Seafloor seismic acquisition using autonomous underwater vehicles     

Constantinos Tsingas  Thierry Brizard  Abdulaziz Al Muhaidib 《Geophysical Prospecting》2019,67(6):1557-1570

Although narrow-azimuth towed-streamer data provide good image quality for structural interpretation, it is generally accepted that for wide-azimuth marine surveys seabed receivers deliver superior seismic reflection measurements and seismically derived reservoir attributes. However, seabed surveys are not widely used due to the higher acquisition costs when compared to streamer acquisition. In recent years, there have been significant engineering efforts to automate receiver deployment and retrieval in order to minimize the cost differential and conduct cost-efficient seabed receiver seismic surveys. These engineering efforts include industrially engineered nodes, nodes on a rope deployment schemes and even robotic nodes, which swim to and from the deployment location. This move to automation is inevitable, leading to robotization of seismic data acquisition for exploration and development activities in the oil and gas industry. We are developing a robotic-based technology, which utilizes autonomous underwater vehicles as seismic sensors without the need of using a remotely operated vehicle for deployment and retrieval. In this paper, we describe the autonomous underwater vehicle evolution throughout the project years from initial heavy and bulky nodes to fully autonomous light and flexible underwater receivers. Results obtained from two field pilot tests using different generations of autonomous underwater vehicles indicate that the seismic coupling, and navigation based on underwater acoustics are very reliable and robust.  相似文献   

URANS investigation of the interaction between the free surface and a shallowly submerged underwater vehicle at steady drift     

《Applied Ocean Research》2019

An axisymmetric underwater vehicle (UV) at a steady drift angle experiences the complex three-dimensional crossflow separation. This separation arises from the unfavorable circumferential pressure gradient developed from the windward side toward the leeward side. As is well known, the separated flow in the leeward side gives rise to the formation of a pair of vortices, which affects considerably the forces and moments acting on the UV. In this regard, the main purpose of the present study is to evaluate the role of the leeward vortical flow structure in the hydrodynamic behavior of a shallowly submerged UV at a moderate drift angle traveling beneath the free surface. Accordingly, the static drift tests are performed on the SUBOFF UV model using URANS equations coupled with a Reynolds stress turbulence model. The simulations are carried out in the commercial code STARCCM+ at a constant advance velocity based on Froude number equal to F_n = 0.512 over submergence depths and drift angles ranging from h = 1.1D to h = ∞ and from β = 0 to β = 18.11°, respectively. The validation of the numerical model is partially conducted by using the existing experimental data of the forces and moment acting on the totally submerged bare hull model. Significant interaction between the low-pressure region created by the leeward vortical flow structure and the free surface is observed. As a result of this interaction, the leeward vortical flow structure appears to be largely responsible for the behavior of the forces and moments exerted on a shallowly submerged UV at steady drift.  相似文献   

浅地层剖面系统在福建沿海海底沉船调查中的应用     

李海东  胡毅  许江  林兆彬  刘伯然  王恒波  郑江龙 《海洋技术学报》2019,38(1)

海底沉船是水下文化遗产的一种重要类型和存在形式,利用综合地球物理手段对福建平潭、莆田及福州海域的海底沉船进行了探测研究,并重点探讨了不同浅地层剖面系统及不同探测频率在不同埋藏状态的水下文物调查中的应用。结果表明:浅地层剖面探测能够有效识别处于不同埋藏状态的沉船,尤其对探测埋藏海底面以下的沉船具有其他探测手段无法比拟的优势,但是探测频率的调节对目标物探测结果存在较大差异,对于埋藏式的海底沉船低频信号探测效果较理想。  相似文献   

基于新型分层邻域阈值搜索法提高水下潜器重力匹配导航的匹配效率          下载免费PDF全文

李钊伟  郑伟  吴凡  房静 《地球物理学报》2019,62(7):2405-2416

本文开展了水下潜器重力匹配导航的匹配效率改善研究.第一，为克服传统TERCOM算法逐点遍历搜索效率较低的缺点，提出新型分层邻域阈值搜索法.其原理如下：首先，利用4格网间隔数进行粗搜索匹配；其次，为提高初始匹配点的选取标准设置4 mGal阈值（基准图上重力值与实测重力值之差），对选取的若干粗搜索行最佳匹配点周围24邻域点进行取舍并匹配比较；最后，获得搜索范围内最佳匹配点.第二，综合考虑了重力场标准差、峰度系数、坡度标准差、粗糙度、信息熵等重力场主要特征参数，将其作为适配区优劣的分析依据.第三，在适配性良好的区域内，在保证水下导航精度的前提下，基于分层邻域阈值搜索法，以本文参数设置为例，水下潜器重力匹配导航的匹配效率提高约14.14倍.  相似文献   

北斗卫星通信在应急自动气象站中的应用     

王柏林  花卫东  阳艳红 《气象与环境科学》2015,38(2):115-119

为了能够在发生灾难事故时进行紧急通信,应急自动气象站采用了北斗卫星导航定位系统的简短通信技术。在北斗卫星通信方式设计过程中,采取压缩数据包长度、主动传输+失败应答通信模式、对通信终端采取休眠工作等方式,在保证数据传输质量的同时减少不必要的通信次数,降低系统功耗,延长工作时间。研究结果表明,采用本文的通信设计,可以实现:1)将数据包长度压缩60%,满足了北斗卫星短信包的长度要求。2)兼顾解决了数据完整性问题和通信资费问题,在正常工作状态下采用自动定时传输模式节约通信资费;在通信失败的情况下采用主从应答通信模式,通过向自动气象站发出数据补收命令,及时取得丢失的数据。3)有效地降低了系统的功耗,通信终端平均功耗下降了10%。  相似文献   

BDS-3新频点单点定位研究   总被引：2，自引：0，他引：2  

慕仁海  党亚民  许长辉 《测绘通报》2021,(3):12-17

针对目前有关北斗卫星导航系统（BDS-3）中MEO卫星（BDS-3M）增加的B1C、B2a新频点单点定位研究较少的现状,本文开展了基于新频点B1C、B2a的双频单点定位试验,结合国际GNSS监测评估系统（iGMAS）5个跟踪站连续10 d的数据,对BDS-3的新频点进行数据质量分析、双频伪距单点定位（SPP）和双频静态精密单点定位（PPP）研究,并与GPS的L1、L2频点和BDS-3的B1I、B3I频点进行对比。试验结果表明：在伪距单点定位方面,BDS-3新信号在E、N、U 3方向的精度分别优于10、12、11 m,低于GPS的L1、L2双频伪距单点定位和BDS-3的旧频点双频伪距单点定位精度;在精密单点定位方面,BDS-3新频点在收敛速度方面略低于GPS的收敛速度,BDS-3新信号在E、N、U 3方向都能达到分米级精度。  相似文献   

A simplified approach to design fuzzy logic controller for an underwater vehicle   总被引：1，自引：0，他引：1  

K. Ishaque  S.S. Abdullah  S.M. Ayob  Z. Salam 《Ocean Engineering》2011,38(1):271-284

Fuzzy logic controller (FLC) performance is greatly dependent on its inference rules. In most cases, the more rules being applied to an FLC, the accuracy of the control action is enhanced. Nevertheless, a large set of rules requires more computation time. As a result, an FLC implementation requires fast and high performance processors. This paper describes a simplified control scheme to design a fuzzy logic controller (FLC) for an underwater vehicle namely, deep submergence rescue vehicle (DSRV). The proposed method, known as the single input fuzzy logic controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input FLC. The SIFLC offers significant reduction in rule inferences and simplifies the tuning process of control parameters. The performance of the proposed controller is validated via simulation by using the marine systems simulator (MSS) on the Matlab/Simulink^® platform. During simulation, the DSRV is subjected to ocean wave disturbances. The results indicate that the SIFLC, Mamdani and Sugeno type CFLC give identical response to the same input sets. However, an SIFLC requires very minimum tuning effort and its execution time is in the orders of two magnitudes less than CFLC.  相似文献   

A new global alignment approach for underwater optical mapping   总被引：1，自引：0，他引：1  

Armagan Elibol  Rafael Garcia 《Ocean Engineering》2011,38(10):1207-1219

Lately, underwater vehicles have become important tools for exploration, monitoring and creation of maps of the seabed. Within mapping applications, the maps obtained from optical data are becoming essential in different study areas such as biological, geological and archaeological surveys, or in detection of benthic temporal changes. However, the underwater medium is very challenging for optical sensors and does not allow the area of interest to be imaged in a single image. Therefore, image mosaicing methods are necessary. Although recent advances in detection of correspondences between images have resulted in highly effective image registration methods, global alignment methods are still needed to obtain a globally coherent mosaic. In this paper, we propose a new global alignment method which works on the mosaic frame and does not require non-linear optimisation. Additionally, a simple image rectifying method is presented to reduce the down-scaling effect which might occur when minimising errors defined in the mosaic frame. Moreover, this rectifying method can also be seen as an alternative and straightforward way of incorporating different sensor information if available. The proposed framework has been tested with underwater image sequences. The resulting method is faster than its counterparts while providing the same level of registration quality.  相似文献   

Robust coordinated motion control of an underwater vehicle-manipulator system with minimizing restoring moments     

Jonghui Han  Jonghoon Park 《Ocean Engineering》2011,38(10):1197-1206

For autonomous manipulation in water, an underwater vehicle-manipulator system (UVMS) should be able to generate trajectori9es for the vehicle and manipulators and track the planned trajectories accurately. In this paper, for trajectory generation, we suggest a performance index for redundancy resolution. This index is designed to minimize the restoring moments of the UVMS during manipulation, and it is optimized without impeding the performance of a given task. As a result, the restoring moments of the UVMS are decreased, and control efforts are also reduced. For tracking control of the UVMS, a nonlinear H_∞ optimal control with disturbance observer is proposed. This control is robust against parameter uncertainties, external disturbances, and actuator nonlinearities. Numerical simulations are presented to demonstrate the performance of the proposed coordinated motion control of the UVMS. The results show that control inputs for tracking are reduced, and the UVMS can successfully track generated trajectories.  相似文献   

天文导航标准体系建设现状与未来发展     

朱筱虹  徐瑞  张俊艳 《地理空间信息》2011,9(3):145-147,150

天文导航是利用对自然天体的测量来确定自身位置和航向的导航技术.通过分析天文导航技术的发展现状和应用领域,梳理了国内外天文导航技术的相关标准,给出了天文导航技术的一种标准体系,并对天文导航制定的标准未来发展提出了建议.  相似文献