Water area high-density electrical method integrated cable towing system and collection method thereof

Abstract

The invention relates to a water area high-density electrical method integrated cable towing system and a collection method thereof, and the system comprises a mother ship winch unit which is used for controlling a winch to collect and release a measurement cable and can guarantee that the measurement cable completely enters water; the cable laying unmanned ship comprises an unmanned ship cable-ship linkage mechanism which is used for being connected with the end portion of a measurement cable, can adjust the depth of the measurement cable in water and carries a GNSS-RTK positioning module and a communication module. An integrated high-density electrical method cable collects potential difference and current data under different electrode combinations by arranging a multi-electrode array. Through cooperative work of the mother ship winch unit, the cable laying unmanned ship and the integrated high-density electrical method cable, automatic laying, stable cable dragging and efficient recycling of the electrode cable in the water area environment are achieved, and the prominent problems of low efficiency, poor safety, insufficient cable measuring precision and the like in traditional water area high-density electrical method operation are fundamentally solved; and the method has obvious engineering application value and popularization prospect.

Description

Technical Field

[0001] This invention relates to the field of geophysical exploration technology, and in particular to a high-density electrical resistivity tomography integrated towed system for water areas and its acquisition method. Background Technology

[0002] High-density electrical resistivity tomography (EDT) in waterways, as an important engineering geophysical exploration method, has been widely used in recent years in fields such as channel dredging, port construction, submarine pipeline laying, reservoir dredging, and nearshore engineering surveys. This method involves deploying a multi-electrode array in the water body or underwater medium, injecting current into the medium, and collecting potential difference data. This data is then used to invert and obtain the resistivity distribution characteristics of the underwater medium, effectively identifying soft and hard soil interfaces, rock strata distribution, fracture zones, and anomalous structures. It offers advantages such as continuous coverage, large information capacity, and relatively low cost. However, in practical engineering applications, traditional high-density electrical resistivity tomography in waterways still faces many technical bottlenecks in terms of equipment design and operational methods.

[0003] Firstly, from the perspective of operational efficiency, existing high-density electrical resistivity tomography (EDT) methods in water areas generally use long-distance flexible electrode cables as the electrode deployment carrier. Limited by the loose cable structure, fixed electrode spacing, and lack of effective deployment and retrieval mechanisms, cable deployment and retrieval are primarily done manually. Taking a common 180-meter electrode cable as an example, using a floating deployment method, a single manual deployment typically takes about 50 minutes, and retrieval also takes about 50 minutes. After deployment, the actual data acquisition time for electrode measurements is only about 20 minutes. Therefore, deployment and retrieval operations occupy the vast majority of the operational time, resulting in extremely low measurement efficiency. Under a standard 8-hour workday, only about 720 meters of survey lines can be completed per day, which is insufficient to meet the actual needs of large-area water engineering projects for high-efficiency, high-density exploration.

[0004] Meanwhile, traditional manual deployment methods are highly dependent on personnel allocation and operating conditions. In actual operations, the deployment of electrode cables usually requires the coordinated work of sub-boats, with at least one operator responsible for cable delivery and another for vessel control. This not only significantly increases labor costs but also places high demands on the operational experience and teamwork skills of on-site personnel. Furthermore, maritime operations inherently carry certain safety risks. In conditions of high winds and waves, complex currents, or restricted navigation, manual deployment operations are difficult to implement smoothly and may even be forced to stop, severely impacting exploration progress and operational safety.

[0005] Furthermore, from the perspective of measurement accuracy and data quality, manually laying electrode cables makes it difficult to guarantee the geometric accuracy of the measurement line. During the laying process, the sub-boat typically throws the cable into the water segment by segment while sailing. The cable is affected by the combined effects of water flow, waves, and vessel disturbance in the water, making it difficult to maintain a straight line along the predetermined measurement line. The actual electrode position often deviates significantly from the designed measurement line. Under complex hydrodynamic conditions, the cable is also prone to problems such as local entanglement, folding, or changes in electrode spacing. This not only affects the spatial positioning accuracy of the electrodes but may also lead to abnormal contact resistance and distorted electric field distribution, thereby causing abnormal measurement data and reducing the reliability of the inversion results.

[0006] In summary, how to significantly improve the operational efficiency of high-density electrical resistivity tomography (EDT) exploration in waters while ensuring measurement accuracy and data quality, reduce the degree of human intervention and operational risks, and achieve the mechanization, automation, and standardization of electrode deployment and retrieval processes has become a key technical problem that urgently needs to be solved in this field. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a high-density electrical resistivity tomography integrated towing system and its data acquisition method for water areas.

[0008] This invention is achieved through the following technical solution: A high-density electrostatic discharge integrated towing system for water areas includes: The mother ship winch unit is used to control the winch to raise and lower the measuring cable, and to ensure that the measuring cable is completely submerged in water. The cable-deploying unmanned vessel includes an unmanned vessel cable-vessel linkage mechanism for connecting to the end of the measuring cable and for adjusting the depth of the measuring cable in the water, and is equipped with a GNSS-RTK positioning module and a communication module. The integrated high-density electrical resistivity cable, also known as the measurement cable, collects potential difference and current data under different electrode combinations by deploying a multi-electrode array.

[0009] According to the above technical solution, preferably, the mother ship winch unit includes: A servo motor is used to control the winch to take in and release the measuring cable. The tension detection guide wheel integrates a cable length controller and a tension feedback system to detect the release length of the measuring cable and the cable tension. The cable guide includes a support rod rotatably connected to one side of the mother ship winch unit, a cable guide wheel located at one end of the support rod, and a hydraulic support arm movably connected to the middle of the support rod, for making the measuring cable fully submerged in water.

[0010] According to the above technical solution, preferably, the unmanned vessel cable-vessel linkage mechanism includes a cable hanger, a universal joint, and a connecting rod. The universal joint is installed on one side of the cable-laying unmanned vessel. One end of the connecting rod is movably connected to the universal joint, and the other end of the connecting rod is connected to the cable hanger. The fixing clip at the end of the measuring cable is connected to the cable hanger.

[0011] According to the above technical solution, preferably, the integrated high-density electrical resistivity cable includes a distributed cable body, a flexible filler located outside the distributed cable body, a flexible shell located outside the flexible filler, and a plurality of embedded ring electrodes spaced apart outside the flexible shell.

[0012] According to the above technical solution, preferably, the distributed cable body includes a power supply circuit, a measurement circuit, and an intelligent switching circuit, which can control whether the electrode unit is connected, and control whether the power supply circuit or the measurement circuit is connected.

[0013] According to the above technical solution, preferably, the surface of the flexible shell is provided with multiple electrode embedding grooves for fixing each of the embedded ring electrodes, and the connection of the electrodes is controlled by the intelligent switching circuit to change the electrode distance between adjacent embedded ring electrodes.

[0014] This application also discloses a high-density electrical resistivity tomography integrated towed data acquisition method for water bodies, based on the aforementioned high-density electrical resistivity tomography integrated towed system for water bodies, comprising the following steps: S1. Input the topographic data and survey line planning data of the exploration water area, connect the host to the survey cable, and turn on the host; S2. Connect the drag end of the measuring cable to the cable hanger of the cable-laying unmanned vessel, and the mother ship and the unmanned vessel sail synchronously to the bow and stern of the measuring position. S3. The electrode spacing of the integrated high-density electrical resistivity cable is dynamically adjusted according to the water depth at the measurement location; S4. Start the measurement and collect potential difference and current data, and perform optimization processing on the data; S5. Complete the measurement operations for all positions in sequence. The cable-deploying unmanned vessel disconnects the measurement cable and returns to the mother ship for retrieval. The mother ship's winch unit retrieves the measurement cable.

[0015] According to the above technical solution, preferably, in step S3, when the water depth of the measurement section is ≤5m, the fixed electrode distance mode is activated and the electrode distance is 5m; When the water depth in the measurement section is greater than 5m, an adaptive adjustment algorithm is activated to dynamically adjust the electrode distance. The formula is as follows: L = 0.2h + 3 Where h is the water depth, in meters (m).

[0016] According to the above technical solution, preferably, step S4 includes: S41. The GNSS-RTK positioning module starts measurement when the positioning error is ≤0.1m, and activates data acquisition when the cable tension fluctuation is <5%; S42. Calculate the real-time quality factor Q. When Q > 0.8, mark it as an outlier data point. The formula is: Q = σ / (ε × R), Where σ is the signal standard deviation, ε is the background noise, and R is the grounding resistance value. The grounding resistance value is calculated based on the potential difference and current data, and the calculation formula is as follows: R=ΔV / I, Where ΔV is the potential difference and I is the supply current. During power supply gaps, the power supply circuit is shut off, and only the measurement circuit is activated. Baseline signals are continuously acquired for 10-20 cycles, and their standard deviation is calculated as the background noise ε. High-speed sampling of potential difference data under power supply conditions, calculated using the standard deviation formula: ; S43. Perform three verification measurements on the abnormal data points and take the median as the final value.

[0017] The beneficial effects of this invention are: This invention achieves automated deployment, stable towing, and efficient retrieval of electrode cables in aquatic environments through the coordinated operation of a mother ship winch unit, an unmanned cable-laying vessel, and integrated high-density electrical resistivity tomography (EDT) cables. It fundamentally solves the prominent problems of low efficiency, poor safety, and insufficient surveying accuracy in traditional high-density EDT operations in aquatic environments. It can provide an efficient, reliable, and scalable high-density EDT solution for applications such as channel dredging, port construction, and underwater engineering exploration, and has significant engineering application value and promotion prospects. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the main structure of the present invention.

[0019] Figure 2 This is a front view cross-sectional view of the integrated high-density electrical resistivity cable portion of the present invention.

[0020] Figure 3 This is a side view of the integrated high-density electrical resistivity cable section of the present invention.

[0021] Figure 4 This is a schematic diagram of the main structure of the cable guide part of the present invention.

[0022] Figure 5This is a side view of the cable guide portion of the present invention.

[0023] Figure 6 This is a schematic diagram illustrating the measurement principle of the distributed cable body of the present invention.

[0024] Figure 7 This is a schematic diagram of the method flow of the present invention.

[0025] In the diagram: 1. Mother ship winch unit; 2. Tension detection guide wheel; 3. Cable guide; 4. Integrated high-density electrical resistivity cable; 5. Cable hanger; 6. Universal joint; 7. Cable laying unmanned vessel; 8. Communication module; 9. GNSS-RTK positioning module; 10. Smart tap; 11. Distributed cable body; 12. Embedded ring electrode; 13. Flexible filler; 14. Flexible shell; 15. Support rod; 16. Cable guide wheel; 17. Hydraulic support arm; 18. Measurement circuit; 19. Power supply circuit; 20. Smart switching circuit. Detailed Implementation

[0026] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0027] In the description of the invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0028] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] Example 1: As shown in the figure, the present invention provides a high-density electro-optic integrated towing system for water areas, comprising: (1) Mother ship winch unit 1, which integrates a high-precision servo motor, tension detection guide wheel 2, and cable guide 3, is used to control the winch to take up and release the measurement cable and ensure that the measurement cable is completely submerged in water.

[0030] The servo motor controls the winch to raise and lower the measuring cable. The tension detection guide wheel 2 integrates a cable length controller and a tension feedback system to detect the release length of the measuring cable and the cable tension. The cable guide 3 includes a support rod 15 rotatably connected to one side of the mother ship winch unit 1, a cable guide wheel 16 located at one end of the support rod 15, and a hydraulic support arm 17 movably connected to the middle of the support rod 15. It is designed to solve the difference in cable immersion depth caused by the difference in draft and hull height of different types of measuring mother ships. In this example, the cable guide 3 is used to guide the cable into the water. The cable guide 3 uses a hydraulic support arm 17 and a lockable pivot structure (the pivot structure realizes the rotational connection of the support rod 15). After the equipment base is installed at the rear edge of the measuring ship, the hydraulic support arm 17 is adjusted to rotate the cable guide 3 so that its guide wheel is just submerged in the water, ensuring that the measuring cable is completely submerged in the water.

[0031] (2) Cable laying unmanned vessel 7, including unmanned vessel cable-ship linkage mechanism, for connecting to the end of the measuring cable, and capable of adjusting the depth of the measuring cable in the water, and equipped with an automatic anchor chain system, and equipped with GNSS-RTK positioning module 9 and communication module 8.

[0032] The unmanned vessel cable-vessel linkage mechanism includes a cable hanger 5, a universal joint 6, and a connecting rod, enabling stable towing, cable deployment, and retrieval at speeds of 5-10 knots. The universal joint 6 is installed on one side of the cable-deploying unmanned vessel 7, allowing the unmanned vessel to deflect ±15° in the horizontal plane. One end of the connecting rod is movably connected to the universal joint 6, and the other end is connected to the cable hanger 5. The fixing clip at the end of the measuring cable is connected to the cable hanger 5. The cable hanger 5 is submerged in water from the rear edge of the unmanned vessel, and the fixing clip at the end of the cable is connected to the cable hanger 5, ensuring complete submersion during measurement.

[0033] (3) Integrated high-density electrical resistivity cable 4, namely the measuring cable, innovatively adopts an integrated electrode structure, has good flexibility and can be wound and released by a winch. By deploying a multi-electrode array, potential difference and current data under different electrode combinations can be collected.

[0034] The integrated high-density electrical resistivity cable 4 includes a distributed cable body 11 with integrated smart taps 10, a flexible filler 13 located outside the distributed cable body 11, a flexible shell 14 located outside the flexible filler 13, and a plurality of embedded ring electrodes 12 spaced apart outside the flexible shell 14.

[0035] The distributed cable body 11 includes a power supply circuit 19, a measurement circuit 18, and an intelligent switching circuit 20, which controls whether the electrode units are connected and whether the connection is made to the power supply circuit 19 or the measurement circuit 18. Its measurement principle is as follows: current (typically 5mA-5A) is sent underground through the A / B electrodes, the potential difference is measured at the M / N electrodes, and the apparent resistivity is calculated using the formula ρ=K·ΔV / I. The underground rock structure is determined by the resistivity difference. The intelligent switching circuit 20 selects adjacent electrodes (e.g., A1-A2 for power supply, M1-M2 for measurement). For example, if the minimum electrode distance is 0.8m, skipping one electrode extends the range to 1.6m, and skipping two electrodes extends the range to 2.4m.

[0036] An embedded ring electrode 12 is mounted on the electrode embedding slot of the flexible housing 14 and flexibly connected to the distributed cable to ensure that the integrated cable can be bent within its operating range for winch storage. The electrode spacing can be adjusted as needed, and can be changed by controlling the access of the electrodes through the intelligent switching circuit 20. For example, the minimum electrode spacing is 0.8m, and by using the intelligent switching circuit 20 to skip one electrode, the electrode spacing can be adjusted to 1.6m.

[0037] The flexible filler 13 uses a lightweight filler with a certain supporting strength to fill the pores inside the flexible shell, buffering the pressure on the core and electrodes caused by the bending of the integrated cable. The flexible shell 14 is made of tensile and corrosion-resistant material, with a certain supporting strength to protect the internal core and electrode device. At the same time, electrode embedding grooves are designed at the electrodes to fix the electrode position.

[0038] Example 2: This application also discloses a high-density electrical resistivity tomography integrated towed data acquisition method for water areas, based on the above-mentioned high-density electrical resistivity tomography integrated towed system for water areas, including the following steps: S1. Input the topographic data and survey line planning data of the exploration water area, connect the host to the survey cable, and turn on the host.

[0039] In terms of operational efficiency, this example utilizes a servo-driven winch unit on the mother ship, combined with a tension detection guide wheel and cable length controller, to achieve precise control over the laying and retrieval of the measurement cable. Simultaneously, by using an unmanned surface vessel (USV) to traction the cable end, the measurement cable remains under control throughout the laying process, avoiding the problems of repeated cable handling, knotting, and folding inherent in traditional manual casting methods. This significantly increases the length of the survey line completed per unit time, meeting the high-efficiency exploration requirements of large-scale water engineering projects.

[0040] S2. Connect the drag end of the measuring cable to the cable hanger of the cable-laying unmanned vessel, and the mother ship and the unmanned vessel sail synchronously to the fore and aft ends of the measuring position.

[0041] In this example, the mother ship and the unmanned surface vessel (USV) autonomously navigated to the beginning and end positioning points of the cable for a single data acquisition. The winch simultaneously released the predetermined length of cable. After reaching the target location, positional adjustments were made, and the anchor chain was released to secure the vessel's position. This example transformed the cable laying and survey line traction tasks from manual waterborne operations to a collaborative "mother ship + USV" mode, reducing the need for personnel to perform prolonged, high-intensity operations on the water surface and effectively mitigating safety risks such as personnel falling into the water and cable entanglement. Simultaneously, the USV possesses excellent maneuverability and environmental adaptability, enabling stable operation even in relatively complex water environments with wind, waves, and currents, significantly expanding the applicable working conditions for high-density electrical resistivity tomography (EDT) exploration in water areas.

[0042] S3. The electrode spacing of the integrated high-density electrical resistivity cable is dynamically adjusted according to the water depth at the measurement location.

[0043] Since water depth affects the measurement range of high-density electrical resistivity tomography (EDT), and the measurement depth of high-density EDT is controlled by the electrode distance, the water depth of the survey line should be calculated based on the input seabed topographic map of the measurement area, and the electrode distance should be dynamically adjusted. Specifically: When the water depth in the measurement section is ≤5m, the fixed electrode distance mode is activated with an electrode distance of 5m. When the water depth in the measurement section is greater than 5m, an adaptive adjustment algorithm is activated to dynamically adjust the electrode distance. The formula is as follows: L = 0.2h + 3 Where h is the water depth, in meters (m).

[0044] In this example, the system can automatically switch between fixed electrode spacing mode and adaptive adjustment mode based on real-time water depth information, so that the electrode array parameters match the exploration depth requirements. This avoids the problem of poor exploration results in shallow or deep water areas caused by the traditional fixed electrode spacing scheme, thereby improving the detection depth and inversion stability while ensuring resolution.

[0045] S4. Start the measurement and collect potential difference and current data, and perform optimization processing on the data.

[0046] First, the measurement is started when the positioning error of the GNSS-RTK positioning module is ≤0.1m, and data acquisition is activated when the cable tension fluctuation is detected to be <5%.

[0047] Next, the real-time quality factor Q is calculated. When Q > 0.8, it is marked as an outlier data point. The formula is: Q = σ / (ε × R), Where σ is the signal standard deviation, ε is the background noise, and R is the grounding resistance value. The grounding resistance value is calculated based on the potential difference and current data, and the calculation formula is as follows: R=ΔV / I, Where ΔV is the potential difference and I is the supply current. During power supply gaps, the power supply circuit is shut off, and only the measurement circuit is activated. Baseline signals (e.g., at 100Hz frequency) are continuously acquired for 10-20 cycles, and their standard deviation is calculated as the background noise ε. High-speed sampling potential difference data (≥100 sample points) under power supply conditions, calculated using the standard deviation formula: .

[0048] Finally, the abnormal data points were verified three times, and the median was taken as the final value. Regarding data reliability control, multi-layered constraints and quality control were implemented during the data acquisition process, effectively reducing invalid data and anomalies caused by abnormal grounding resistance, environmental noise interference, or instantaneous operating condition fluctuations, thus improving the reliability and consistency of the original data.

[0049] S5. Complete the measurement operations for all positions in sequence. The cable-deploying unmanned vessel disconnects the measurement cable and returns to the mother ship for retrieval. The mother ship's winch unit retrieves the measurement cable.

[0050] Specifically, if it is necessary to continue measuring the next survey line, the mother ship and the unmanned surface vessel (USV) will sail synchronously to the beginning and end of the next survey line to complete the measurement. This process is repeated until all survey lines are completed. After all measurements are completed, the USV automatically disconnects the cable, the mother ship retrieves the cable, and the USV returns to the mother ship for recovery.

[0051] In summary, this application employs a collaborative approach involving a mother ship winch unit, an unmanned vessel for cable deployment, and integrated high-density electrical resistivity tomography (EDT) cables. Through system integration design and innovative automated operation modes, it significantly outperforms existing high-density electrical resistivity tomography technologies in terms of operational efficiency, operational safety, survey accuracy, data quality control, and environmental adaptability. It can provide an efficient, reliable, and scalable high-density electrical resistivity tomography solution for applications such as channel dredging, port construction, and underwater engineering surveys.

[0052] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A high-density electro-optic integrated towing system for water areas, characterized in that, include: The mother ship winch unit (1) is used to control the winch to take up and release the measuring cable, and can ensure that the measuring cable is completely submerged in water; The cable-laying unmanned vessel (7) includes an unmanned vessel cable-ship linkage mechanism for connecting to the end of the measuring cable and for adjusting the depth of the measuring cable in the water, and is equipped with a GNSS-RTK positioning module (9) and a communication module (8). The integrated high-density electrical resistivity cable (4), namely the measurement cable, collects potential difference and current data under different electrode combinations by deploying a multi-electrode array.

2. The high-density electro-optic integrated towing system for water areas according to claim 1, characterized in that, The mother ship winch unit (1) includes: A servo motor is used to control the winch to take in and release the measuring cable. Tension detection guide wheel (2), integrating cable length controller and tension feedback system, is used to detect the release length of the measuring cable and detect the cable tension; Cable guide (3) is used to fully submerge the measuring cable in water.

3. The high-density electro-optic integrated towing system for waterways according to claim 2, characterized in that, The cable guide (3) includes a support rod (15) rotatably connected to one side of the mother ship winch unit (1), a cable guide wheel (16) located at one end of the support rod (15), and a hydraulic support arm (17) movably connected to the middle of the support rod (15).

4. The high-density electro-optic integrated towing system for waterways according to claim 1, characterized in that, The unmanned vessel cable-ship linkage mechanism includes a cable hanger (5), a universal joint (6), and a connecting rod. The universal joint (6) is installed on one side of the cable laying unmanned boat (7). One end of the connecting rod is movably connected to the universal joint (6), and the other end of the connecting rod is connected to the cable hanger (5). The fixing head at the end of the measuring cable is connected to the cable hanger (5).

5. The high-density electro-optic integrated towing system for water areas according to any one of claims 1-4, characterized in that, The integrated high-density electrical resistivity cable (4) includes a distributed cable body (11), a flexible filler (13) located outside the distributed cable body (11), a flexible shell (14) located outside the flexible filler (13), and a plurality of embedded ring electrodes (12) spaced apart outside the flexible shell (14).

6. The high-density electro-optic integrated towing system for water areas according to claim 5, characterized in that, The distributed cable body (11) includes a power supply circuit (19), a measurement circuit (18), and an intelligent switching circuit (20), which can control whether the electrode unit is connected and control whether the power supply circuit (19) or the measurement circuit (18) is connected.

7. The high-density electro-optic integrated towing system for waterways according to claim 6, characterized in that, The flexible shell (14) has multiple electrode embedding grooves on its surface for fixing each of the embedded annular electrodes (12). The access of the electrodes is controlled by the intelligent switching circuit (20) to change the electrode distance between adjacent embedded ring electrodes (12).

8. A method for high-density electrical resistivity tomography integrated towed data acquisition in water areas, based on the high-density electrical resistivity tomography integrated towed system described in claims 1-7, characterized in that, Includes the following steps: S1. Input the topographic data and survey line planning data of the exploration water area, connect the host to the survey cable, and turn on the host; S2. Connect the drag end of the measuring cable to the cable hanger of the cable-laying unmanned vessel, and the mother ship and the unmanned vessel sail synchronously to the bow and stern of the measuring position. S3. The electrode spacing of the integrated high-density electrical resistivity cable is dynamically adjusted according to the water depth at the measurement location; S4. Start the measurement and collect potential difference and current data, and perform optimization processing on the data; S5. Complete the measurement operations for all positions in sequence. The cable-deploying unmanned vessel disconnects the measurement cable and returns to the mother ship for retrieval. The mother ship's winch unit retrieves the measurement cable.

9. The integrated towed data acquisition method for high-density electrical resistivity tomography in water areas according to claim 8, characterized in that, In step S3, when the water depth in the measurement section is ≤5m, the fixed electrode distance mode is activated with an electrode distance of 5m. When the water depth in the measurement section is greater than 5m, an adaptive adjustment algorithm is activated to dynamically adjust the electrode distance. The formula is as follows: L = 0.2h + 3 Where h is the water depth, in meters (m).

10. The integrated towed data acquisition method for high-density electrical resistivity tomography in water areas according to claim 8, characterized in that, Step S4 includes: S41. The GNSS-RTK positioning module starts measurement when the positioning error is ≤0.1m, and activates data acquisition when the cable tension fluctuation is <5%; S42. Calculate the real-time quality factor Q. When Q > 0.8, mark it as an outlier data point. The formula is: Q = σ / (ε × R), Where σ is the signal standard deviation, ε is the background noise, and R is the grounding resistance value. The grounding resistance value is calculated based on the potential difference and current data, and the calculation formula is as follows: R=ΔV / I, Where ΔV is the potential difference and I is the supply current. During power supply gaps, the power supply circuit is shut off, and only the measurement circuit is activated. Baseline signals are continuously acquired for 10-20 cycles, and their standard deviation is calculated as the background noise ε. High-speed sampling of potential difference data under power supply conditions, calculated using the standard deviation formula: ； S43. Perform three verification measurements on the abnormal data points and take the median as the final value.

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