectional geophone based on the inclination value, and calibrating the seismic data output by the omnidirectional geophone through the processor.

7. The system according to claim 6, wherein The processor includes: a first processor and a second processor. Among them, the first processor includes: a seismic data reading module, an inclination calibration module, and a calibrated data reading module; The host computer is specifically used for: sending the acceleration calibration coefficient to the second processor through the first processor, and writing the acceleration calibration coefficient into the parameter storage unit through the second processor; The second processor is used for: reading the acceleration calibration coefficient from the parameter storage unit, calibrating the acceleration value output by the accelerometer in any posture; calculating the inclination value of the omnidirectional geophone based on the calibrated acceleration value; The host computer is further specifically used for: accessing the second processor through the calibrated data reading module, reading the inclination value of the omnidirectional geophone, reading the seismic data output by the omnidirectional geophone through the seismic data reading module; and calibrating the seismic data output by the omnidirectional geophone through the inclination calibration module.

8. The system according to claim 6, characterized in that, The parameter storage unit is an EEPROM.

9. A computing device, comprising: A processor, a memory, a communication interface, and a communication bus. The processor, the memory, and the communication interface complete communication with each other through the communication bus; The memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operations corresponding to the omnidirectional geophone inclination calibration method according to any one of claims 1-5.

10. A computer storage medium storing at least one executable instruction that causes a processor to perform operations corresponding to the omnidirectional geophone dip angle calibration method according to any one of claims 1-5.

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