Pull-type underway observation system suitable for ocean current observation in deep sea
By using a towed mobile observation system, combined with equipment such as GPS, ultra-short baseline and acoustic Doppler current profiler, the problem of continuous profile observation of deep-sea mid-bottom currents has been solved, enabling comprehensive and accurate observation of deep-sea areas and supporting deep-sea engineering construction.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- THIRD INSTITUTE OF OCEANOGRAPHY STATE OCEANI C ADMINISTRATION
- Filing Date
- 2026-01-27
- Publication Date
- 2026-04-10
AI Technical Summary
Existing technologies cannot achieve effective, large-scale, and multi-layered continuous profile observation of deep-sea bottom currents. Shipborne ADCP observation depth is insufficient and cannot cover deep-sea areas with water depths exceeding 2,000 meters.
A towed observation system is adopted, including a data processing module, a deck unit, a first positioning module, a second positioning module, an underwater attitude azimuth measurement module, an ocean current velocity measurement module, and an underwater observation platform. The observation equipment is lowered to the deep sea bottom through a towed design, and ocean current observation is carried out in combination with GPS, ultra-short baseline, fiber optic compass and acoustic Doppler current profiler.
It enables large-scale continuous profile observation of deep-sea bottom currents, covering deeper sea areas, and provides synchronous real-time acquisition of current velocity, direction and observation location, supporting the technical needs of seabed mining, submarine cable laying and deep-sea oil platform construction.
Smart Images
Figure CN121829468A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of marine equipment technology, and more specifically to a towed underway observation system suitable for deep-sea current observation. Background Technology
[0002] Currently, the marine economy is a crucial pillar for building a maritime power. With its steady development, the blue economy is expanding from nearshore to the deep sea. Whether it's the construction of deep-sea ranches, the extraction of offshore oil and seabed minerals, the laying of submarine pipelines and communication cables, or even the operation of manned submersibles, all require consideration of the erosive effects of deep-sea bottom currents on the seabed of corresponding structures and their impact on the safe operation of manned submersibles. Furthermore, the deep sea floor also contains high-velocity turbidity currents and submarine rivers. Therefore, the observation of deep-sea bottom currents is of great significance for the development of the blue economy and deep-sea scientific research.
[0003] The main methods for observing deep-sea mid- and bottom currents include moored observation and LADCP observation mounted on CTD racks. However, both moored and LADCP observations are single-point observations and cannot conduct large-scale continuous profile observations. While shipborne ADCP underway observation can achieve large-scale continuous profile observations, the maximum depth of the lowest frequency 38kHz shipborne ADCP underway observation is only 1000 meters. The deep-sea area with a depth of over 2000 meters accounts for 84% of the ocean area, and shipborne ADCP underway observation cannot currently observe deep-sea mid- and bottom currents.
[0004] Therefore, how to achieve effective, large-scale, and multi-level continuous profiling observation of deep-sea mid- and bottom currents is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention
[0005] In view of this, the present invention provides a towed mobile observation system suitable for deep-sea current observation, in order to solve the problems existing in the background art.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: A towed navigation observation system suitable for deep-sea current observation includes: a data processing module, a deck unit, a first positioning module, a second positioning module, an underwater attitude azimuth measurement module, a current velocity measurement module, and an underwater observation platform; The first positioning module is installed on the observation vessel and is used to navigate and position the observation vessel to obtain first positioning data; The second positioning module is used to perform underwater positioning of the underwater observation platform and obtain second positioning data; The underwater attitude and azimuth angle measurement module is used to measure the six-degree-of-freedom motion attitude and azimuth angle of the underwater observation platform and generate underwater attitude and azimuth angle data. The ocean current velocity measurement module is used to measure the ocean current velocity at the location of the underwater observation platform; The underwater observation platform is used to install a second positioning module, an underwater attitude azimuth measurement module, and an ocean current velocity measurement module to conduct observations of deep-sea bottom currents. The deck unit is used to establish a connection with the ocean current velocity measurement module, and to perform preliminary processing of the ocean current velocity and send it to the data processing module; The data processing module is used to process the first positioning data, the second positioning data, the underwater attitude azimuth data, and the ocean current velocity, and to display and output the observed ocean current information.
[0007] Optionally, the first positioning module uses a GPS or BeiDou navigation system and is installed on the observation vessel.
[0008] Optionally, the second positioning module employs an ultra-short baseline, which includes a transmitting transducer, a transponder, and a receiving array. The transmitting transducer and receiving array are mounted on the observation vessel, and the transponder is mounted on the underwater observation platform. Optionally, the underwater attitude azimuth measurement module employs a fiber optic compass or an underwater attitude sensor to measure the six degrees of freedom motion attitude and azimuth of the underwater observation platform.
[0009] Optionally, the current velocity measurement module employs an acoustic Doppler current profiler. The acoustic Doppler current profiler emits acoustic pulses into the water, and the sound waves generate echoes upon encountering suspended scatterers in the water. By measuring the Doppler frequency shift between the echo and the emitted wave, combined with the sound velocity and beam angle, the relative velocity of the scatterer along the beam direction is calculated. Using multiple beams in different directions, and in conjunction with a second positioning module and an underwater attitude azimuth measurement module, the current velocity in the acoustic Doppler current profiler coordinate system can be converted into a three-dimensional current velocity in the geographic coordinate system, and a current velocity profile can be formed along depth layers. Optionally, the underwater observation platform is also equipped with an altimeter and a pressure sensor; the altimeter is used to measure the height of the underwater observation platform above the seabed; the pressure sensor is used to measure the water depth at the location of the underwater observation platform.
[0010] Optionally, the underwater observation platform also includes an underwater observation platform control unit, responsible for collecting data from various sensors mounted on the platform. This unit connects the sensor data with the data processing module and deck unit, enabling data transmission, reception, and execution of commands from the data processing module. Based on the sensor data, it automatically adjusts the horizontal and vertical wings of the underwater observation platform to ensure stable operation within a fixed water depth range. Optionally, the underwater observation platform control unit connects to the data processing module and deck unit via a winch cable. The winch cable includes a winch and a cable, which can be a fiber optic cable or a coaxial cable. It serves two purposes: providing power, communication, and data transmission; and connecting to the underwater observation platform. The winch tows the platform and controls its position and depth underwater.
[0011] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a towed mobile observation system suitable for deep-sea current observation, which has the following significant effects: 1. This invention breaks through the single-point limitations of existing moored observation and LADCP observation, and realizes large-scale continuous profile observation of deep-sea bottom currents through towed navigation design; 2. This invention solves the problem of insufficient observation depth of existing shipborne ADCP. By mounting the observation equipment on an underwater observation platform and lowering it to the deep sea bottom, it can cover deeper sea areas and meet the observation needs of deep-sea areas. 3. This invention enables the synchronous and real-time acquisition of ocean current velocity, direction, and observation location. The observation data is comprehensive and accurate, providing technical support and guarantee for the observation of ocean currents in the middle and lower reaches of the sea, which is required for seabed mining, submarine cable laying, deep-sea oil platform construction, national security, and other purposes. Attached Figure Description
[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0013] Figure 1 A schematic diagram illustrating the working principle of the system provided by this invention; Figure 2 This is a schematic diagram showing the positions of the observation vessel and the underwater observation platform provided by the present invention. Detailed Implementation
[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0015] This invention discloses a towed navigation observation system suitable for deep-sea current observation, comprising: a data processing module, a deck unit, a first positioning module, a second positioning module, an underwater attitude azimuth measurement module, a current velocity measurement module, and an underwater observation platform; The first positioning module is installed on the observation vessel and is used to navigate and position the observation vessel to obtain the first positioning data. The second positioning module is used to perform underwater positioning of the underwater observation platform and obtain second positioning data. The underwater attitude and azimuth angle measurement module is used to measure the six-degree-of-freedom motion attitude and azimuth angle of the underwater observation platform and generate underwater attitude and azimuth angle data. The ocean current velocity measurement module is used to measure the ocean current velocity at the location of the underwater observation platform. The underwater observation platform is used to install a second positioning module, an underwater attitude azimuth measurement module, and an ocean current velocity measurement module to conduct observations of deep-sea bottom currents. The deck unit is used to establish a connection with the ocean current velocity measurement module, perform preliminary processing of the ocean current velocity, and send it to the data processing module. The data processing module is used to process the first positioning data, the second positioning data, the underwater attitude azimuth data, and the ocean current velocity, and to display and output the observed ocean current information.
[0016] In one specific embodiment, the first positioning module employs a GPS or BeiDou navigation system and is installed on the observation vessel. Existing GPS or BeiDou navigation systems, or other devices that can be installed on the observation vessel for satellite navigation and positioning, can be used.
[0017] In one specific embodiment, the second positioning module employs an ultra-short baseline (USBR). The USBR includes a transmitting transducer, a transponder, and a receiving array. The transmitting transducer and receiving array are mounted on the observation vessel, while the transponder is mounted on the underwater observation platform. If the water depth is significant, multiple USBRs can be used for underwater positioning. In another specific embodiment, the underwater attitude and azimuth measurement module employs a fiber optic compass or an underwater attitude sensor. A fiber optic compass (or underwater attitude sensor) provides the six degrees of freedom (DOF) motion attitude and azimuth of the carrier, including heading and roll dynamics. The fiber optic compass or underwater attitude sensor is mounted on the underwater observation platform, providing the platform's six DFB motion attitude and azimuth, and transmitting the compass signal to a computer via a winch cable.
[0018] In one specific embodiment, the ocean current velocity measurement module employs an Acoustic Doppler Current Profiler (ADCP). The ADCP emits acoustic pulses into the water; these pulses generate echoes upon encountering suspended scatterers in the water. By measuring the Doppler frequency shift between the echo and the emitted wave, and combining this with the sound velocity and beam angle, the relative velocity of the scatterer along the beam direction is calculated. Using multiple beams in different directions, combined with a second positioning module and an underwater attitude azimuth measurement module, the current velocity in the acoustic Doppler current profiler coordinate system can be converted into a three-dimensional current velocity in a geographic coordinate system, forming a velocity profile layered along depth. For the ADCP, different frequencies result in different models, as well as different maximum measurement depths, bottom tracking depths, and layer spacing. The ocean current signals measured by the ADCP are transmitted to the deck unit via a winch cable and then to a computer.
[0019] In one specific embodiment, the underwater observation platform is also equipped with an altimeter and a pressure sensor; the altimeter is used to measure the height of the underwater observation platform above the seabed, and transmits the data to the underwater observation platform control unit for storage, in order to control the height of the underwater observation platform above the seabed; the pressure sensor is used to measure the water depth at the location of the underwater observation platform, and transmits the data to the underwater observation platform control unit for storage.
[0020] In one specific embodiment, the underwater observation platform is used to mount and fix an ADCP (Advanced Dynamic Current Profiler), a fiber optic compass, and an ultra-short baseline. The ADCP is used to measure the magnitude of the ocean current velocity, the fiber optic compass is used to measure the six degrees of freedom motion attitude and azimuth of the ADCP fixed on the underwater observation platform, and is also used in conjunction with the ADCP to measure the direction of the ocean current velocity. The ultra-short baseline is used to provide the location of the underwater observation platform, i.e., the ocean current observation location. The underwater observation platform is connected to the observation vessel's winch via steel cables. Horizontal and vertical fins can be added to the sides and stern of the underwater observation platform to control its attitude and ensure stable operation.
[0021] In one specific embodiment, the underwater observation platform also includes an underwater observation platform control unit, which serves as the core control system of the underwater observation platform. This control unit is responsible for collecting data from sensors such as the altimeter, ADCP, ultra-short baseline sensor, and fiber optic compass mounted on the platform. It establishes connections between the sensor data and the data processing module and deck unit, enabling data transmission, reception, and execution of commands from the data processing module. Based on the sensor data, it automatically adjusts the horizontal and vertical wings of the underwater observation platform to ensure stable operation within a fixed water depth range. In another specific embodiment, the underwater observation platform control unit is connected to the data processing module and deck unit via a winch cable. The winch cable includes a winch and a cable, which can be a fiber optic cable or a coaxial cable. This cable serves two purposes: providing power, communication, and data transmission; and connecting to the underwater observation platform. The winch tows the underwater observation platform and controls its position and depth underwater.
[0022] Specifically, the data processing module uses a computer with specialized ADCP current measurement software installed on it. By professionally processing the received ADCP, GPS, and compass signals, it displays and outputs the observed ocean current information.
[0023] The deck unit is the main equipment of the ADCP underway observation system. It is used to receive ADCP signals and transmit them to the computer after preliminary processing.
[0024] The basic principle of this invention is as follows: Figure 1 As shown, an ADCP and fiber optic compass are installed on the underwater observation platform. The ADCP and fiber optic compass transmit signals to the deck unit and computer on the research vessel via a winch cable. An ultra-short baseline (USBS) is installed on the underwater observation platform to provide its location. The USBS, combined with GPS and specialized software, enables underwater positioning of the platform and transmits its position signal to the computer. The underwater observation platform is connected to the winch cable and descends to a specific depth using the cable's tension, thus enabling the ADCP to observe deep-sea bottom currents. The positional relationship between the observation vessel and the underwater observation platform is as follows: Figure 2 As shown.
[0025] The specific workflow is as follows: After the observation vessel arrives at the observation area, a winch and coaxial cable are connected to the underwater observation platform (which is equipped with sensors such as an acoustic Doppler current meter (ADCP), ultra-short baseline (underwater positioning), fiber optic compass, and altimeter). The other end of the coaxial cable is connected to the deck unit and computer. Then, the winch lowers the underwater observation platform to a depth of approximately 10 meters below the sea surface, ensuring the platform remains submerged while the vessel moves slowly at 1-2 knots. Test observations are then conducted to verify that the connection and communication are functioning correctly. Once normal observation is confirmed, the platform is lowered to the target depth according to the observation mission. The vessel maintains a certain speed according to the mission duration. After stabilization, the computer sends commands to the underwater observation platform's control system to adjust the horizontal rotor and winch system, allowing the platform to conduct observations at the target depth or a certain height above the seabed. After the observation mission is completed, the winch retrieves the underwater observation platform back to the observation vessel.
[0026] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.
[0027] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A towed mobile observation system suitable for deep-sea current observation, characterized in that, include: The system includes a data processing module, a deck unit, a first positioning module, a second positioning module, an underwater attitude azimuth measurement module, an ocean current velocity measurement module, and an underwater observation platform. The first positioning module is installed on the observation vessel and is used to navigate and position the observation vessel to obtain first positioning data; The second positioning module is used to perform underwater positioning of the underwater observation platform and obtain second positioning data; The underwater attitude azimuth angle measurement module is used to measure the six-degree-of-freedom motion attitude and azimuth angle of the underwater observation platform and generate underwater attitude azimuth angle data. The ocean current velocity measurement module is used to measure the ocean current velocity at the location of the underwater observation platform; The underwater observation platform is used to install a second positioning module, an underwater attitude azimuth measurement module, and an ocean current velocity measurement module to conduct observations of deep-sea bottom currents. The deck unit is used to establish a connection with the ocean current velocity measurement module, and to perform preliminary processing of the ocean current velocity and send it to the data processing module; The data processing module is used to process the first positioning data, the second positioning data, the underwater attitude azimuth data, and the ocean current velocity, and to display and output the observed ocean current information.
2. The towed mobile observation system for deep-sea current observation according to claim 1, characterized in that, The first positioning module uses GPS or BeiDou navigation system and is installed on the observation vessel.
3. A towed mobile observation system suitable for deep-sea current observation according to claim 1, characterized in that, The second positioning module uses an ultra-short baseline, which includes a transmitting transducer, a transponder, and a receiving array. The transmitting transducer and the receiving array are installed on the observation vessel, and the transponder is installed on the underwater observation platform.
4. A towed underway observation system suitable for deep-sea current observation according to claim 1, characterized in that, The underwater attitude azimuth measurement module uses a fiber optic compass or an underwater attitude sensor to measure the six degrees of freedom motion attitude and azimuth of the underwater observation platform.
5. A towed mobile observation system suitable for deep-sea current observation according to claim 1, characterized in that, The ocean current velocity measurement module employs an acoustic Doppler current profiler. The acoustic Doppler current profiler emits acoustic pulses into the water, and the sound waves generate echoes after encountering suspended scatterers in the water. By measuring the Doppler frequency shift between the echo and the emitted wave, and combining the sound velocity and beam angle, the relative velocity of the scatterer along the beam direction is calculated. Using multiple beams in different directions, and combining the underwater attitude azimuth measurement module and the second positioning module, the current velocity in the acoustic Doppler current profiler coordinate system can be converted into a three-dimensional current velocity in the geographic coordinate system, and a current velocity profile can be formed along the depth layers.
6. A towed underway observation system suitable for deep-sea current observation according to claim 1, characterized in that, The underwater observation platform is also equipped with an altimeter and a pressure sensor; the altimeter is used to measure the height of the underwater observation platform above the seabed; and the pressure sensor is used to measure the water depth at the location of the underwater observation platform.
7. A towed mobile observation system suitable for deep-sea current observation according to claim 1, characterized in that, The underwater observation platform is also equipped with an underwater observation platform control unit, which is responsible for collecting data from various sensors on the underwater observation platform, establishing connections between the sensor data information and the data processing module and deck unit, realizing data transmission, receiving and executing commands issued by the data processing module, and automatically adjusting the horizontal and vertical wings of the underwater observation platform based on the sensor data to control the underwater observation platform to operate stably within a fixed water depth range.
8. A towed underway observation system suitable for deep-sea current observation according to claim 7, characterized in that, The underwater observation platform control unit is connected to the data processing module and the deck unit via a winch cable. The winch cable includes a winch and a cable, which is either a photoelectric cable or a coaxial cable. It serves two purposes: providing power, communication, and data transmission, and connecting the underwater observation platform. The winch is used to tow the underwater observation platform and control its position and depth underwater.