Trajectory adjustment method and device for marine seismic acquisition vessel, vessel and medium
By using trajectory prediction models on marine seismic acquisition vessels to automatically adjust their course and speed, the problem of low consistency between the navigation trajectory of construction vessels and the design survey lines was solved, achieving efficient and safe navigation control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA NAT PETROLEUM CORP
- Filing Date
- 2024-12-18
- Publication Date
- 2026-06-19
AI Technical Summary
Construction vessels, lacking a complete dynamic positioning system, are vulnerable to interference from sea conditions during marine seismic data acquisition operations. This results in a low degree of alignment between their navigation trajectory and the designed survey line, increasing the workload of the operators and the risk of operational errors.
By acquiring current sea conditions and navigation information, inputting it into a pre-trained trajectory prediction model, the system predicts navigation information for the next moment and adjusts the course and speed according to the designed survey line, thus achieving automatic adjustment.
It reduced the workload of the operators, decreased the risk of misoperation, improved the consistency between the navigation trajectory and the design survey line, and ensured the safety and operational efficiency of the vessel.
Smart Images
Figure CN122245153A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of marine seismic acquisition technology, and in particular to a method, device, vessel, and medium for adjusting the trajectory of a marine seismic acquisition vessel. Background Technology
[0002] Marine seismic acquisition is a geophysical exploration method used to detect marine resources (such as oil and natural gas) and seabed geological structures (such as plate tectonics and seabed geomorphological evolution). In other words, it involves artificially generating seismic waves and utilizing the propagation characteristics of seismic waves in different strata to obtain underground geological information.
[0003] Currently, some types of construction vessels lack a complete dynamic positioning system, which makes it difficult for them to effectively resist interference from sea conditions such as wind, tides, and ocean currents during operations along the designed survey line. Consequently, the actual navigation trajectory of the construction vessel is difficult to perfectly match the designed survey line. In this case, the operators of the construction vessel need to monitor the speed and course of the vessel in real time and adjust them based on experience to make the navigation trajectory of the construction vessel match the designed survey line as closely as possible.
[0004] However, the above scheme requires drivers to invest a lot of energy and high concentration, which greatly increases the workload of drivers. Furthermore, prolonged high-intensity work may lead to driver fatigue, increasing the risk of operational errors and resulting in a low degree of consistency between the navigation trajectory of the construction vessel and the design survey line. Summary of the Invention
[0005] This application provides a method, device, vessel, and medium for adjusting the trajectory of a marine seismic acquisition vessel, thereby solving the problem of low consistency between the navigation trajectory of construction vessels and the design survey lines in the prior art.
[0006] In a first aspect, embodiments of this application provide a method for adjusting the trajectory of a marine seismic acquisition vessel, the method comprising:
[0007] Obtain the current sea state information of the offshore construction area at the current moment, as well as the current navigation information of the vessel at the current moment;
[0008] By inputting the current sea state information and current navigation information into the pre-trained trajectory prediction model, the predicted navigation information of the ship at the next moment can be obtained.
[0009] The target navigation adjustment amount is determined based on the predicted navigation information and the target navigation information in the design survey line;
[0010] Adjust the ship's course and speed according to the target navigation adjustment amount.
[0011] In this embodiment, the current sea state information of the marine construction acquisition area and the current navigation information of the ship can be obtained at the current moment. Then, the current sea state information and the current navigation information are input into a pre-trained trajectory prediction model to obtain the predicted navigation information of the ship at the next moment. Then, the target navigation adjustment amount is determined based on the predicted navigation information and the target navigation information in the design survey line. After that, the ship's course and speed are adjusted according to the target navigation adjustment amount, thus realizing the trajectory adjustment function of the marine seismic acquisition ship. In the above technical solution, the trajectory prediction model can accurately predict the ship's navigation information at the next moment. Then, based on the predicted navigation information and the target navigation information in the design survey line, the target navigation adjustment amount is determined. Based on the target navigation adjustment amount, the ship's course and speed are precisely adjusted. This allows for timely and reasonable adjustments to course and speed without requiring the driver to monitor the speed and course in real time, reducing the driver's workload. Furthermore, it eliminates the need for the driver to determine the course and speed adjustment amount based on experience, thereby reducing the risk of misoperation and improving the accuracy of adjustments. This improves the consistency between the ship's navigation trajectory and the design survey line, ensuring the ship's safety and operational effectiveness, while also increasing the ship's operational efficiency.
[0012] Secondly, embodiments of this application provide a trajectory adjustment device for a marine seismic acquisition vessel, the device comprising:
[0013] The acquisition module is used to acquire the current sea state information of the offshore construction area at the current moment, as well as the current navigation information of the vessel at the current moment;
[0014] The prediction module is used to input the current sea state information and current navigation information into the pre-trained trajectory prediction model to obtain the predicted navigation information of the ship at the next moment.
[0015] The determination module is used to determine the target navigation adjustment amount based on the predicted navigation information and the target navigation information in the designed survey line;
[0016] The adjustment module is used to adjust the ship's course and speed according to the target navigation adjustment amount.
[0017] Thirdly, embodiments of this application provide a vessel, which includes:
[0018] At least one processor; and a memory communicatively connected to the at least one processor;
[0019] The memory stores a computer program that can be executed by at least one processor, which is then executed by the at least one processor to enable the at least one processor to execute the trajectory adjustment method of the marine seismic acquisition vessel according to any embodiment of this application.
[0020] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the trajectory adjustment method for a marine seismic acquisition vessel as described in any embodiment of this application.
[0021] The descriptions of the second, third, and fourth aspects in this application can be referenced to the detailed description of the first aspect; and the beneficial effects described in the second, third, and fourth aspects can be referenced to the analysis of the beneficial effects in the first aspect, which will not be repeated here.
[0022] In this application, the name of the trajectory adjustment device for the aforementioned marine seismic acquisition vessel does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear under other names. As long as the function of each device or functional module is similar to that of this application, it falls within the scope of the claims of this application and its equivalents.
[0023] These or other aspects of this application will become more readily apparent in the following description. Attached Figure Description
[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0025] Figure 1 This is a schematic flowchart of a method for adjusting the trajectory of a marine seismic acquisition vessel provided in an embodiment of this application;
[0026] Figure 2 This is another schematic flowchart of the trajectory adjustment method for marine seismic acquisition vessels provided in the embodiments of this application;
[0027] Figure 3 This is an example diagram of the vector graphics provided in the embodiments of this application;
[0028] Figure 4 This is an example diagram of a ship's navigation trajectory provided in an embodiment of this application;
[0029] Figure 5 This is a schematic diagram of the trajectory adjustment device for a marine seismic acquisition vessel provided in an embodiment of this application;
[0030] Figure 6 This is a structural schematic diagram of a ship provided in an embodiment of this application. Detailed Implementation
[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.
[0032] It should be noted that the terms "first," "second," "target," and "original," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein. Furthermore, the terms "comprising," "having," and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0033] Figure 1 This is a flowchart illustrating a method for adjusting the trajectory of a marine seismic acquisition vessel according to an embodiment of this application. This embodiment can be applied to scenarios requiring trajectory adjustment of marine seismic acquisition vessels. The trajectory adjustment method for a marine seismic acquisition vessel provided in this embodiment can be executed by a trajectory adjustment device for a marine seismic acquisition vessel provided in this embodiment. This device can be implemented through software and / or hardware. In a specific embodiment, the trajectory adjustment device for the marine seismic acquisition vessel can be integrated into the vessel, which can be a construction vessel involved in marine seismic acquisition operations, such as an air gun vessel, a node and cable laying vessel, a tugboat, a navigation vessel, or a surveillance vessel. The executing entity of this method can be a vessel; see [link to relevant documentation]. Figure 1 The trajectory adjustment method for the marine seismic acquisition vessel in this embodiment includes, but is not limited to, the following steps:
[0034] S110. Obtain the current sea state information of the offshore construction area at the current moment, as well as the current navigation information of the vessel at the current moment.
[0035] The offshore construction and acquisition area is a pre-delineated specific geographical area used for marine seismic acquisition operations; the offshore construction and acquisition area can be determined based on geological exploration targets, marine environmental conditions, and relevant operational requirements.
[0036] Current sea state information refers to the marine environmental conditions in which a ship is located at the current moment. For example, current sea state information may include tidal parameters (such as tide height, tidal current direction and current speed), wind parameters (such as 1-hour average wind speed and wind direction), wave parameters (such as significant wave height, average period and wave direction), and current parameters (such as current speed and current direction).
[0037] Current navigation information refers to the ship's navigation status at the current moment; current navigation information may include current position, current heading, and current speed; current position is the ship's geographical location at the current moment, usually expressed in latitude and longitude; current heading is the ship's direction of travel at the current moment, which is the angle formed by rotating clockwise from due north to the ship's bow and stern line; current speed is the ship's speed at the current moment.
[0038] Specifically, when a vessel navigates along the designed survey line at sea, its course and speed are affected by sea conditions such as wind, tides, and ocean currents, causing its actual trajectory to deviate from the designed survey line. Therefore, it is necessary to obtain the current sea conditions of the marine seismic acquisition area at that moment, as well as the vessel's current navigation information, to determine the vessel's actual trajectory under the influence of the current sea conditions. The designed survey line is the ideal navigation trajectory planned and designed before marine seismic acquisition operations, based on factors such as the geological structure and marine environment of the marine acquisition area. Its purpose is to ensure that the vessel can optimally excite and receive seismic waves within the marine acquisition area, thereby obtaining high-quality seabed stratigraphic information.
[0039] Specifically, as the ship navigates along the designed survey line at sea, it can use its own measuring instruments or key hydrological data from the local work area to collect sea state information of the offshore construction area at preset collection intervals and store it in a database. For example, an anemometer can be used to measure the speed and direction of sea winds, a current meter can be used to measure the speed and direction of ocean currents, a tide meter can be used to measure the height, speed, and direction of tides, and a wave sensor can be used to measure the parameters of ocean waves. Then, the current sea state information is obtained from the database. If the current time is within the preset collection interval, the sea state information corresponding to the collection time point that is earlier than the current time and closest to the current time is determined as the current sea state information. For example, if collection time point 1 is 8:00, collection time point 2 is 8:10, and the current time is 8:04, then the current sea state information is the sea state information corresponding to collection time point 1.
[0040] It should be noted that, due to the large size and slow speed of marine seismic acquisition vessels, the frequency of changes in navigation information of these vessels is relatively low. Therefore, when collecting sea state information in the offshore construction area, a longer interval can be set, i.e., the preset acquisition interval value can be set to a larger value to avoid unnecessary data collection work.
[0041] Then, the ship's current navigation information can be obtained. For example, the ship's current position can be obtained using the Global Positioning System, the ship's current heading can be obtained using the compass, and the ship's current speed can be obtained using the speedometer.
[0042] S120. Input the current sea state information and current navigation information into the pre-trained trajectory prediction model to obtain the predicted navigation information of the ship at the next moment.
[0043] The trajectory prediction model is a model built on mathematical algorithms and physical principles. It learns and trains from a large amount of sea state information, navigation information, and the relationships between them, enabling it to predict a ship's trajectory over a future period based on the input current sea state and navigation information. For example, the trajectory prediction model can be a machine learning model (such as a neural network model or a support vector machine) or a physical model (such as the ship's motion equations constructed based on Newton's laws of motion and fluid dynamics principles).
[0044] The next moment is the time point after the preset time interval relative to the current moment; the preset time interval can be determined in advance according to specific prediction needs, such as 1 minute or a suitable time determined based on factors such as ship speed and prediction data collection interval.
[0045] Predicted navigation information refers to the navigation status information of a ship at the next moment, which can be predicted using a trajectory prediction model based on current sea state information and current navigation information; optionally, predicted navigation information may include predicted position, predicted course, and predicted speed, etc.
[0046] Specifically, after obtaining the current sea state information and current navigation information, a pre-trained trajectory prediction model can be acquired. The current sea state information and current navigation information are then input into the trajectory prediction model. At this point, the trajectory prediction model can analyze the current sea state information and current navigation information, and determine the actual navigation information of the ship at the next moment under the influence of the current sea state information. Then, the output value of the trajectory prediction model is determined as the predicted navigation information.
[0047] Optionally, the training process of the trajectory prediction model is as follows: obtain sample navigation information, sample sea state information, and navigation information labels; input the sample navigation information and sample sea state information into the initial trajectory prediction model, use the corresponding navigation information labels to guide the initial trajectory prediction model, train the initial trajectory prediction model, and obtain the trajectory prediction model.
[0048] Among them, the sample navigation information is a collection of navigation status information of the ship at different historical moments; the sample sea state information is a collection of marine environmental status information of the ship at the corresponding sample navigation information recording moment; and the navigation information label is the actual navigation status information of the ship at future moments under the influence of the sample navigation information and the sample sea state information.
[0049] The initial trajectory prediction model is an untrained model framework used to learn the relationship between sample navigation information, sample sea state information, and navigation information labels in order to achieve the function of ship trajectory prediction.
[0050] Specifically, sample navigation information, sample sea state information, and corresponding navigation information labels can be obtained from the ship's navigation history. Then, the sample navigation information and sample sea state information at the same moment are input into the initial trajectory prediction model to obtain the training output. Next, the loss between the training output and the corresponding navigation information labels is calculated, and the parameters of the initial trajectory prediction model are updated using the backpropagation algorithm to minimize the loss value, thus obtaining the optimal initial trajectory prediction model, i.e., the trajectory prediction model. Through a large amount of sample navigation information, sample sea state information, and navigation information labels, the trajectory prediction model can learn the interrelationship between navigation information and sea state information, thereby more accurately considering the comprehensive impact of various sea state factors on navigation status, and thus improving the prediction accuracy of the trajectory prediction model.
[0051] S130. Determine the target navigation adjustment amount based on the predicted navigation information and the target navigation information in the design survey line.
[0052] Among them, the target navigation information is the ideal navigation state that the ship should reach at the next moment during the process of sailing along the design survey line; the target navigation information may include the target position, target course and target speed, etc.; the target position is the ideal position of the ship at the next moment; the target course is the ideal course of the ship at the next moment; the target speed is the ideal speed of the ship at the next moment.
[0053] The target navigation adjustment amount is the amount of adjustment made when adjusting the course and speed of a ship, so that the state represented by the predicted navigation information of the ship is adjusted to the state represented by the target navigation information.
[0054] Specifically, after obtaining the predicted navigation information, the target navigation adjustment amount can be determined based on the predicted navigation information and the target navigation information in the design survey line. For example, the target navigation information can be determined from the design survey line based on the time point corresponding to the predicted navigation information. Then, the target navigation adjustment amount can be determined based on the predicted course and predicted speed in the predicted navigation information, and the target course and target speed in the target navigation information.
[0055] S140. Adjust the ship's course and speed according to the target navigation adjustment amount.
[0056] Specifically, after obtaining the target navigation adjustment amount, the ship's course and speed can be adjusted according to the target navigation adjustment amount. For example, in one implementation, a navigation adjustment command can be generated according to the target navigation adjustment amount and executed to adjust the ship's course and speed, so that the predicted navigation information at the next moment is as close as possible to the target navigation information.
[0057] In another implementation, the target course adjustment can be displayed for the navigator to view. The navigator can then operate the steering gear based on the target course adjustment to turn the ship. During the course adjustment, the navigator should closely monitor the ship's turning and the surrounding sea conditions to avoid over-turning or instability caused by the turning. The navigator can then increase or decrease the engine's fuel supply based on the target course adjustment to change the engine speed, thereby adjusting the speed. During the speed adjustment, the engine load limit and the ship's stability should be considered to ensure the ship's safety and comfort.
[0058] The technical solution of this application embodiment can obtain the current sea state information of the marine construction acquisition area at the current moment, as well as the current navigation information of the ship at the current moment. Then, the current sea state information and the current navigation information are input into a pre-trained trajectory prediction model to obtain the predicted navigation information of the ship at the next moment. Then, the target navigation adjustment amount is determined based on the predicted navigation information and the target navigation information in the design survey line. After that, the ship's course and speed are adjusted according to the target navigation adjustment amount, thus realizing the trajectory adjustment function of the marine seismic acquisition ship. In the above technical solution, the trajectory prediction model can accurately predict the ship's navigation information at the next moment. Then, based on the predicted navigation information and the target navigation information in the design survey line, the target navigation adjustment amount is determined. Based on the target navigation adjustment amount, the ship's course and speed are precisely adjusted. This allows for timely and reasonable adjustments to course and speed without requiring the driver to monitor the speed and course in real time, reducing the driver's workload. Furthermore, it eliminates the need for the driver to determine the course and speed adjustment amount based on experience, thereby reducing the risk of misoperation and improving the accuracy of adjustments. This improves the consistency between the ship's navigation trajectory and the design survey line, ensuring the ship's safety and operational effectiveness, while also increasing the ship's operational efficiency.
[0059] The following further describes a method for adjusting the trajectory of a marine seismic acquisition vessel provided in an embodiment of this application. Figure 2 This is another schematic flowchart illustrating the trajectory adjustment method for a marine seismic acquisition vessel provided in this application. This application's embodiment is an optimization based on the above embodiments. See also... Figure 2 The method in this embodiment includes, but is not limited to, the following steps:
[0060] S210. Obtain the current sea state information of the offshore construction area at the current moment, as well as the current navigation information of the vessel at the current moment.
[0061] Optionally, the current sea state information may include the current wind speed vector, the current current speed vector, and the current tidal velocity vector; the current wind speed vector is used to represent the current wind speed magnitude and direction; the current current speed vector is used to represent the current ocean current speed magnitude and direction; and the current tidal velocity vector is used to represent the current tidal current speed magnitude and direction.
[0062] It's important to note the following effects of sea breezes on ships: When the wind direction is at an angle to the ship's course, the sea breeze exerts both lateral and longitudinal forces on the ship. The lateral force causes the ship to drift laterally and yaw, with the angle of deviation being the wind pressure difference. The longitudinal force affects the ship's speed. Ocean currents also affect ships: If the ocean current flows in the same direction as the ship's course, it propels the ship forward, increasing its speed. If the ocean current flows in the opposite direction, it hinders the ship's forward movement, reducing its speed. Furthermore, the lateral force of the ocean current causes the ship to drift laterally, affecting its course, with the angle of deviation being the current pressure difference. Tides also affect ships: If the tidal current flows in the same direction as the ship's course, it propels the ship forward, increasing its speed. If the tidal current flows in the opposite direction, it hinders the ship's forward movement, reducing its speed. Furthermore, the lateral force of the tidal current causes the ship to drift laterally, affecting its course.
[0063] S220. Use a trajectory prediction model to draw vector graphics based on current sea state information and current navigation information.
[0064] Vector graphics are used to represent the magnitude and direction of various forces acting on a ship (such as its own power, wind force, and water force). By constructing vector graphics, one can intuitively understand how these forces interact and thus affect the ship's course and speed.
[0065] Specifically, current sea state information and current navigation information can be input into the trajectory prediction model. The model can then analyze this information to determine the predicted navigation information for the next moment. Specifically, it can determine the ship's current dynamic vector based on the current heading and speed, and draw vector graphics based on the current dynamic vector, current wind speed vector, current current speed vector, and current tidal speed vector. The current dynamic vector represents the current speed and heading, and includes two elements: magnitude and direction. The magnitude represents the ship's current speed, and the direction represents its current heading.
[0066] Specifically, a coordinate system can be established, for example, with the ship's location as the origin, the north direction as the positive vertical axis, and the east direction as the positive horizontal axis, to establish a plane rectangular coordinate system; then determine the scale, that is, select an appropriate scale according to the magnitude range of each vector; then, draw a vector graphic according to the current dynamic vector, current wind speed vector, current current velocity vector, and current tidal velocity vector, that is, (1) starting from the origin, convert the current speed according to the scale to obtain the first length, and draw the dynamic vector line segment according to the current course and the first length to represent the current dynamic vector; then starting from the origin, convert the speed of the current wind speed vector according to the scale to obtain the second length, and draw the wind speed vector line segment according to the direction of the current wind speed vector and the second length to represent the current wind speed vector; then, using the parallelogram rule and the vector triangle rule, connect the starting point of the current dynamic vector and the ending point of the current wind speed vector to obtain the first resultant force vector line segment to represent the resultant force vector line segment. (2) Starting from the origin, the velocity magnitude of the current velocity vector is converted according to the scale to obtain the third length, and the velocity vector line segment is drawn according to the direction of the current velocity vector and the third length to represent the current velocity vector. Then, using the parallelogram law and the vector triangle law, the starting point of the current velocity vector and the ending point of the first resultant force vector are connected to obtain the second resultant force vector line segment to represent the second resultant force vector, and thus the second vector graphic is drawn. (3) Starting from the origin, the velocity magnitude of the current tidal velocity vector is converted according to the scale to obtain the fourth length, and the tidal velocity vector line segment is drawn according to the direction of the current tidal velocity vector and the fourth length to represent the current tidal velocity vector. Then, using the parallelogram law and the vector triangle law, the starting point of the current tidal velocity vector and the ending point of the second resultant force vector are connected to obtain the third resultant force vector line segment to represent the third resultant force vector, and thus the third vector graphic is drawn.
[0067] For example, such as Figure 3 The image shown is an example of a vector graphic provided in an embodiment of this application. Figure 3 The center O represents the ship's current position, and the straight line OM represents the design survey line. Indicates the current dynamic vector; Figure 3 'a' in the first vector graphic includes the first vector graphic, where... Representing the current wind speed vector, connect using the parallelogram law and the vector triangle law. The starting point and The endpoint yields the first resultant force vector. Figure 3 b in the text includes the first vector graphic and the second vector graphic, where... Representing the current flow velocity vector, connecting using the parallelogram law and the vector triangle law. The starting point and The endpoint yields the second resultant force vector. Figure 3 The 'c' in the diagram includes the first vector graphic, the second vector graphic, and the third vector graphic, where... Representing the current tidal velocity vector, connect using the parallelogram law and the vector triangle law. The starting point and The endpoint yields the third resultant force vector.
[0068] In this embodiment of the application, the current dynamic vector, current wind speed vector, current current speed vector, and current tidal speed vector of the ship are determined and drawn by the trajectory prediction model. This can present the various forces that the ship is subjected to in the current environment in a complete and intuitive vector graphic form, providing data support for the subsequent determination of predicted navigation information and thus improving the prediction accuracy of the trajectory prediction model.
[0069] S230. Use the trajectory prediction model to determine the predicted navigation information based on vector graphics.
[0070] Specifically, after obtaining the vector graphics, the trajectory prediction model can be used to determine the predicted navigation information based on the vector graphics. That is, the vector graphics can be solved based on the vector triangle rule to obtain the predicted navigation information.
[0071] Specifically, based on the vector triangle rule, the first vector graphic can be solved to determine the magnitude and direction of the vector corresponding to the first resultant force vector segment, thus obtaining the first resultant force vector. Then, based on the vector triangle rule, the second vector graphic can be solved to determine the magnitude and direction of the vector corresponding to the second resultant force vector segment, thus obtaining the second resultant force vector. Then, based on the vector triangle rule, the third vector graphic can be solved to determine the magnitude and direction of the vector corresponding to the third resultant force vector segment, thus obtaining the third resultant force vector. At this point, the magnitude of the vector in the third resultant force vector is the predicted speed, and the direction of the vector in the third resultant force vector is the predicted heading, thereby obtaining the predicted navigation information.
[0072] For example, such as Figure 3 As shown, Figure 3 In c This represents the final resultant force vector. The direction is the predicted course. The size is the predicted speed.
[0073] In this embodiment, the vector triangle rule can be used to accurately determine the actual motion trend of a ship under the combined action of multiple forces, thereby improving the prediction accuracy of the trajectory prediction model and thus improving the accuracy of the predicted navigation information, providing data support for the subsequent determination of the target navigation adjustment amount.
[0074] S240. Obtain the navigation information for the next moment from the design survey line to obtain the target heading and target speed.
[0075] Specifically, after obtaining the predicted navigation information, the navigation information for the next moment can be obtained from the designed survey line to obtain the target navigation information, which includes the target heading and the target speed.
[0076] S250. Determine the course adjustment amount based on the target course and the predicted course, and determine the speed adjustment amount based on the target speed and the predicted speed.
[0077] The heading adjustment amount is the amount of adjustment made when the ship's heading is adjusted so that the ship's heading at the next moment is as close as possible to the target heading. The heading adjustment amount can be positive or negative. When the heading adjustment amount is positive, it indicates that the angle corresponding to the predicted heading is greater than the angle corresponding to the target heading. When the heading adjustment amount is negative, it indicates that the angle corresponding to the predicted heading is less than the angle corresponding to the target heading.
[0078] The speed adjustment amount is the amount of adjustment made when adjusting the speed of a ship so that the speed of the ship at the next moment is as close as possible to the target speed.
[0079] Specifically, after obtaining the target heading and target speed, the difference between the predicted heading and the target heading can be calculated to obtain the heading adjustment amount, and then the difference between the predicted speed and the target speed can be calculated to obtain the speed adjustment amount.
[0080] S260. Determine the target navigation adjustment amount based on the course adjustment amount and speed adjustment amount.
[0081] Specifically, after obtaining the heading adjustment and speed adjustment, the heading adjustment and speed adjustment can be combined into the target navigation adjustment.
[0082] S270. Adjust the ship's course according to the course adjustment amount, and adjust the ship's speed according to the speed adjustment amount.
[0083] Specifically, the adjustment angle and direction can be determined based on the heading adjustment amount, and a servo steering command can be generated based on the adjustment angle and direction. Then, the servo can be controlled to execute the servo steering command to drive the servo to rotate the adjustment angle in the adjustment direction, so that the heading at the next moment is as close as possible to the target heading. Then, a speed adjustment command can be generated based on the speed adjustment amount and executed to make the speed at the next moment as close as possible to the target speed.
[0084] For example, such as Figure 3As shown, after adjusting the ship's course according to the course adjustment amount and adjusting the ship's speed according to the speed adjustment amount, the ship's course will be as close as possible to the course of the design survey line, and the ship's speed will be as close as possible to the speed of the design survey line. This is how the adjusted navigation trajectory, i.e., curve OM, is obtained, thereby improving the consistency between the navigation trajectory and the design survey line.
[0085] Optionally, the preset data acquisition interval can be adjusted to a smaller value, and steps S210 to S270 can be repeated to increase the frequency of course and speed adjustments, thereby further improving the consistency between the flight path and the designed survey line. For example, such as... Figure 4 The diagram shown is an example of a ship's navigation trajectory provided in an embodiment of this application. Figure 4 In the diagram, the straight line OM represents the design survey line, the blue curve OM represents the ship's navigation trajectory corresponding to the preset acquisition interval 1, and the green curve OM represents the ship's navigation trajectory corresponding to the preset acquisition interval 2. Furthermore, the preset acquisition interval 1 is greater than the preset acquisition interval 2. At this time, the degree of agreement between the blue curve OM and the design survey line is less than that between the green curve OM and the design survey line.
[0086] The technical solution of this application embodiment can acquire the current sea state information of the offshore construction area at the current moment, as well as the current navigation information of the ship at the current moment. Then, a trajectory prediction model is used to draw vector graphics based on the current sea state information and current navigation information. The trajectory prediction model is then used to determine the predicted navigation information based on the vector graphics. By drawing vector graphics, the various forces acting on the ship in the current environment can be intuitively displayed, and the predicted navigation information can be determined based on the vector graphics, which improves the prediction accuracy of the trajectory prediction model and thus improves the accuracy of the predicted navigation information, providing data support for the subsequent determination of the target navigation adjustment amount. Then, the navigation information of the next moment can be obtained from the design survey line to obtain the target heading and target speed. Then, based on the target heading... The method involves determining the course adjustment amount based on the predicted course and the speed adjustment amount based on the target speed and predicted speed. Then, based on the course and speed adjustments, the target navigation adjustment amount is determined. This reduces the complexity of implementation and improves the accuracy and efficiency of determining the target navigation adjustment amount. It provides a basis for subsequent adjustments to speed and course, and provides precise guidance for the navigator, reducing their workload. Subsequently, the ship's course is adjusted according to the course adjustment amount, and the ship's speed is adjusted according to the speed adjustment amount. This improves the accuracy of course and speed adjustments, reduces the risk of misoperation, and thus improves the consistency between the ship's navigation trajectory and the design survey line. It also ensures the safety of the ship and the effectiveness of operations, while improving the ship's operational efficiency.
[0087] Figure 5This is a schematic diagram of the trajectory adjustment device for a marine seismic acquisition vessel provided in an embodiment of this application, with reference to... Figure 5 The trajectory adjustment device of the marine seismic acquisition vessel may include:
[0088] The acquisition module 510 is used to acquire the current sea state information of the offshore construction area at the current moment, as well as the current navigation information of the ship at the current moment;
[0089] The prediction module 520 is used to input the current sea state information and current navigation information into the pre-trained trajectory prediction model to obtain the predicted navigation information of the ship at the next moment.
[0090] The determination module 530 is used to determine the target navigation adjustment amount based on the predicted navigation information and the target navigation information in the design survey line;
[0091] The adjustment module 540 is used to adjust the ship's course and speed according to the target navigation adjustment amount.
[0092] In one embodiment, the prediction module 520 is specifically used for:
[0093] Vector graphics are drawn based on current sea state and navigation information using a trajectory prediction model.
[0094] The trajectory prediction model is used to determine the predicted navigation information based on vector graphics.
[0095] In one embodiment, the current navigation information includes the current heading and current speed, and the current sea state information includes the current wind speed vector, current current speed vector, and current tidal speed vector. The prediction module 520 draws vector graphics based on the current sea state information and the current navigation information, including:
[0096] Determine the ship's current power vector based on the current course and current speed;
[0097] Draw a vector graphic based on the current dynamic vector, current wind speed vector, current current velocity vector, and current tidal velocity vector.
[0098] In one embodiment, the prediction module 520 determines predicted navigation information based on vector graphics, including:
[0099] Based on the vector triangle rule, vector graphics are solved to obtain predicted navigation information.
[0100] In one embodiment, the predicted navigation information includes the predicted course and the predicted speed, and the target navigation information includes the target course and the target speed. The determination module 530 is specifically used for:
[0101] Obtain navigation information for the next moment from the designed survey line to obtain the target heading and target speed;
[0102] The course adjustment is determined based on the target course and the predicted course, and the speed adjustment is determined based on the target speed and the predicted speed.
[0103] The target navigation adjustment amount is determined based on the course adjustment amount and the speed adjustment amount.
[0104] In one embodiment, the adjustment module 540 is specifically used for:
[0105] The ship's course is adjusted according to the course adjustment amount, and the ship's speed is adjusted according to the speed adjustment amount.
[0106] In one embodiment, the training process of the trajectory prediction model in the prediction module 520 is as follows:
[0107] Acquire sample navigation information, sample sea state information, and navigation information tags;
[0108] The sample navigation information and sample sea state information are input into the initial trajectory prediction model. The initial trajectory prediction model is trained by using the corresponding navigation information labels to guide the initial trajectory prediction model.
[0109] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0110] The trajectory adjustment device for marine seismic acquisition vessels provided in this embodiment can be applied to the trajectory adjustment method for marine seismic acquisition vessels provided in any of the above embodiments, and has the corresponding functions and beneficial effects.
[0111] Figure 6 This is a structural schematic diagram of a ship provided in an embodiment of this application. Figure 6 A block diagram of an exemplary vessel 11 suitable for implementing embodiments of this application is shown. Figure 6 The ship 11 shown is merely an example and should not be construed as limiting the functionality and scope of this embodiment.
[0112] like Figure 6 As shown, the ship 11 is represented in the form of a general-purpose computing electronic device. The components of the ship 11 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).
[0113] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.
[0114] Ship 11 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by ship 11, including volatile and non-volatile media, movable and non-movable media.
[0115] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Vessel 11 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 6 Not shown; usually referred to as a "hard drive"). Although Figure 6 As not shown, disk drives for reading and writing to removable non-volatile disks (e.g., "floppy disks") and optical disc drives for reading and writing to removable non-volatile optical discs (e.g., CD-ROMs, DVD-ROMs, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.
[0116] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of this application.
[0117] The vessel 11 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with the vessel 11, and / or with any device that enables the vessel 11 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, the vessel 11 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20.
[0118] like Figure 6 As shown, network adapter 20 communicates with other modules of vessel 11 via bus 18. It should be understood that, although... Figure 6 As not shown in the diagram, other hardware and / or software modules may be used in conjunction with the vessel 11, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.
[0119] Processing unit 16 executes various functional applications and page displays by running programs stored in system memory 28, such as implementing a trajectory adjustment method for a marine seismic acquisition vessel provided in this embodiment, the method including:
[0120] Obtain the current sea state information of the offshore construction area at the current moment, as well as the current navigation information of the vessel at the current moment;
[0121] By inputting the current sea state information and current navigation information into the pre-trained trajectory prediction model, the predicted navigation information of the ship at the next moment can be obtained.
[0122] The target navigation adjustment amount is determined based on the predicted navigation information and the target navigation information in the design survey line;
[0123] Adjust the ship's course and speed according to the target navigation adjustment amount.
[0124] Of course, those skilled in the art will understand that the processor can also implement the technical solution of the trajectory adjustment method for marine seismic acquisition vessels provided in any embodiment of this application.
[0125] This application provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the program implements, for example, a trajectory adjustment method for a marine seismic acquisition vessel provided in this application, the method comprising:
[0126] Obtain the current sea state information of the offshore construction area at the current moment, as well as the current navigation information of the vessel at the current moment;
[0127] By inputting the current sea state information and current navigation information into the pre-trained trajectory prediction model, the predicted navigation information of the ship at the next moment can be obtained.
[0128] The target navigation adjustment amount is determined based on the predicted navigation information and the target navigation information in the design survey line;
[0129] Adjust the ship's course and speed according to the target navigation adjustment amount.
[0130] The computer storage medium of this embodiment can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
[0131] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.
[0132] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.
[0133] Computer program code for performing the operations of this application can be written in one or more programming languages or a combination thereof. Programming languages include object-oriented programming languages such as Java, Smalltalk, and C++, as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).
[0134] Those skilled in the art will understand that the modules or steps described above in this application can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device, or fabricating them separately as individual integrated circuit modules, or fabricating multiple modules or steps as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.
[0135] Furthermore, the acquisition, storage, use, and processing of data in this application's technical solution all comply with relevant national laws and regulations.
[0136] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the inventive concept of this application, and the scope of this application is determined by the scope of the appended claims.
Claims
1. A method for adjusting the trajectory of a marine seismic acquisition vessel, characterized in that, The method includes: Obtain the current sea state information of the offshore construction area at the current moment, as well as the current navigation information of the vessel at the current moment; The current sea state information and the current navigation information are input into a pre-trained trajectory prediction model to obtain the predicted navigation information of the ship at the next moment. The target navigation adjustment amount is determined based on the predicted navigation information and the target navigation information in the designed survey line; The course and speed of the vessel are adjusted according to the target navigation adjustment amount.
2. The method for adjusting the trajectory of a marine seismic acquisition vessel according to claim 1, characterized in that, The step of inputting the current sea state information and the current navigation information into a pre-trained trajectory prediction model to obtain the predicted navigation information of the ship at the next moment includes: The trajectory prediction model is used to draw vector graphics based on the current sea state information and the current navigation information; The predicted navigation information is determined based on the vector graphics using the trajectory prediction model.
3. The method for adjusting the trajectory of a marine seismic acquisition vessel according to claim 2, characterized in that, The current navigation information includes the current heading and current speed; the current sea state information includes the current wind speed vector, current current speed vector, and current tidal speed vector; and the drawing of vector graphics based on the current sea state information and the current navigation information includes: The ship's current power vector is determined based on the current course and the current speed; The vector graphic is drawn based on the current dynamic vector, the current wind speed vector, the current current velocity vector, and the current tidal velocity vector.
4. The method for adjusting the trajectory of a marine seismic acquisition vessel according to claim 2, characterized in that, Determining the predicted navigation information based on the vector graphics includes: The predicted navigation information is obtained by solving the vector graphics based on the vector triangle rule.
5. The method for adjusting the trajectory of a marine seismic acquisition vessel according to claim 1, characterized in that, The predicted navigation information includes predicted course and predicted speed, and the target navigation information includes target course and target speed. Determining the target navigation adjustment based on the predicted navigation information and the target navigation information in the design survey line includes: The navigation information for the next moment is obtained from the designed survey line to obtain the target heading and the target speed; The course adjustment amount is determined based on the target course and the predicted course, and the speed adjustment amount is determined based on the target speed and the predicted speed; The target navigation adjustment amount is determined based on the heading adjustment amount and the speed adjustment amount.
6. The method for adjusting the trajectory of a marine seismic acquisition vessel according to claim 5, characterized in that, The adjustment of the ship's course and speed according to the target navigation adjustment amount includes: The course of the vessel is adjusted according to the stated course adjustment amount, and the speed of the vessel is adjusted according to the stated speed adjustment amount.
7. The trajectory adjustment method for marine seismic acquisition vessels according to claim 1, wherein the training process of the trajectory prediction model is as follows: Acquire sample navigation information, sample sea state information, and navigation information tags; The sample navigation information and the sample sea state information are input into the initial trajectory prediction model. The initial trajectory prediction model is trained using the corresponding navigation information labels to obtain the trajectory prediction model.
8. A trajectory adjustment device for a marine seismic acquisition vessel, characterized in that, The device includes: The acquisition module is used to acquire the current sea state information of the offshore construction area at the current moment, as well as the current navigation information of the vessel at the current moment; The prediction module is used to input the current sea state information and the current navigation information into a pre-trained trajectory prediction model to obtain the predicted navigation information of the ship at the next moment. The determination module is used to determine the target navigation adjustment amount based on the predicted navigation information and the target navigation information in the design survey line; The adjustment module is used to adjust the course and speed of the vessel according to the target navigation adjustment amount.
9. A ship, characterized in that, The vessels include: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the trajectory adjustment method for a marine seismic acquisition vessel as described in any one of claims 1 to 7.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the trajectory adjustment method for marine seismic acquisition vessels as described in any one of claims 1 to 7.