An acoustic computing method for submarine buried cable underwater routing positioning and related equipment

Abstract

The application discloses an acoustic calculation method for underwater routing positioning of a seabed buried cable and related equipment, and the method comprises the following steps: arranging an acoustic positioning transmitting array on the water surface of a target sea area, and carrying an acoustic positioning receiving device on an underwater moving device; collecting field environment data by the underwater moving device; constructing a relative coordinate system according to the field environment data; emitting a positioning signal by the acoustic positioning transmitting array, and receiving the positioning signal by the acoustic positioning receiving device, so as to determine real-time position information of the underwater moving device; performing depth cross detection on a target seabed cable by the underwater moving device, and obtaining abnormal point information; calculating abnormal coordinate information of the seabed cable of the abnormal point according to the abnormal point information; and determining a seabed cable route according to the abnormal coordinate information of the seabed cable and the real-time position information of the underwater moving device. The embodiment of the application can reduce operation complexity, improve positioning accuracy, and can be widely applied to the technical field of seabed cable operation and maintenance.

Description

Technical Field

[0001] This application relates to the field of submarine cable maintenance technology, and in particular to an acoustic calculation method and related equipment for underwater routing and positioning of submarine buried cables. Background Technology

[0002] Submarine cables, serving as crucial interconnections between islands and inland power grids, are subject to long-term marine dynamics such as ocean currents and topographic erosion, which can easily lead to sections of the cable being suspended, jeopardizing the safety of the route structure. Furthermore, the cable depth in sections protected by dropped gravel is significantly affected by overburden interference, making measurement accuracy difficult to guarantee and posing technical challenges to operation and maintenance monitoring.

[0003] In the operation and maintenance monitoring of submarine cable route burial depth, the USBL positioning method (Ultra-Short Baseline) and low-frequency high-energy acoustic method are commonly used.

[0004] The USBL positioning method has three major limitations: First, positioning accuracy is strongly correlated with depth, and the error accumulates linearly with the slant distance. In deep water, the absolute error is amplified sharply, making it difficult to meet the requirements of high-precision operations. Second, it has poor environmental adaptability. The multipath effect is significant in shallow water, there is a bottom blind zone in high elevation angle areas, and the signal is prone to loss of lock in noisy environments. Third, the system is highly dependent and lacks real-time performance. It must rely on the positioning mother ship and attitude instrument to perform collaborative calculations. The installation angle deviation can introduce tens of meters of error through the amplification of the deep water lever, and the sound propagation delay in deep water can reach several seconds. The mother ship dynamic positioning system is often regarded as an unreliable reference source by USBL and is rejected.

[0005] For low-frequency, high-energy acoustic detection methods, if a conventional shallow seismic profiler is used on an ROV for direct calculation, it is easily affected by seabed topography and medium scattering interference, resulting in insufficient accuracy and low reliability of the measurement results. This technical approach is difficult to meet the requirements of engineering applications. Summary of the Invention

[0006] The main objective of this application is to propose an acoustic calculation method and related equipment for underwater routing and positioning of buried submarine cables, which can reduce operational complexity and improve positioning accuracy.

[0007] To achieve the above objectives, one aspect of this application proposes an acoustic calculation method for underwater routing and location of subsea buried cables, comprising: An acoustic positioning transmitting array is deployed on the surface of the target sea area, and an acoustic positioning receiving device is mounted on the underwater motion device. The underwater motion device is used to collect on-site environmental data. Based on the aforementioned on-site environmental data, a relative coordinate system is constructed; The acoustic positioning transmitting array emits a positioning signal, which is received by the acoustic positioning receiving device. Then, based on the relative coordinate system, the real-time position information of the underwater motion device is determined. The underwater motion device is used to perform a cross-sectional detection of the target submarine cable at its burial depth to obtain information on anomalies. Based on the anomaly point information, calculate the anomaly coordinate information of the submarine cable at the anomaly point; The route of the submarine cable is determined based on the abnormal coordinate information of the submarine cable and the real-time position information of the underwater motion device.

[0008] In some embodiments, the collection of on-site environmental data via the underwater motion device includes: The underwater motion device uses a professional sound velocity profiler to collect sound velocity, pressure, and magnetic field information.

[0009] In some embodiments, constructing a relative coordinate system based on the on-site environmental data includes: Obtain the beacon position information of each transmitting beacon in the acoustic positioning transmitting array; Calculate the distance between each transmitting beacon based on the sound speed information in the aforementioned on-site environmental data; The relative coordinate system is constructed based on the distances between each transmitting beacon.

[0010] In some embodiments, determining the real-time position information of the underwater motion device according to the relative coordinate system includes: Obtain the arrival time of the signal emitted from the acoustic positioning transmitting array to the acoustic positioning receiving device; The real-time position coordinates of the underwater motion device are calculated based on the arrival time of the signal. The formula for calculating the real-time location coordinates is as follows: , in, Represents the real-time position coordinates of the underwater motion device; , , These represent the three transmitting beacons in the acoustic positioning transmitting array. , , Location; , , These represent the distances between each transmitting beacon.

[0011] In some embodiments, the step of using the underwater motion device to perform depth-crossing detection of the target submarine cable and obtain anomaly information includes: The underwater motion device is used to perform burial depth cross-sectional detection of the target submarine cable, and the real-time position information of the underwater motion device is obtained in real time during the detection process. When an anomaly is detected, the current position information of the underwater motion device is obtained, as well as the first height of the underwater motion device relative to the buried submarine cable and the second height of the underwater motion device relative to the seabed surface are obtained.

[0012] In some embodiments, when an anomaly is detected, acquiring the current position information of the underwater motion device, and acquiring the first height of the underwater motion device relative to the buried submarine cable and the second height of the underwater motion device relative to the seabed surface, includes: When an anomaly is detected, the current real-time position of the underwater motion device is determined by the acoustic positioning receiver mounted on the underwater motion device. The first height of the underwater motion device relative to the buried submarine cable is obtained by a gradient magnetic detection sensor; The second height of the underwater motion device relative to the seabed surface is obtained using an altimeter.

[0013] In some embodiments, calculating the anomalous coordinate information of the submarine cable at the anomalous point based on the anomalous point information includes: The burial depth of the submarine cable at the anomaly point is calculated based on the difference between the first height of the underwater motion device relative to the buried submarine cable and the second height relative to the seabed surface. The X and Y axis values ​​of the current underwater motion device location are used as the X and Y axis coordinates of the geodetic depth coordinates of the submarine cable at the anomaly point; Based on the Z-axis value of the current underwater motion device location, plus the current height of the underwater motion device relative to the buried submarine cable, determine the Z-axis coordinate in the geodetic depth coordinate of the submarine cable at the anomaly point. The X and Y axis values ​​of the current underwater motion device location are used as the X and Y axis coordinates in the burial depth coordinates of the submarine cable at the anomaly point. Based on the difference between the current first height of the underwater motion device relative to the buried submarine cable and the current second height of the underwater motion device relative to the seabed surface, the Z-axis coordinate of the submarine cable at the anomaly point is determined.

[0014] Another aspect of this application provides an acoustic computing device for underwater routing and location of subsea buried cables, comprising: The first module is used to deploy an acoustic positioning transmitting array on the surface of the target sea area and to mount an acoustic positioning receiving device on the underwater motion device. The second module is used to collect on-site environmental data through the underwater motion device; The third module is used to construct a relative coordinate system based on the on-site environmental data; The fourth module is used to emit a positioning signal from the acoustic positioning transmitting array and receive the positioning signal from the acoustic positioning receiving device, and then determine the real-time position information of the underwater motion device according to the relative coordinate system. The fifth module is used to perform burial depth cross-sectional detection of the target submarine cable using the underwater motion device to obtain anomaly information; The sixth module is used to calculate the abnormal coordinate information of the submarine cable at the abnormal point based on the abnormal point information; The seventh module is used to determine the route of the submarine cable based on the abnormal coordinate information of the submarine cable and the real-time position information of the underwater motion device.

[0015] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described above.

[0016] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods described above.

[0017] This application also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium and execute the computer instructions, causing the computer device to perform the aforementioned method.

[0018] The embodiments of this application include at least the following beneficial effects: This application provides an acoustic calculation method and related equipment for underwater route positioning of buried submarine cables. This scheme involves deploying an acoustic positioning transmitting array on the surface of the target sea area and mounting an acoustic positioning receiving device on an underwater moving device; collecting on-site environmental data through the underwater moving device; constructing a relative coordinate system based on the on-site environmental data; emitting positioning signals from the acoustic positioning transmitting array and receiving the positioning signals from the acoustic positioning receiving device; and determining the real-time position information of the underwater moving device based on the relative coordinate system; performing depth-crossing detection of the target submarine cable through the underwater moving device to obtain anomaly point information; calculating the anomaly coordinate information of the submarine cable at the anomaly points based on the anomaly point information; and determining the submarine cable route based on the anomaly coordinate information of the submarine cable and the real-time position information of the underwater moving device. The embodiments of this application can reduce operational complexity and improve positioning accuracy. Attached Figure Description

[0019] Figure 1 This is a flowchart of the overall steps provided in the embodiments of this application; Figure 2 This is a schematic diagram of the target sea area deployment scenario provided in the embodiments of this application; Figure 3 This is a schematic diagram of the ROV sweep detection trajectory provided in the embodiments of this application; Figure 4 This is a schematic diagram of the ROV and submarine cable height provided in the embodiments of this application; Figure 5 This is a schematic diagram of the transmission array provided in an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0021] It is understood that the terms "first," "second," "third," "fourth," etc. (if present) in the specification 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 orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover 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.

[0022] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0024] Before providing a detailed description of the embodiments of this application, some related technologies involved in the embodiments of this application will be described first, as follows: Among related technologies, the USBL positioning method has three major limitations: First, the positioning accuracy is strongly correlated with depth, and the error accumulates linearly with the slant distance. In deep water environments, the absolute error is amplified sharply, making it difficult to meet the requirements of high-precision operations. Second, it has poor environmental adaptability. The multipath effect is significant in shallow water areas, there is a bottom blind zone in high elevation angle areas, and the signal is prone to loss of lock in noisy environments. Third, the system is highly dependent and lacks real-time performance. It must rely on the positioning mother ship and attitude instrument to perform collaborative calculations. The installation angle deviation can introduce tens of meters of error through the amplification of the deep water lever, and the sound propagation delay in deep water can reach several seconds. The mother ship dynamic positioning system often regards USBL as an unreliable reference source and refuses to use it.

[0025] For low-frequency, high-energy acoustic detection methods, if a conventional shallow seismic profiler is used on an ROV for direct calculation, it is easily affected by seabed topography and medium scattering interference, resulting in insufficient accuracy and low reliability of the measurement results. This technical approach is difficult to meet the requirements of engineering applications.

[0026] The acoustic calculation method and related equipment for underwater routing and location of subsea buried cables provided in this application relate to technical fields such as subsea maintenance, cable monitoring, marine data processing, and underwater acoustic positioning. The acoustic calculation method for underwater routing and location of subsea buried cables provided in this application can be applied to a terminal, a server, or software running on a terminal or server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or vehicle terminal, but is not limited to these. The server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network. The software can be an application implementing the acoustic calculation method for underwater routing and location of subsea buried cables, but is not limited to the above forms.

[0027] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0028] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.

[0029] Reference Figure 1 , Figure 1 This is a flowchart illustrating an acoustic calculation method for underwater routing and location of subsea buried cables applied to a server, as provided in this application embodiment. The execution subject of this method can be any of the aforementioned computer devices (including a server or a terminal). The method may include the following steps: S210. Deploy an acoustic positioning transmitting array on the surface of the target sea area and mount an acoustic positioning receiving device on the underwater motion device. S220. Collect on-site environmental data using the underwater motion device; S230. Construct a relative coordinate system based on the aforementioned on-site environmental data; S240. The acoustic positioning transmitting array emits a positioning signal, and the acoustic positioning receiving device receives the positioning signal, thereby determining the real-time position information of the underwater motion device according to the relative coordinate system. S250. Use the underwater motion device to perform a cross-sectional detection of the target submarine cable to obtain anomaly information; S260. Based on the anomaly point information, calculate the anomaly coordinate information of the submarine cable at the anomaly point; S270. Determine the route of the submarine cable based on the abnormal coordinate information of the submarine cable and the real-time position information of the underwater motion device.

[0030] In some embodiments, the collection of on-site environmental data via the underwater motion device includes: The underwater motion device uses a professional sound velocity profiler to collect sound velocity, pressure, and magnetic field information.

[0031] In some embodiments, constructing a relative coordinate system based on the on-site environmental data includes: Obtain the beacon position information of each transmitting beacon in the acoustic positioning transmitting array; Calculate the distance between each transmitting beacon based on the sound speed information in the aforementioned on-site environmental data; The relative coordinate system is constructed based on the distances between each transmitting beacon.

[0032] In some embodiments, determining the real-time position information of the underwater motion device according to the relative coordinate system includes: Obtain the arrival time of the signal emitted from the acoustic positioning transmitting array to the acoustic positioning receiving device; The real-time position coordinates of the underwater motion device are calculated based on the arrival time of the signal. The formula for calculating the real-time location coordinates is as follows: , in, Represents the real-time position coordinates of the underwater motion device; , , These represent the three transmitting beacons in the acoustic positioning transmitting array. , , Location; , , These represent the distances between each transmitting beacon.

[0033] In some embodiments, the step of using the underwater motion device to perform depth-crossing detection of the target submarine cable and obtain anomaly information includes: The underwater motion device is used to perform burial depth cross-sectional detection of the target submarine cable, and the real-time position information of the underwater motion device is obtained in real time during the detection process. When an anomaly is detected, the current position information of the underwater motion device is obtained, as well as the first height of the underwater motion device relative to the buried submarine cable and the second height of the underwater motion device relative to the seabed surface are obtained.

[0034] In some embodiments, when an anomaly is detected, acquiring the current position information of the underwater motion device, and acquiring the first height of the underwater motion device relative to the buried submarine cable and the second height of the underwater motion device relative to the seabed surface, includes: When an anomaly is detected, the current real-time position of the underwater motion device is determined by the acoustic positioning receiver mounted on the underwater motion device. The first height of the underwater motion device relative to the buried submarine cable is obtained by a gradient magnetic detection sensor; The second height of the underwater motion device relative to the seabed surface is obtained using an altimeter.

[0035] In some embodiments, calculating the anomalous coordinate information of the submarine cable at the anomalous point based on the anomalous point information includes: The burial depth of the submarine cable at the anomaly point is calculated based on the difference between the first height of the underwater motion device relative to the buried submarine cable and the second height relative to the seabed surface. The X and Y axis values ​​of the current underwater motion device location are used as the X and Y axis coordinates of the geodetic depth coordinates of the submarine cable at the anomaly point; Based on the Z-axis value of the current underwater motion device location, plus the current height of the underwater motion device relative to the buried submarine cable, determine the Z-axis coordinate in the geodetic depth coordinate of the submarine cable at the anomaly point. The X and Y axis values ​​of the current underwater motion device location are used as the X and Y axis coordinates in the burial depth coordinates of the submarine cable at the anomaly point. Based on the difference between the current first height of the underwater motion device relative to the buried submarine cable and the current second height of the underwater motion device relative to the seabed surface, the Z-axis coordinate of the submarine cable at the anomaly point is determined.

[0036] The following, with reference to the accompanying drawings, details the implementation process of the acoustic calculation method for underwater routing and location of subsea buried cables proposed in this application in a specific application scenario: S1. Deploy an acoustic positioning transmitter array on the surface of the target sea area, and equip the underwater ROV with an acoustic positioning receiver beacon, a gradient magnetic detection sensor, and an altimeter. Lower the ROV into the water. Figure 2 As shown.

[0037] The acoustic positioning transmitter array consists of one or more independent transmitting beacons that emit positioning signals. Real-time location awareness of the ROV is achieved through signal interaction between the transmitting beacons and the acoustic positioning receiver beacons. The workflow is as follows: First, transmitting beacons are deployed on the surface of the target water area, and environmental parameters of the target water area are measured. Next, the main program parameters (operating mode, communication rate, sound velocity, etc.) are configured in the host computer system. After configuration, the transmitting beacon emits its own acoustic signal, and the receiver beacon receives the acoustic signal from the transmitting beacon, obtaining the time difference with each transmitting beacon. One transmitting beacon is then selected as the central processing node, and a spatial coordinate system is constructed using it as the origin. Spatial coordinate calculations are performed, and the real-time coordinate information of the receiver beacon is output.

[0038] It should be noted that, in this embodiment, the beacon closest to the ship's hull can be used as the origin of the coordinate system, and the XYZ axes of the geodetic coordinate system can be used as the XYZ axes of the spatial coordinate system. Specifically, after calculating the spacing between the beacons in the launch array, this embodiment selects any one beacon as the origin, multiplies the time difference by the speed of sound to obtain the spacing between the beacons, and then uses the spatial geometric equation (the calculation formula can be flexibly selected according to the number of launch beacons and is not limited to a fixed formula) to solve for the X, Y, and Z coordinates of the remaining beacons one by one, thus determining the relative spatial positions of all the launch beacons and completing the construction of the relative coordinate system of the launch array. Figure 5 As shown, for the three transmission arrays ST1, ST2, and ST3, a relative coordinate system can be constructed according to the method proposed in the embodiments of this application.

[0039] S2. A professional sound velocity profiler is used to accurately measure and collect key environmental parameters such as sound velocity and pressure.

[0040] S3. Input the environmental parameters obtained from on-site measurements into the acoustic positioning system at the computer control terminal, including sound velocity. The unit is meters per second (m / s). The acoustic positioning transmitting array beacons measure and calculate the distances between them, constructing a relative coordinate system to provide a positional reference for subsequent acoustic positioning receiving beacon positioning. Specifically, in the application scenario of this embodiment, it is assumed that the positions of the three transmitting beacons are as follows: , , The corresponding coordinates are , , Based on the real-time speed of sound provided by SVP If the value is [value], then the distance between the beacons is [value]. .in, , , This represents the time when each transmitting beacon receives the signal.

[0041] It should be noted that, as mentioned in the embodiments of this application, the function of each transmitting beacon is to send real-time signals to the ROV. This refers to the subsequent steps after the transmitting beacons within the transmitting array have completed signal interaction and established a relative coordinate system. Only after this coordinate system is established can the transmitting array interact with the receiving beacon mounted on the ROV to achieve real-time positioning. The transmitting beacon not only has signal transmission capabilities but can also receive signals; its naming is based on the fact that transmitting signals is its core operational task. Similarly, although the receiving beacon's primary function is to locate the target node, it also has its own signal transmission function. This enables signal interaction.

[0042] The "time when each transmitting beacon receives a signal" described in this application refers to the time when a transmitting beacon receives signals from two other transmitting beacons besides itself in the transmitting array. Taking the "time when the first transmitting beacon receives a signal" as an example, for this first transmitting beacon, the signal is emitted by the second and third transmitting beacons. For example, assume the transmitting array consists of transmitting beacons 1, 2, and 3. When beacon 1 transmits a signal, beacons 2 and 3 receive the signal transmitted by beacon 1; at this time, beacon 1 only transmits the signal and does not receive it. When beacon 2 transmits a signal, beacons 1 and 3 receive the signal transmitted by beacon 2; at this time, beacon 2 only transmits the signal and does not receive it. The same applies to beacon 3. The number of transmitting beacons constituting the transmitting array is not limited and can be any N; for ease of analysis and explanation, three beacons are selected here as an example.

[0043] S4. Start the positioning service, using the arrival time between the acoustic positioning transmitter array and the acoustic positioning receiver beacon. Obtain the real-time location coordinates of the ROV; Specifically, in the specific application scenario of this embodiment, the speed of sound is known. and the time it takes for the transmitted signal from the transmitting array to reach the receiving beacon The real-time position coordinates of the ROV are obtained through the following system of equations. : .

[0044] S5, such as Figure 3 As shown, the embodiments of this application are implemented through... Figure 3 The probe trajectory shown depicts a transverse probe of the submarine cable burial depth using an ROV, with real-time acquisition of the ROV's location information during the probe. Once an anomaly is detected, the ROV's coordinates at that point are recorded. The current height of the ROV relative to the buried submarine cable The current height of the ROV relative to the seabed surface .

[0045] refer to Figure 4 The location coordinates of the ROV. The current altitude of the ROV relative to the buried submarine cable is obtained through acoustic positioning and beacon reception. The current altitude of the ROV relative to the seabed surface was obtained via a gradient magnetic detection sensor. Obtained using an altimeter.

[0046] S6. Calculate the burial depth of the submarine cable at the anomaly point. ( =1, 2, 3, ...,), geodetic depth coordinates and burial depth coordinates Among them, the burial depth of the submarine cable at the anomaly point. Equal to the current height of the ROV relative to the buried submarine cable The current height of the ROV relative to the seabed surface The difference, that is: .

[0047] Geodetic depth coordinates of the submarine cable at the anomaly point The X and Y axis coordinates are directly taken from the current ROV location's X and Y axis values. The Z axis coordinate is obtained by adding the current ROV's Z axis value to the current height of the ROV relative to the buried submarine cable. ,Right now .

[0048] Anomaly point: burial depth coordinates of submarine cables The X and Y axis coordinates are directly taken from the current ROV location, while the Z axis coordinate is the current height of the ROV relative to the buried submarine cable. The current height of the ROV relative to the seabed surface The difference, i.e. It can also be expressed as... .

[0049] S7. Finally, based on the ROV location and the burial depth of abnormal points... ~ The route of the submarine cable can be determined by drawing a continuous line.

[0050] In this embodiment of the application, the XY axis position of the ROV determines the XY coordinates of the submarine cable, and the Z axis position plus the burial depth of the anomaly point is the Z coordinate of the submarine cable.

[0051] In summary, the embodiments of this application employ high-frequency, high-precision positioning beacons, eliminating the need for pre-set fixed calibration points and enabling point-by-point operation. This allows for dense and uninterrupted location positioning along the entire route of submarine cables, with high-frequency location updates. It captures minute displacements and route deformations caused by ocean currents and terrain erosion in real time, reducing monitoring blind spots. The beacons incorporate anti-interference optimization algorithms to suppress underwater acoustic multipath effects, resulting in smaller positioning errors. This method is suitable for long-term monitoring of seabed environments such as erosion zones and complex shallow seas. Furthermore, this method does not rely on dedicated acoustic excitation equipment, allowing for flexible deployment, a simplified hardware architecture, and convenient construction, thus reducing deployment and long-term maintenance costs.

[0052] Compared with existing technologies, this application has the following advantages: 1. Self-organizing network deployment, adapting to dynamic changes: After entering the water, it autonomously deploys its network and can automatically complete node interconnection and communication reconfiguration in complex environments. Facing scenarios such as node movement, dynamic topology changes, and temporary link interruptions, it can adaptively adjust to maintain stable communication and reliable data transmission, demonstrating strong robustness and high flexibility.

[0053] 2. High-frequency positioning with high accuracy: Employing high-frequency signals and high-precision positioning algorithms, it achieves dense, high-frequency location updates, resulting in fast positioning response and low latency. Simultaneously, relying on multi-source data fusion and anti-interference optimization, it effectively suppresses environmental noise and multipath effects, resulting in small positioning errors and good consistency, meeting the stringent requirements for real-time and accurate location information in application scenarios.

[0054] Another aspect of this application provides an acoustic computing device for underwater routing and location of subsea buried cables, comprising: The first module is used to deploy an acoustic positioning transmitting array on the surface of the target sea area and to mount an acoustic positioning receiving device on the underwater motion device. The second module is used to collect on-site environmental data through the underwater motion device; The third module is used to construct a relative coordinate system based on the on-site environmental data; The fourth module is used to emit a positioning signal from the acoustic positioning transmitting array and receive the positioning signal from the acoustic positioning receiving device, and then determine the real-time position information of the underwater motion device according to the relative coordinate system. The fifth module is used to perform burial depth cross-sectional detection of the target submarine cable using the underwater motion device to obtain anomaly information; The sixth module is used to calculate the abnormal coordinate information of the submarine cable at the abnormal point based on the abnormal point information; The seventh module is used to determine the route of the submarine cable based on the abnormal coordinate information of the submarine cable and the real-time position information of the underwater motion device.

[0055] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0056] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned acoustic calculation method for underwater routing and positioning of subsea buried cables. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0057] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0058] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described acoustic calculation method for underwater routing and positioning of subsea buried cables.

[0059] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0060] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0061] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0062] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0063] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0064] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0065] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0066] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0067] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0068] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. An acoustic calculation method for underwater route location of subsea buried cables, characterized in that, include: An acoustic positioning transmitting array is deployed on the surface of the target sea area, and an acoustic positioning receiving device is mounted on the underwater motion device. The underwater motion device is used to collect on-site environmental data. Based on the aforementioned on-site environmental data, a relative coordinate system is constructed; The acoustic positioning transmitting array emits a positioning signal, which is received by the acoustic positioning receiving device. Then, based on the relative coordinate system, the real-time position information of the underwater motion device is determined. The underwater motion device is used to perform a cross-sectional detection of the target submarine cable at its burial depth to obtain information on anomalies. Based on the anomaly point information, calculate the anomaly coordinate information of the submarine cable at the anomaly point; The submarine cable route is determined based on the abnormal coordinate information of the submarine cable and the real-time position information of the underwater motion device.

2. The acoustic calculation method for underwater route positioning of subsea buried cables according to claim 1, characterized in that, The collection of on-site environmental data through the underwater motion device includes: The underwater motion device uses a professional sound velocity profiler to collect sound velocity, pressure, and magnetic field information.

3. The acoustic calculation method for underwater route positioning of subsea buried cables according to claim 1, characterized in that, The step of constructing a relative coordinate system based on the on-site environmental data includes: Obtain the beacon position information of each transmitting beacon in the acoustic positioning transmitting array; The distance between each transmitting beacon is calculated based on the sound speed information in the aforementioned on-site environmental data. The relative coordinate system is constructed based on the distances between each transmitting beacon.

4. The acoustic calculation method for underwater route positioning of subsea buried cables according to claim 1, characterized in that, Determining the real-time position information of the underwater motion device based on the relative coordinate system includes: Obtain the arrival time of the signal emitted from the acoustic positioning transmitting array to the acoustic positioning receiving device; The real-time position coordinates of the underwater motion device are calculated based on the arrival time of the signal. The formula for calculating the real-time location coordinates is as follows: ， in, Represents the real-time position coordinates of the underwater motion device; , , These represent the three transmitting beacons in the acoustic positioning transmitting array. , , Location; , , These represent the distances between each transmitting beacon.

5. The acoustic calculation method for underwater route positioning of subsea buried cables according to claim 1, characterized in that, The process of using the underwater motion device to perform depth-crossing detection of the target submarine cable and obtain anomaly information includes: The underwater motion device is used to perform burial depth cross-sectional detection of the target submarine cable, and the real-time position information of the underwater motion device is obtained in real time during the detection process. When an anomaly is detected, the current position information of the underwater motion device is obtained, as well as the first height of the underwater motion device relative to the buried submarine cable and the second height of the underwater motion device relative to the seabed surface are obtained.

6. The acoustic calculation method for underwater routing and positioning of subsea buried cables according to claim 5, characterized in that, When an anomaly is detected, the process of acquiring the current position information of the underwater motion device, and acquiring the first height of the underwater motion device relative to the buried submarine cable and the second height of the underwater motion device relative to the seabed surface, includes: When an anomaly is detected, the current real-time position of the underwater motion device is determined by the acoustic positioning receiver mounted on the underwater motion device. The first height of the underwater motion device relative to the buried submarine cable is obtained by a gradient magnetic detection sensor; The second height of the underwater motion device relative to the seabed surface is obtained using an altimeter.

7. The acoustic calculation method for underwater route positioning of subsea buried cables according to claim 1, characterized in that, The step of calculating the abnormal coordinate information of the submarine cable at the abnormal point based on the abnormal point information includes: The burial depth of the submarine cable at the anomaly point is calculated based on the difference between the first height of the underwater motion device relative to the buried submarine cable and the second height relative to the seabed surface. The X and Y axis values ​​of the current underwater motion device location are used as the X and Y axis coordinates of the geodetic depth coordinates of the submarine cable at the anomaly point; Based on the Z-axis value of the current underwater motion device location, plus the current first height of the underwater motion device relative to the buried submarine cable, determine the Z-axis coordinate in the geodetic depth coordinate of the submarine cable at the anomaly point. The X and Y axis values ​​of the current underwater motion device location are used as the X and Y axis coordinates in the burial depth coordinates of the submarine cable at the anomaly point. Based on the difference between the current first height of the underwater motion device relative to the buried submarine cable and the current second height of the underwater motion device relative to the seabed surface, the Z-axis coordinate of the submarine cable at the anomaly point is determined.

8. An acoustic computing device for underwater route positioning of subsea buried cables, characterized in that, include: The first module is used to deploy an acoustic positioning transmitting array on the surface of the target sea area and to mount an acoustic positioning receiving device on the underwater motion device. The second module is used to collect on-site environmental data through the underwater motion device; The third module is used to construct a relative coordinate system based on the on-site environmental data; The fourth module is used to emit a positioning signal from the acoustic positioning transmitting array and receive the positioning signal from the acoustic positioning receiving device, and then determine the real-time position information of the underwater motion device according to the relative coordinate system. The fifth module is used to perform burial depth cross-sectional detection of the target submarine cable using the underwater motion device to obtain anomaly information; The sixth module is used to calculate the abnormal coordinate information of the submarine cable at the abnormal point based on the abnormal point information; The seventh module is used to determine the route of the submarine cable based on the abnormal coordinate information of the submarine cable and the real-time position information of the underwater motion device.

9. An electronic device, characterized in that, Including the processor and memory; The memory is used to store programs; The processor executes the program to implement the method as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

Images