A vertical electromagnetic positioning array device and method for submarine cable detection

Abstract

This application belongs to the field of marine engineering technology, specifically disclosing a vertical electromagnetic positioning array device and method for submarine cable detection. The device includes a controller, an attitude sensor, and three sets of three-component electromagnetic sensors, defined as electromagnetic sensor 1, electromagnetic sensor 2, and electromagnetic sensor 3. Electromagnetic sensors 1-3 are respectively installed at the top, bottom, and foremost part of the midships cross section of an underwater robot. The distance between electromagnetic sensor 1 and electromagnetic sensor 2 is L; the distance between electromagnetic sensor 3 and the center of the underwater robot is H. The controller locates the submarine cable based on distance L, distance H, electromagnetic detection data, and attitude data. The electromagnetic detection data is determined based on the three-component electromagnetic sensing values ​​of at least two of the three sensors (1-3). For deep-sea submarine cable detection, this application enables the detection device to achieve both adaptability and reliability.

Description

Technical Field

[0001] This application belongs to the field of marine engineering technology, and more specifically, relates to a vertical electromagnetic positioning array device and method for submarine cable detection. Background Technology

[0002] Deep-sea submarine cables are crucial components of marine infrastructure, including submarine earthquake monitoring, submarine scientific observation networks, and deep-sea underwater production systems. They play a vital role in transoceanic / regional communication, submarine power transmission, and marine observation. The structure of a deep-sea submarine cable primarily consists of an outer sheath, a waterproof layer, a conductor / fiber core, an insulation layer, a central strengthening member, and a dyed layer. Deep-sea submarine cables are susceptible to failure due to human activities and natural factors. Cable detection and location are critical prerequisites for cable maintenance and repair.

[0003] For submarine cable detection, researchers have proposed a horizontal dual-three-axis electromagnetic positioning scheme suitable for rotary underwater robots equipped with horizontal long wingplates. However, the morphology of deep-sea underwater robots differs significantly from that of shallow-sea rotary underwater robots. Deep-sea robots have a higher profile; for example, a deep-sea vertically flattened underwater robot is a type of autonomous underwater vehicle with a vertically flattened shape (similar to a flattened fish). Deep-sea vertically flattened underwater robots cannot easily accommodate horizontal long wingplates, making the existing horizontal dual-three-axis electromagnetic positioning scheme unsuitable for them and lacking adaptability.

[0004] Furthermore, deep-sea cable exploration involves complex operating conditions, and electromagnetic sensors may malfunction. If the existing horizontal dual-three-axis electromagnetic positioning scheme is used, the exploration work will be impossible if the electromagnetic sensors fail, resulting in a lack of reliability.

[0005] For deep-sea cable detection, how to achieve both adaptability and reliability of the detection device is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of this application is to achieve a detection device that is both adaptable and reliable for deep-sea cable detection.

[0007] To achieve the above objectives, in a first aspect, this application provides a vertical electromagnetic positioning array device for submarine cable detection, comprising: a controller, an attitude sensor, and three sets of three-component electromagnetic sensors, wherein the three sets of three-component electromagnetic sensors are respectively defined as electromagnetic sensor No. 1, electromagnetic sensor No. 2, and electromagnetic sensor No. 3.

[0008] Electromagnetic sensor No. 1 is installed on the top of the underwater robot, electromagnetic sensor No. 2 is installed on the bottom of the underwater robot, and electromagnetic sensor No. 3 is installed at the foremost part of the transverse section of the underwater robot.

[0009] The X, Y, and Z axes of the attached coordinate system of electromagnetic sensors 1-3 are parallel to the X, Y, and Z axes of the attached coordinate system of the underwater robot, respectively, and the directions of the X, Y, and Z axes point to the front, right, and bottom of the corresponding object, respectively.

[0010] The Z-axis of the attached coordinate system of electromagnetic sensor No. 1 coincides with the Z-axis of the attached coordinate system of electromagnetic sensor No. 2. The distance between the detection center of electromagnetic sensor No. 1 and the detection center of electromagnetic sensor No. 2 is L.

[0011] The detection center of electromagnetic sensor No. 3 is located on the extension line of the X-axis of the attached coordinate system of the underwater robot, and the distance from the center of the underwater robot is H.

[0012] Electromagnetic sensors 1-3 are used to provide three-component electromagnetic sensing values; the attitude sensor is used to provide attitude data of the underwater robot.

[0013] The controller locates the submarine cable based on distance L, distance H, electromagnetic detection data, and attitude data. The electromagnetic detection data is determined based on the three-component electromagnetic sensing values ​​of at least two of the electromagnetic sensors (numbers 1-3).

[0014] In one possible implementation, the controller is also used to perform the following operations before locating the submarine cable based on distance L, distance H, electromagnetic detection data, and attitude data:

[0015] Determine whether electromagnetic sensors 1-3 are malfunctioning;

[0016] Assuming that electromagnetic sensors 1-3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Includes the three-component electromagnetic sensing values ​​of electromagnetic sensors 1 to 3;

[0017] In the case where electromagnetic sensor 1 malfunctions but electromagnetic sensors 2 and 3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Including the three-component electromagnetic sensing values ​​of electromagnetic sensors No. 2 and No. 3.

[0018] In the case where electromagnetic sensor No. 2 malfunctions but electromagnetic sensors No. 1 and No. 3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Including the three-component electromagnetic sensing values ​​of electromagnetic sensor No. 1 and electromagnetic sensor No. 3;

[0019] In the case where electromagnetic sensor No. 3 malfunctions but electromagnetic sensors No. 1 and No. 2 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. It includes the three-component electromagnetic sensing values ​​of electromagnetic sensor No. 1 and electromagnetic sensor No. 2.

[0020] In one possible implementation, the submarine cable positioning data generated by the submarine cable relative positioning algorithm includes: , and ; This indicates the angular deviation between the underwater robot's heading and the submarine cable route; Indicates Underwater Robotics Center The lateral offset of the target projection point on the horizontal plane, where the target projection point is the center of the underwater robot. Projection points on the submarine cable route; Indicates Underwater Robotics Center The vertical offset from the target projection point on the vertical plane.

[0021] In one possible implementation, a submarine cable relative positioning algorithm include:

[0022] Using the following spatial rotation formula, for Perform spatial rotation to obtain ;

[0023] ;

[0024] The three-component electromagnetic sensing values ​​in the attached coordinate system provided by the three-component electromagnetic sensor, with subscripts. This indicates the number of the three-component electromagnetic sensor. , The axis is The corresponding axis, The axis is The corresponding axis, The axis is The corresponding axis, shaft and The plane formed by the axes coincides with the horizontal plane of the earth. The axis coincides with the vertical direction, and the attitude data includes the roll angle. and pitch angle ;

[0025] Calculate using the following angle deviation formula :

[0026] ;

[0027] Calculate using the following lateral offset formula :

[0028] ;

[0029] in, , and The calculation formula is as follows:

[0030] ;

[0031] ;

[0032] ;

[0033] Calculate using the following vertical offset formula. :

[0034] ;

[0035] in, , and The calculation formula is as follows:

[0036] ;

[0037] ;

[0038] .

[0039] In one possible implementation, a submarine cable relative positioning algorithm include:

[0040] Using the following spatial rotation formula, for Perform spatial rotation to obtain ;

[0041] ;

[0042] The three-component electromagnetic sensing values ​​in the attached coordinate system provided by the three-component electromagnetic sensor, with subscripts. This indicates the number of the three-component electromagnetic sensor. , The axis is The corresponding axis, The axis is The corresponding axis, The axis is The corresponding axis, shaft and The plane formed by the axes coincides with the horizontal plane of the earth. The axis coincides with the vertical direction, and the attitude data includes the roll angle. and pitch angle ;

[0043] Calculate using the following angle deviation formula :

[0044] ;

[0045] Calculate using the following lateral offset formula :

[0046] ;

[0047] in, The calculation formula is as follows:

[0048] ;

[0049] Calculate using the following vertical offset formula. :

[0050] ;

[0051] in, The calculation formula is as follows:

[0052] .

[0053] In one possible implementation, a submarine cable relative positioning algorithm include:

[0054] Using the following spatial rotation formula, for Perform spatial rotation to obtain ;

[0055] ;

[0056] The three-component electromagnetic sensing values ​​in the attached coordinate system provided by the three-component electromagnetic sensor, with subscripts. This indicates the number of the three-component electromagnetic sensor. , The axis is The corresponding axis, The axis is The corresponding axis, The axis is The corresponding axis, shaft and The plane formed by the axes coincides with the horizontal plane of the earth. The axis coincides with the vertical direction, and the attitude data includes the roll angle. and pitch angle ;

[0057] Calculate using the following angle deviation formula :

[0058] ;

[0059] Calculate using the following lateral offset formula :

[0060] ;

[0061] in, The calculation formula is as follows:

[0062] ;

[0063] Calculate using the following vertical offset formula. :

[0064] ;

[0065] in, The calculation formula is as follows:

[0066] .

[0067] In one possible implementation, a submarine cable relative positioning algorithm include:

[0068] Using the following spatial rotation formula, for Perform spatial rotation to obtain ;

[0069] ;

[0070] The three-component electromagnetic sensing values ​​in the attached coordinate system provided by the three-component electromagnetic sensor, with subscripts. This indicates the number of the three-component electromagnetic sensor. , The axis is The corresponding axis, The axis is The corresponding axis, The axis is The corresponding axis, shaft and The plane formed by the axes coincides with the horizontal plane of the earth. The axis coincides with the vertical direction, and the attitude data includes the roll angle. and pitch angle ;

[0071] Calculate using the following angle deviation formula :

[0072] ;

[0073] Calculate using the following lateral offset formula :

[0074] ;

[0075] in, The calculation formula is as follows:

[0076] ;

[0077] Calculate using the following vertical offset formula. :

[0078] ;

[0079] in, The calculation formula is as follows:

[0080] .

[0081] In one possible implementation, the controller is also used for:

[0082] Assuming electromagnetic sensors 1-3 are functioning correctly, the following data is obtained: Corresponding submarine cable positioning data , Corresponding submarine cable positioning data , Corresponding submarine cable positioning data and Corresponding submarine cable positioning data ;

[0083] based on and Determine the deviation function between them. , Used to describe The mapping relationship between the deviation and the target deviation;

[0084] based on and Determine the deviation function between them. , Used to describe The mapping relationship between the deviation and the target deviation;

[0085] based on and Determine the deviation function between them. , Used to describe The mapping relationship between the deviation and the target deviation;

[0086] In the case where electromagnetic sensor #1 malfunctions but electromagnetic sensors #2 and #3 are not malfunctioning, by ,Sure The deviation corresponding to the generated submarine cable positioning data Based on deviation right The generated submarine cable positioning data is compensated to reduce the deviation;

[0087] In the case where electromagnetic sensor #2 malfunctions but electromagnetic sensors #1 and #3 are not malfunctioning, by ,Sure The deviation corresponding to the generated submarine cable positioning data Based on deviation right The generated submarine cable positioning data is compensated to reduce the deviation;

[0088] In the case where electromagnetic sensor #3 malfunctions but electromagnetic sensors #1 and #2 are not malfunctioning, by... ,Sure The deviation corresponding to the generated submarine cable positioning data Based on deviation right The generated submarine cable positioning data is compensated to reduce the deviation.

[0089] Secondly, this application provides a submarine cable detection method, applied to the vertical electromagnetic positioning array device for submarine cable detection described in the first aspect or any possible implementation of the first aspect, comprising:

[0090] Based on distance L, distance H, electromagnetic detection data, and attitude data, the submarine cable is located.

[0091] The electromagnetic detection data is determined based on the three-component electromagnetic sensing values ​​of at least two of the electromagnetic sensors (numbers 1-3).

[0092] In one possible implementation, before locating the submarine cable based on distance L, distance H, electromagnetic detection data, and attitude data, the following is also included:

[0093] Determine whether electromagnetic sensors 1-3 are malfunctioning;

[0094] Assuming that electromagnetic sensors 1-3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Includes the three-component electromagnetic sensing values ​​of electromagnetic sensors 1 to 3;

[0095] In the case where electromagnetic sensor 1 malfunctions but electromagnetic sensors 2 and 3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Including the three-component electromagnetic sensing values ​​of electromagnetic sensors No. 2 and No. 3.

[0096] In the case where electromagnetic sensor No. 2 malfunctions but electromagnetic sensors No. 1 and No. 3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Including the three-component electromagnetic sensing values ​​of electromagnetic sensor No. 1 and electromagnetic sensor No. 3;

[0097] In the case where electromagnetic sensor No. 3 malfunctions but electromagnetic sensors No. 1 and No. 2 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. It includes the three-component electromagnetic sensing values ​​of electromagnetic sensor No. 1 and electromagnetic sensor No. 2.

[0098] Overall, the technical solutions conceived in this application have the following beneficial effects compared with the prior art:

[0099] (1) Electromagnetic sensors 1 to 3 are located on a specific vertical (longitudinal) section of the underwater robot, and this specific vertical section coincides with the plane determined by the X-Z axis of the underwater robot's attached coordinate system. Therefore, electromagnetic sensors 1 to 3 constitute an electromagnetic sensor positioning array located on the vertical section, referred to as the vertical electromagnetic positioning array. Since the electromagnetic sensors of this application are located on the aforementioned specific vertical section of the underwater robot, and the installation space on the aforementioned specific vertical section of the deep-sea flat-bodied underwater robot is relatively ample, the vertical electromagnetic positioning array of this application can be adapted to the deep-sea flat-bodied underwater robot.

[0100] (2) The controller can be used to locate the submarine cable using distance L, distance H, electromagnetic detection data and attitude data. Even if one electromagnetic sensor fails, the submarine cable detection operation can continue using the three-component electromagnetic sensing values ​​of the remaining two electromagnetic sensors, which effectively improves the reliability of the detection device.

[0101] (3) The deviation function pre-calibrated under normal working conditions is used to compensate the output of the two-sensor positioning algorithm activated after the fault, which effectively reduces the loss of positioning accuracy caused by the reduction of the number of sensors. Thus, on the basis of ensuring the reliability of the vertical electromagnetic positioning array device, it further improves the positioning accuracy of submarine cable under some sensor failure conditions. Attached Figure Description

[0102] Figure 1 This is a schematic diagram of the structure of the vertical electromagnetic positioning array device for submarine cable detection provided in the embodiments of this application;

[0103] Figure 2 This is a schematic diagram of the vertical electromagnetic positioning array device and the relative positioning of the submarine cable provided in the embodiments of this application;

[0104] Figure 3 This is a flowchart illustrating the submarine cable detection and routing location process provided in an embodiment of this application;

[0105] Figure 4 This is a schematic diagram of spatial rotation of three-component electromagnetic sensing values ​​provided in an embodiment of this application;

[0106] Figure 5 This is a top view of the submarine cable routing and positioning process provided in the embodiments of this application;

[0107] Figure 6This is a front view of the submarine cable routing and positioning process provided in the embodiments of this application. Detailed Implementation

[0108] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0109] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0110] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, for example, multiple processing units means two or more processing units, multiple elements means two or more elements, etc.

[0111] The embodiments of this application are described below with reference to the accompanying drawings.

[0112] Figure 1 This is a schematic diagram of the vertical electromagnetic positioning array device for submarine cable detection provided in an embodiment of this application, as shown below. Figure 1 As shown, the device includes: a controller, an attitude sensor, and three sets of three-component electromagnetic sensors, which are defined as electromagnetic sensor No. 1, electromagnetic sensor No. 2, and electromagnetic sensor No. 3, respectively.

[0113] Electromagnetic sensor No. 1 is installed on the top of the underwater robot, and electromagnetic sensor No. 2 is installed on the bottom of the underwater robot. Specifically, sensors No. 1 and No. 2 are vertically symmetrically installed on the top and bottom of the detection platform, respectively. Electromagnetic sensor No. 3 is installed at the foremost part of the transverse section amidships of the underwater robot (the transverse section amidships is the cross section passing through the center of the underwater robot).

[0114] like Figure 2 As shown, the X, Y, and Z axes of the attached coordinate system of electromagnetic sensors 1-3 are parallel to the X, Y, and Z axes of the attached coordinate system (or hull coordinate system) of the underwater robot, respectively. The directions of the X, Y, and Z axes point to the front, right, and bottom of the corresponding objects (electromagnetic sensors, underwater robot), respectively. Figure 2 As shown, the first plane is the detection center of electromagnetic sensor number 1. The horizontal plane where ) is located, the second plane is the detection center of the second electromagnetic sensor ( The third plane is the horizontal plane where the detection center of the third electromagnetic sensor is located. The third plane, which is located on the horizontal plane, is also the center of the underwater robot. The horizontal plane in which it is located. Figure 2 In the inset {I}-NED, the definition of the absolute geodetic coordinate system is given.

[0115] like Figure 2 As shown, the Z-axis of the attached coordinate system of electromagnetic sensor 1 coincides with the Z-axis of the attached coordinate system of electromagnetic sensor 2. The distance between the detection center of electromagnetic sensor 1 and the detection center of electromagnetic sensor 2 is L. The detection center of electromagnetic sensor 3 is located on the extension line of the X-axis of the attached coordinate system of the underwater robot, and the distance from the center of the underwater robot is H.

[0116] Electromagnetic sensors 1-3 provide three-component electromagnetic sensing values. Attitude sensors provide attitude data for the underwater robot. Specifically, the attitude sensors are fixedly mounted on the underwater robot and are used to measure the robot's attitude angles (including roll angle) in real time (i.e., the three sets of three-component electromagnetic sensors and the altimeter). Pitch angle This serves as the input for the submarine cable relative positioning algorithm.

[0117] The controller is based on distance L, distance H, electromagnetic detection data, and attitude data (including roll angle). Pitch angle The electromagnetic detection data for locating submarine cables is determined based on the three-component electromagnetic sensing values ​​of at least two of the three electromagnetic sensors (numbers 1-3).

[0118] It is understood that electromagnetic sensors 1-3 are located on a specific vertical (longitudinal) section of the underwater robot, and this specific vertical section coincides with the plane defined by the X-Z axis of the underwater robot's attached coordinate system. Therefore, electromagnetic sensors 1-3 constitute an electromagnetic sensor positioning array located on the vertical section, referred to as a vertical electromagnetic positioning array. Since the electromagnetic sensors of this application are located on the aforementioned specific vertical section of the underwater robot, and the installation space on the aforementioned specific vertical section of the deep-sea vertical flat-bodied underwater robot is relatively ample, the vertical electromagnetic positioning array of this application can be adapted to the deep-sea vertical flat-bodied underwater robot.

[0119] Furthermore, the controller can locate the submarine cable using distance L, distance H, electromagnetic detection data, and attitude data. Even if one electromagnetic sensor fails during this process, the submarine cable detection operation can continue using the three-component electromagnetic sensing values ​​of the remaining two electromagnetic sensors, effectively improving the reliability of the detection device.

[0120] Therefore, the vertical electromagnetic positioning array of this application can be adapted to deep-sea flat-body underwater robots, and can continue submarine cable detection operations even if one electromagnetic sensor fails, thus achieving both adaptability and reliability for deep-sea submarine cable detection.

[0121] This section provides an illustrative example of a body-fixed frame (also known as a volume coordinate system). A body-fixed frame is a coordinate system fixed to a rigid body (a moving object) and moving with it. Its origin is usually chosen at the center of mass or geometric center of the rigid body, and the coordinate axes remain relatively stationary with respect to the geometric principal axes or specific structural features of the rigid body. The three axes in a body-fixed frame are typically defined according to the right-hand rule.

[0122] The X-axis in the attached coordinate system is usually defined as pointing directly in front of the object or along the vertical axis.

[0123] The Y-axis in the attached coordinate system is usually defined as pointing to the right side of the object.

[0124] The Z-axis in the attached coordinate system is usually defined as pointing downwards from the object.

[0125] In one possible implementation, such as Figure 3 As shown, the controller is also used to perform the following operations before locating the submarine cable based on the distance L, distance H, electromagnetic detection data, and attitude data:

[0126] Determine whether electromagnetic sensors 1-3 are malfunctioning;

[0127] Assuming that electromagnetic sensors 1-3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Includes the three-component electromagnetic sensing values ​​of electromagnetic sensors 1 to 3;

[0128] In the case where electromagnetic sensor 1 malfunctions but electromagnetic sensors 2 and 3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Including the three-component electromagnetic sensing values ​​of electromagnetic sensors No. 2 and No. 3.

[0129] In the case where electromagnetic sensor No. 2 malfunctions but electromagnetic sensors No. 1 and No. 3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Including the three-component electromagnetic sensing values ​​of electromagnetic sensor No. 1 and electromagnetic sensor No. 3;

[0130] In the case where electromagnetic sensor No. 3 malfunctions but electromagnetic sensors No. 1 and No. 2 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. It includes the three-component electromagnetic sensing values ​​of electromagnetic sensor No. 1 and electromagnetic sensor No. 2.

[0131] In one possible implementation, the submarine cable relative positioning algorithm ( , , or The generated submarine cable positioning data includes: , and ; This indicates the angular deviation between the underwater robot's heading and the submarine cable route; Indicates Underwater Robotics Center The lateral offset of the target projection point on the horizontal plane, where the target projection point is the center of the underwater robot. Projection points on the submarine cable route; Indicates Underwater Robotics Center The vertical offset from the target projection point on the vertical plane.

[0132] This is for Figure 5 The parameters will be explained. Indicates passage The horizontal component of the electromagnetic field intensity signal measured by the electromagnetic sensor, specifically, . express The detection center and projection point of the electromagnetic sensor ( The horizontal distance of the detection center of the electromagnetic sensor (projected onto the submarine cable route) in the direction of the cable route. express The line segment between the detection center and the projection point of the electromagnetic sensor (referred to as...) The length of the corresponding line segment. express The angle between the corresponding line segment and the vertical plane.

[0133] This is for Figure 6 The parameters will be explained. , , , These represent the electromagnetic induction intensity at four different locations.

[0134] Figure 6 middle, ; .

[0135] Figure 6 middle, ; .

[0136] Figure 6 middle, ; .

[0137] Figure 6 middle, This represents the vertical distance between the center of the underwater robot and the seabed.

[0138] In one possible implementation, a submarine cable relative positioning algorithm include:

[0139] Using the following spatial rotation formula, for Perform spatial rotation (e.g.) Figure 4 (As shown), obtain ;

[0140] ;

[0141] The three-component electromagnetic sensing values ​​in the attached coordinate system provided by the three-component electromagnetic sensor, with subscripts. This indicates the number of the three-component electromagnetic sensor. , The axis is The corresponding axis, The axis is The corresponding axis, The axis is The corresponding axis, shaft and The plane formed by the axes coincides with the horizontal plane of the earth. The axis coincides with the vertical direction, and the attitude data includes the roll angle. and pitch angle ;

[0142] Calculate using the following angle deviation formula (like Figure 2 and Figure 5 As shown, Figure 5 middle The value range is 1 to 3).

[0143] ;

[0144] Calculate using the following lateral offset formula (like Figure 2 and Figure 6 (as shown)

[0145] ;

[0146] in, (This indicates the relative intensity relationship between the data detected by electromagnetic sensor 1 and electromagnetic sensor 2 along the Y-axis.) (This represents the relative intensity relationship between the data detected by electromagnetic sensor No. 1 and electromagnetic sensor No. 3 along the Y-axis) and The formula for calculating the relative intensity relationship between the data detected by electromagnetic sensors 2 and 3 along the Y-axis is as follows:

[0147] ;

[0148] ;

[0149] ;

[0150] Calculate using the following vertical offset formula. (like Figure 2 and Figure 6 (as shown)

[0151] ;

[0152] in, (This indicates the relative intensity relationship between the data detected by electromagnetic sensor 1 and electromagnetic sensor 2 along the Z-axis.) (This represents the relative intensity relationship between the data detected by electromagnetic sensor No. 1 and electromagnetic sensor No. 3 along the Z-axis) and The calculation formula for (representing the relative intensity relationship between the data detected by electromagnetic sensor No. 2 and electromagnetic sensor No. 3 in the Z-axis direction) is as follows:

[0153] ;

[0154] ;

[0155] .

[0156] In one possible implementation, a submarine cable relative positioning algorithm include:

[0157] Using the following spatial rotation formula, for Perform spatial rotation (e.g.) Figure 4 (As shown), obtain ;

[0158] ;

[0159] The three-component electromagnetic sensing values ​​in the attached coordinate system provided by the three-component electromagnetic sensor, with subscripts. This indicates the number of the three-component electromagnetic sensor. , The axis is The corresponding axis, The axis is The corresponding axis, The axis is The corresponding axis, shaft and The plane formed by the axes coincides with the horizontal plane of the earth. The axis coincides with the vertical direction, and the attitude data includes the roll angle. and pitch angle ;

[0160] Calculate using the following angle deviation formula (like Figure 2 and Figure 5 As shown, Figure 5 middle The value range is 1 to 3).

[0161] ;

[0162] Calculate using the following lateral offset formula (like Figure 2 and Figure 6 (as shown)

[0163] ;

[0164] in, The calculation formula is as follows:

[0165] ;

[0166] Calculate using the following vertical offset formula. (like Figure 2 and Figure 6 (as shown)

[0167] ;

[0168] in, The calculation formula is as follows:

[0169] .

[0170] In one possible implementation, a submarine cable relative positioning algorithm include:

[0171] Using the following spatial rotation formula, for Perform spatial rotation (e.g.) Figure 4 (As shown), obtain ;

[0172] ;

[0173] The three-component electromagnetic sensing values ​​in the attached coordinate system provided by the three-component electromagnetic sensor, with subscripts. This indicates the number of the three-component electromagnetic sensor. , The axis is The corresponding axis, The axis is The corresponding axis, The axis is The corresponding axis, shaft and The plane formed by the axes coincides with the horizontal plane of the earth. The axis coincides with the vertical direction, and the attitude data includes the roll angle. and pitch angle ;

[0174] Calculate using the following angle deviation formula (like Figure 2 and Figure 5 As shown, Figure 5 middle The value range is 1 to 3).

[0175] ;

[0176] Calculate using the following lateral offset formula (like Figure 2 and Figure 6 (as shown)

[0177] ;

[0178] in, The calculation formula is as follows:

[0179] ;

[0180] Calculate using the following vertical offset formula. (like Figure 2 and Figure 6 (as shown)

[0181] ;

[0182] in, The calculation formula is as follows:

[0183] .

[0184] In one possible implementation, a submarine cable relative positioning algorithm include:

[0185] Using the following spatial rotation formula, for Perform spatial rotation (e.g.) Figure 4 (As shown), obtain ;

[0186] ;

[0187] The three-component electromagnetic sensing values ​​in the attached coordinate system provided by the three-component electromagnetic sensor, with subscripts. This indicates the number of the three-component electromagnetic sensor. , The axis is The corresponding axis, The axis is The corresponding axis, The axis is The corresponding axis, shaft and The plane formed by the axes coincides with the horizontal plane of the earth. The axis coincides with the vertical direction, and the attitude data includes the roll angle. and pitch angle ;

[0188] Calculate using the following angle deviation formula (like Figure 2 and Figure 5 As shown, Figure 5 middle The value range is 1 to 3).

[0189] ;

[0190] Calculate using the following lateral offset formula (like Figure 2 and Figure 6 (as shown)

[0191] ;

[0192] in, The calculation formula is as follows:

[0193] ;

[0194] Calculate using the following vertical offset formula. (like Figure 2 and Figure 6 (as shown)

[0195] ;

[0196] in, The calculation formula is as follows:

[0197] .

[0198] In one possible implementation, the controller is also used for:

[0199] Assuming electromagnetic sensors 1-3 are functioning correctly, the following data is obtained: Corresponding submarine cable positioning data , Corresponding submarine cable positioning data , Corresponding submarine cable positioning data and Corresponding submarine cable positioning data ;

[0200] based on and Determine the deviation function between them. , Used to describe The mapping relationship between the deviation and the target deviation;

[0201] based on and Determine the deviation function between them. , Used to describe The mapping relationship between the deviation and the target deviation;

[0202] based on and Determine the deviation function between them. , Used to describe The mapping relationship between the deviation and the target deviation;

[0203] In the case where electromagnetic sensor #1 malfunctions but electromagnetic sensors #2 and #3 are not malfunctioning, by ,Sure The deviation corresponding to the generated submarine cable positioning data Based on deviation right The generated submarine cable positioning data is compensated to reduce the deviation;

[0204] In the case where electromagnetic sensor #2 malfunctions but electromagnetic sensors #1 and #3 are not malfunctioning, by ,Sure The deviation corresponding to the generated submarine cable positioning data Based on deviation right The generated submarine cable positioning data is compensated to reduce the deviation;

[0205] In the case where electromagnetic sensor #3 malfunctions but electromagnetic sensors #1 and #2 are not malfunctioning, by... ,Sure The deviation corresponding to the generated submarine cable positioning data Based on deviation right The generated submarine cable positioning data is compensated to reduce the deviation.

[0206] Specifically, under normal operating conditions where electromagnetic sensors 1 through 3 are all functioning correctly, the controller synchronously runs the submarine cable relative positioning algorithm. , , and And obtain their respective submarine cable positioning data. , , and . That is to say express Corresponding submarine cable positioning data, express Corresponding submarine cable positioning data, express Corresponding submarine cable positioning data, express The corresponding submarine cable positioning data.

[0207] For example, the submarine cable positioning data generated by the submarine cable relative positioning algorithm includes: , and .use Indicates in At this moment The generated , and ;use Indicates in At this moment The generated , and ;use Indicates in At this moment The generated , and ;use Indicates in At this moment The generated , and .

[0208] Accordingly, adopt Indicates in At this moment The generated submarine cable positioning data and The deviation between the generated submarine cable positioning data; using Indicates in At this moment The generated submarine cable positioning data and The deviation between the generated submarine cable positioning data; using Indicates in At this moment The generated submarine cable positioning data and The discrepancy between the generated submarine cable positioning data.

[0209] Assuming that electromagnetic sensors 1-3 do not malfunction, for multiple time periods ( ~ Record the submarine cable positioning data under ( ) include ~ At various moments in the middle , include ~ At various moments in the middle , include ~ At various moments in the middle , include ~ At various moments in the middle .

[0210] Accordingly, and The deviations between them include ~ At various moments in the middle , and The deviations between them include ~ At various moments in the middle , and The deviations between them include ~ At various moments in the middle .

[0211] based on With each two-sensor positioning algorithm ( , and Location data ( , and The deviations between the two can be used to establish and define deviation functions that describe the mapping relationship of the deviations. , and . Used to describe The mapping relationship between deviation and, for example , for The generated submarine cable positioning data, for against The predicted deviation. Used to describe The mapping relationship between deviation and, for example , for The generated submarine cable positioning data, for against The predicted deviation. Used to describe The mapping relationship between deviation and, for example , for The generated submarine cable positioning data, for against The predicted deviation.

[0212] For example, based on The deviation between the two-sensor positioning algorithms is calibrated by data fitting (linear fitting or nonlinear fitting) to obtain the deviation function.

[0213] When any sensor malfunctions (e.g., electromagnetic sensor #1 malfunctions), the controller switches to the corresponding two-sensor positioning algorithm based on the fault diagnosis result (e.g., when electromagnetic sensor #1 malfunctions, the algorithm is used...). ), and utilize a pre-calibrated corresponding deviation function (e.g., when electromagnetic sensor No. 1 fails, use...). ) Calculate the deviation value corresponding to the current algorithm output submarine cable positioning data (e.g., when electromagnetic sensor No. 1 fails, it is... ), and then based on this deviation value, perform real-time compensation on the submarine cable positioning data generated by the two-sensor positioning algorithm (for example, the specific compensation method could be in Based on the addition (to reduce deviation).

[0214] Understandably, by using a pre-calibrated deviation function under normal operating conditions to compensate for the output of the two-sensor positioning algorithm activated after a fault, the loss of positioning accuracy caused by the reduction in the number of sensors is effectively reduced. Thus, while ensuring the reliability of the vertical electromagnetic positioning array device, its positioning accuracy for submarine cables under partial sensor failure conditions is further improved.

[0215] In one possible implementation, the aforementioned vertical electromagnetic positioning array device is also equipped with a bottom altimeter and a combined navigation system (or an ultra-short baseline positioning system).

[0216] Bottom Altimeter: The altimeter is a three-component electromagnetic sensor installed on the bottom of the underwater robot and close to the bottom of the underwater robot. It detects the bottom height of the underwater robot as D.

[0217] Integrated navigation system (or ultra-short baseline positioning system): used to directly or indirectly measure the absolute position of the underwater robot in the geodetic coordinate system (including the latitude and longitude of the underwater robot). Heading angle The absolute position of the submarine cable in geodetic coordinates is determined by combining the submarine cable relative positioning algorithm.

[0218] For example, such as Figure 3 As shown, this application determines the burial depth of submarine cables using a submarine cable burial depth positioning algorithm. (Or suspension height). The formula for the submarine cable burial depth positioning algorithm is as follows:

[0219] ;

[0220] in, The bottom height data is measured by a bottom height gauge. The depth for laying submarine cables. This indicates that the submarine cable is buried. This indicates that the submarine cable is exposed on the seabed. This indicates that the submarine cable is suspended in the air.

[0221] For example, such as Figure 3As shown, this application determines the submarine cable routing angle using a submarine cable absolute positioning algorithm. latitude and longitude coordinates of submarine cable route points .

[0222] Specifically, the submarine cable absolute positioning algorithm includes a submarine cable route angle positioning sub-algorithm (used to determine the submarine cable route angle) and a submarine cable latitude and longitude positioning sub-algorithm (used to determine the latitude and longitude coordinates of the submarine cable route point).

[0223] The calculation formula for the submarine cable route angle positioning sub-algorithm is as follows:

[0224] ;

[0225] in, For the angle of the submarine cable route, This is the output of the yaw angle positioning module. This refers to the orientation of the underwater robot, with a value ranging from -180 to +180 degrees. Specifically, when the routing angle of the submarine cable is near ±180 degrees, calculations may be required. Solutions exceeding the range of (-180, +180) degrees are therefore used to calculate the submarine cable route angle as follows:

[0226] ;

[0227] in, Function representation: when The function takes the value 1 when the absolute value exceeds 180, otherwise it takes the value 0. For sign function, that is, when hour, ;when hour, The above methods can ensure the submarine cable route angle. It is always within the range of (-180, +180) degrees, that is, 0 degrees is due north. When moving clockwise to due south, the angle gradually increases from 0 degrees to +180 degrees; when moving counterclockwise to due south, the angle gradually decreases from 0 degrees to -180 degrees.

[0228] The calculation formula for the submarine cable latitude and longitude positioning sub-algorithm is as follows:

[0229] ;

[0230] in, The latitude and longitude coordinates of the underwater robot. The latitude and longitude coordinates of the submarine cable route point (specifically, the perpendicular from the center point between electromagnetic sensor 1 and electromagnetic sensor 2 on the submarine cable route).

[0231] This application also provides a submarine cable detection method, applied to any of the above-mentioned vertical electromagnetic positioning array devices for submarine cable detection, the method comprising:

[0232] Based on distance L, distance H, electromagnetic detection data, and attitude data, the submarine cable is located.

[0233] The electromagnetic detection data is determined based on the three-component electromagnetic sensing values ​​of at least two of the electromagnetic sensors (numbers 1-3).

[0234] In summary, the vertical electromagnetic positioning array device and method for submarine cable detection provided in this application have the following beneficial effects:

[0235] (1) It can be adapted to the application of vertical flat bodies or other deep-sea underwater robot equipment with high profile;

[0236] (2) Even if one electromagnetic sensor fails, the submarine cable detection operation can continue to be carried out using the three-component electromagnetic sensing values ​​of the remaining two electromagnetic sensors, effectively improving the reliability of the detection device.

[0237] (3) By using the pre-calibrated deviation function under normal working conditions to compensate for the output of the two-sensor positioning algorithm activated after the fault, the loss of positioning accuracy caused by the reduction of the number of sensors is effectively reduced.

[0238] (4) The submarine cable relative positioning algorithm provided in this application ( , , and It is not constrained by the physical properties of the deep-sea environment, such as magnetic permeability, temperature, salinity, and visibility.

[0239] It is understood that the various numerical designations used in the embodiments of this application are merely for the convenience of description and are not intended to limit the scope of the embodiments of this application.

[0240] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A vertical electromagnetic positioning array device for submarine cable detection, characterized in that, include: The system consists of a controller, an attitude sensor, and three sets of three-component electromagnetic sensors, which are defined as electromagnetic sensor 1, electromagnetic sensor 2, and electromagnetic sensor 3, respectively. Electromagnetic sensor No. 1 is installed on the top of the underwater robot, electromagnetic sensor No. 2 is installed on the bottom of the underwater robot, and electromagnetic sensor No. 3 is installed at the foremost part of the transverse section of the underwater robot. The X, Y, and Z axes of the attached coordinate system of electromagnetic sensors 1-3 are parallel to the X, Y, and Z axes of the attached coordinate system of the underwater robot, respectively, and the directions of the X, Y, and Z axes point to the front, right, and bottom of the corresponding object, respectively. The Z-axis of the attached coordinate system of electromagnetic sensor No. 1 coincides with the Z-axis of the attached coordinate system of electromagnetic sensor No.

2. The distance between the detection center of electromagnetic sensor No. 1 and the detection center of electromagnetic sensor No. 2 is L. The detection center of electromagnetic sensor No. 3 is located on the extension line of the X-axis of the attached coordinate system of the underwater robot, and the distance from the center of the underwater robot is H. Electromagnetic sensors 1-3 are used to provide three-component electromagnetic sensing values; the attitude sensor is used to provide attitude data of the underwater robot. The controller locates the submarine cable based on distance L, distance H, electromagnetic detection data, and attitude data. The electromagnetic detection data is determined based on the three-component electromagnetic sensing values ​​of at least two of the electromagnetic sensors (numbers 1-3).

2. The vertical electromagnetic positioning array apparatus for submarine cable detection according to claim 1, wherein, The controller is also used to perform the following operations before locating the submarine cable based on distance L, distance H, electromagnetic detection data, and attitude data: Determine whether electromagnetic sensors 1-3 are malfunctioning; In the case that the electromagnetic sensors 1-3 are not malfunctioning, the cable relative positioning algorithm is determined to be used Positioning the cable; cable relative positioning algorithm For positioning the cable based on the distance L, the distance H, the electromagnetic survey data and the attitude data; electromagnetic survey data Three-component electromagnetic sensor data including the electromagnetic sensors 1-3 In case of a failure of the 1st electromagnetic sensor and no failure of the 2nd electromagnetic sensor and the 3rd electromagnetic sensor, it is determined to use the relative cable positioning algorithm Positioning a cable; relative cable positioning algorithm for positioning a cable based on distance L, distance H, electromagnetic survey data and attitude data; electromagnetic survey data three-component electromagnetic sensor values including the 2nd electromagnetic sensor and the 3rd electromagnetic sensor; In the case where electromagnetic sensor No. 2 malfunctions but electromagnetic sensors No. 1 and No. 3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Including the three-component electromagnetic sensing values ​​of electromagnetic sensor No. 1 and electromagnetic sensor No. 3; In the case where electromagnetic sensor No. 3 malfunctions but electromagnetic sensors No. 1 and No. 2 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. It includes the three-component electromagnetic sensing values ​​of electromagnetic sensor No. 1 and electromagnetic sensor No.

2.

3. The vertical electromagnetic positioning array device for submarine cable detection according to claim 2, characterized in that, The submarine cable positioning data generated by the submarine cable relative positioning algorithm includes: , and ; This indicates the angular deviation between the underwater robot's heading and the submarine cable route; Indicates Underwater Robotics Center The lateral offset of the target projection point on the horizontal plane, where the target projection point is the center of the underwater robot. Projection points on the submarine cable route; Indicates Underwater Robotics Center The vertical offset from the target projection point on the vertical plane.

4. The vertical electromagnetic positioning array device for submarine cable detection according to claim 3, characterized in that, submarine cable relative positioning algorithm include: Using the following spatial rotation formula, for Perform spatial rotation to obtain ; ； The three-component electromagnetic sensing values ​​in the attached coordinate system provided by the three-component electromagnetic sensor, with subscripts. This indicates the number of the three-component electromagnetic sensor. , The axis is The corresponding axis, The axis is The corresponding axis, The axis is The corresponding axis, shaft and The plane formed by the axes coincides with the horizontal plane of the earth. The axis coincides with the vertical direction, and the attitude data includes the roll angle. and pitch angle ; Calculate using the following angle deviation formula : ； Calculate using the following lateral offset formula : ； in, , and The calculation formula is as follows: ； ； ； Calculate using the following vertical offset formula. : ； in, , and The calculation formula is as follows: ； ； 。 5. The vertical electromagnetic positioning array device for submarine cable detection according to claim 3, characterized in that, submarine cable relative positioning algorithm include: Using the following spatial rotation formula, for Perform spatial rotation to obtain ; ； The three-component electromagnetic sensing values ​​in the attached coordinate system provided by the three-component electromagnetic sensor, with subscripts. This indicates the number of the three-component electromagnetic sensor. , The axis is The corresponding axis, The axis is The corresponding axis, The axis is The corresponding axis, shaft and The plane formed by the axes coincides with the horizontal plane of the earth. The axis coincides with the vertical direction, and the attitude data includes the roll angle. and pitch angle ; Calculate using the following angle deviation formula : ； Calculate using the following lateral offset formula : ； in, The calculation formula is as follows: ； Calculate using the following vertical offset formula. : ； in, The calculation formula is as follows: 。 6. The vertical electromagnetic positioning array device for submarine cable detection according to claim 3, characterized in that, submarine cable relative positioning algorithm include: Using the following spatial rotation formula, for Perform spatial rotation to obtain ; ； The three-component electromagnetic sensing values ​​in the attached coordinate system provided by the three-component electromagnetic sensor, with subscripts. This indicates the number of the three-component electromagnetic sensor. , The axis is The corresponding axis, The axis is The corresponding axis, The axis is The corresponding axis, shaft and The plane formed by the axes coincides with the horizontal plane of the earth. The axis coincides with the vertical direction, and the attitude data includes the roll angle. and pitch angle ; Calculate using the following angle deviation formula : ； Calculate using the following lateral offset formula : ； in, The calculation formula is as follows: ； Calculate using the following vertical offset formula. : ； in, The calculation formula is as follows: 。 7. The vertical electromagnetic positioning array device for submarine cable detection according to claim 3, characterized in that, submarine cable relative positioning algorithm include: Using the following spatial rotation formula, for Perform spatial rotation to obtain ; ； The three-component electromagnetic sensing values ​​in the attached coordinate system provided by the three-component electromagnetic sensor, with subscripts. This indicates the number of the three-component electromagnetic sensor. , The axis is The corresponding axis, The axis is The corresponding axis, The axis is The corresponding axis, shaft and The plane formed by the axes coincides with the horizontal plane of the earth. The axis coincides with the vertical direction, and the attitude data includes the roll angle. and pitch angle ; Calculate using the following angle deviation formula : ； Calculate using the following lateral offset formula : ； in, The calculation formula is as follows: ； Calculate using the following vertical offset formula. : ； in, The calculation formula is as follows: 。 8. The vertical electromagnetic positioning array device for submarine cable detection according to claim 2, characterized in that, The controller is also used for: Assuming electromagnetic sensors 1-3 are functioning correctly, the following data is obtained: Corresponding submarine cable positioning data , Corresponding submarine cable positioning data , Corresponding submarine cable positioning data and Corresponding submarine cable positioning data ; based on and Determine the deviation function between them. , Used to describe The mapping relationship between the deviation and the target deviation; based on and Determine the deviation function between them. , Used to describe The mapping relationship between the deviation and the target deviation; based on and Determine the deviation function between them. , Used to describe The mapping relationship between the deviation and the target deviation; In the case where electromagnetic sensor #1 malfunctions but electromagnetic sensors #2 and #3 are not malfunctioning, by ,Sure The deviation corresponding to the generated submarine cable positioning data Based on deviation right The generated submarine cable positioning data is compensated to reduce the deviation; In the case where electromagnetic sensor #2 malfunctions but electromagnetic sensors #1 and #3 are not malfunctioning, by ,Sure The deviation corresponding to the generated submarine cable positioning data Based on deviation right The generated submarine cable positioning data is compensated to reduce the deviation; In the case where electromagnetic sensor #3 malfunctions but electromagnetic sensors #1 and #2 are not malfunctioning, by... ,Sure The deviation corresponding to the generated submarine cable positioning data Based on deviation right The generated submarine cable positioning data is compensated to reduce the deviation.

9. A method for detecting submarine cables, characterized in that, The vertical electromagnetic positioning array device for submarine cable detection as described in any one of claims 1-8 includes: Based on distance L, distance H, electromagnetic detection data, and attitude data, the submarine cable is located. The electromagnetic detection data is determined based on the three-component electromagnetic sensing values ​​of at least two of the electromagnetic sensors (numbers 1-3).

10. The submarine cable detection method according to claim 9, characterized in that, Before locating the submarine cable based on distance L, distance H, electromagnetic detection data, and attitude data, the following steps are also included: Determine whether electromagnetic sensors 1-3 are malfunctioning; Assuming that electromagnetic sensors 1-3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Includes the three-component electromagnetic sensing values ​​of electromagnetic sensors 1 to 3; In the case where electromagnetic sensor 1 malfunctions but electromagnetic sensors 2 and 3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Including the three-component electromagnetic sensing values ​​of electromagnetic sensors No. 2 and No.

3. In the case where electromagnetic sensor No. 2 malfunctions but electromagnetic sensors No. 1 and No. 3 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. Including the three-component electromagnetic sensing values ​​of electromagnetic sensor No. 1 and electromagnetic sensor No. 3; In the case where electromagnetic sensor No. 3 malfunctions but electromagnetic sensors No. 1 and No. 2 are functioning correctly, the submarine cable relative positioning algorithm will be used. Positioning submarine cables; submarine cable relative positioning algorithm Used for electromagnetic detection data based on distance L, distance H, and electromagnetic detection data Attitude data, for locating submarine cables; electromagnetic detection data. It includes the three-component electromagnetic sensing values ​​of electromagnetic sensor No. 1 and electromagnetic sensor No. 2.

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