海上三维拖缆综合导航系统关键定位算法  

Key Positioning Algorithm of Marine 3D Towed Streamer Integrated Navigation System

作　　者：张昊楠[1,2] 阮福明 胡广浩[1,2] 崔世峰 乔秀海[1,2] 袁培信 ZHANG Haonan;RUAN Fuming;HU Guanghao;CUI Shifeng;QIAO Xiuhai;YUAN Peixin(China Oilfield Services Limited Geophysical Division,Tianjin 300451,China;National Engineering Laboratory for Offshore Oil Exploration,Beijing 100028,China)

机构地区：[1]中海油田服务股份有限公司物探事业部,天津300451 [2]海洋石油勘探国家工程实验室,北京100028

出　　处：《测绘科学技术学报》2019年第5期441-446,共6页Journal of Geomatics Science and Technology

基　　金：国家863计划资助项目(2012AA09A211);中国海洋石油集团有限公司“三新三化”项目(E-23192011)。

摘　　要：综合导航系统是海上拖缆地震勘探作业的核心控制系统,在整个勘探过程中指引勘探船只行驶方向,控制地震数据采集系统、震源系统、拖缆定位与控制系统等协同工作,对地震勘探作业质量进行有效控制。高精度定位算法是该系统的核心技术之一。针对中海油田服务股份有限公司自主研发的"海途"海上三维拖缆综合导航系统开展关键定位算法研究,在声学数据预处理、定位网络解算和缆形解算等方面提出了一系列解决方案,并结合算例分析评估了算法精度。数值结果表明,基于该算法实现的海途综合导航系统定位精度与商用后处理软件对比,整体偏差优于5 m,能够满足海上拖缆地震勘探精度要求。Integrated navigation system is the core control system of the offshore towed streamer seismic exploration.The course of geophysical vessel is directed during the process of exploration,and the seismic acquisition system,source control system and streamer control and positioning system are controlled to work together to supervise the exploration quality effectively.High Precision Positioning algorithm is one of the core technology of integrated navigation system.The key data processing algorithm of HQI-Navi Marine 3D towed streamer integrated navigation system is introduced in this paper,which is researched and developed by COSL independently.A series of solutions about the acoustic observation date preprocess,positioning network calculation and streamer shaping method is presented and the detailed position precision analysis is conducted through experiment.The numerical result shows that the position difference in the processing algorithm of this paper is better than 5 meter in comparing with commercial post-processing software which can satisfy the need of marine towed streamer seismic exploration operation.

关 键 词：海途综合导航系统 声学数据预处理 卡尔曼滤波 定位网络解算 缆型解算 

分 类 号：P228[天文地球—大地测量学与测量工程]