拖缆式石油勘探导航定位数据处理关键技术研究及系统实现

发布时间：2018-07-11 17:37

本文选题：深海拖缆式石油勘探 + 导航定位　；参考：《武汉大学》2013年博士论文

【摘要】：石油天然气资源是国家经济发展的命脉。石油天然气己成为超越经济问题之外的关乎国家安全,尤其是能源安全的战略问题。随着我国经济、社会的发展,对石油天然气资源的需求也不断增加,截止2012年,我国石油天然气对外依存度己达到60%。世界范围内60%的海洋油气资源主要分布在大陆架,但深水和超深水域油气资源潜力也十分可观,约占30%。据估算,我国南海地区的石油地质储量约占油气总量的1／3,其中有70%蕴藏在深海区域。由于陆地和浅水地区石油勘探开发程度较高,油气产量己接近峰值,深水海域必将成为未来油气资源勘探开发的接替区域,同时深水海域的油气勘探也面临着资金、技术和装备的挑战。近年来,通过中外合作开发和技术引进,我国深水海域勘探开发的力度不断加大,取得了较大的进步,但深水区域油气勘探的核心技术(软件、装备等)仍然高度依赖进口,需要迫切发展具有我国自主知识产权的深水区域油气勘探核心技术。深海油气勘探离不开与勘探方法相关的导航与定位技术。相关资料表明,国内尚无个人和研究机构从事深水区油气勘探导航定位技术的研究工作,因此本文主要针对拖缆式海洋石油勘探的需求,开展与其相关的导航定位数据处理技术研究,以期打破国外垄断,实现拥有自主知识产权的深海拖缆式石油勘探导航与定位数据处理相关技术和系统软件。本文首先围绕拖缆式海洋石油勘探的基本原理,分析了拖缆式海洋石油勘探的作业模式和技术特点,给出了海洋拖缆式石油勘探对导航定位的总体要求,在此基础上研究了海洋拖缆式勘探导航定位过程中各传感器布局和相关测量技术,首次研究并给出了深海拖缆式石油勘探导航定位数据处理技术的算法体系。其次,分析了复杂海洋环境下各种观测值粗差分布的物理意义,并根据观测值类型,定制了有效的、个性化的粗差探测方法,给出了具有海洋环境下普遍适用意义的粗差探测方法,即基于选权迭代的硕大粗差探测方法和改进的一阶滞后滤波小粗差滤除方法。另外,针对深海拖缆式石油勘探导航定位网络的特点,提出了“结构约束”和基于“派生距离观测值”,并应用到声学网平差中,解决了由于定位位网络约束条件限制带来平差结果失真的问题,以及由于前、中、后网相互独立平差带来平差结果不吻合的问题,大大提高了网平差的可靠性和精度。同时,由于检波点处于被拖曳的水下非刚性电缆中,本文给出了一种基于“电缆模型约束”的检波点位置计算方法,保证了网平差结果与检波点计算成果的一致性。最后开发了一套实用的深海拖缆式石油勘探导航定位数据处理系统软件MEPS。本文的具体工作为： 1、在研究深海拖缆式石油勘探作业过程相关测量技术的基础上,首次建立了整套拖缆式海上石油地震勘探导航定位数据处理算法体系,包括数据读取、数据质量控制、多类型数据融合导航定位平差和检波点计算等： 2、分析了复杂海洋环境下导航定位观测数据粗差特性及其物理意义,根据不同观测值类型,定制了诸如连续粗差、设备故障数据粗差探测方法,同时给出了基于选权迭代稳健估计的硕大粗差探测方法,以及改进的一阶滞后滤波小粗差滤除方法,解决了拖缆式海洋石油勘探导航定位复杂数据的“净化”问题; 3、由于前网和后网约束条件的限制,导致平差结果失真；前、中、后网相互独立,会导致网间平差结果不吻合。本文根据石油勘探拖缆定位拖缆上传感器分布特点,提出了将“派生距离观测值”应用到声学网平差中,并将“结构约束”引入网平差,改善了网的约束条件,解决了罗经观测值参与平差计算的问题,使所有观测值都在网平差中发挥作用,提高了网平差成果精度,同时也确保了前、中、后网平差结果的一致； 4、针对声学节点平差结果和电缆模型推算结果不吻合的问题,给出了基于“电缆模型约束”的检波点计算方法,解决了动态环境中非刚性电缆上检波点位置的精确确定问题,使电缆模型计算的坐标与统一网平差结果吻合,消除了数据之间的矛盾； 5、开发了深海拖揽式石油地震勘探导航定位数据处理系统MEPS,并在多个国外项目中得到了应用。系统的研发与应用,对于我国打破国外技术封锁,建立具有独立产权的深海拖揽式导航定位系统,进一步发展我国深海拖揽式石油勘探技术具有重要的理论和现实意义。
[Abstract]:Petroleum and gas resources are the lifeline of the country ' s economic development . Petroleum and natural gas has become a strategic problem beyond economic problems . With the development of our country ' s economy and society , the demand for oil and gas resources has increased . As of 2012 , China ' s oil and gas resources have reached 60 % . The oil and gas resources of 60 % of the world ' s oil and gas resources are mainly distributed in the continental shelf , but the oil and gas resources in the deep water and ultra - deep waters are also considerable , accounting for 30 % . It is estimated that the petroleum geological reserves in the South China Sea are about 1 / 3 of the total oil and gas , and 70 % of them are hidden in the deep sea area .

Due to the high degree of petroleum exploration and development in the land and shallow water areas , the oil and gas production has been close to the peak value , and the deep water sea area will become the successor area of the future exploration and development of oil and gas resources . In recent years , the core technology ( software , equipment , etc . ) of deep water area is still highly dependent on the import . In recent years , the core technology ( software , equipment , etc . ) of deep water area is still highly dependent on import . Therefore , it is necessary to develop deep water area oil and gas exploration nuclear technology with independent intellectual property .

Based on the basic principle of streamer - type marine oil exploration , this paper analyzes the operational model and technical characteristics of streamer - type marine oil exploration , and gives the general requirements for the navigation and positioning of marine towed oil exploration .

1 . Based on the study of relevant measurement techniques for deep - sea streamer type petroleum exploration , a whole set of streamer - type offshore oil seismic exploration and navigation positioning data processing algorithm system is established for the first time , including data reading , data quality control , multi - type data fusion navigation positioning adjustment and detection point calculation , etc .

2 . The coarse difference and its physical meaning of navigation and positioning observation data under complex marine environment are analyzed . According to the types of different observation values , the method of coarse difference detection , such as continuous coarse difference and equipment fault data , is customized , and a large coarse difference detection method based on robust estimation of selection weights is given .

3 . Due to the limitation of the constraint of the front net and the back net , the adjustment result is distorted ;
In this paper , based on the characteristics of sensor distribution on the towed cable of petroleum exploration , this paper puts forward the application of " derivative distance observation value " to the adjustment of acoustic network , and puts forward " structural constraint " to the adjustment of net adjustment , improves the constraint of net , and solves the problem that the observation value of compass is involved in the adjustment of net adjustment , so that all observation values play a role in net adjustment , and the accuracy of net adjustment result is improved .

4 . Aiming at the problem that the adjustment result of the acoustic node and the calculation result of the cable model do not match , a detection point calculation method based on the " cable model constraint " is given , the problem of accurate determination of the position of the detection point on the non - rigid cable in the dynamic environment is solved , the coordinate of the cable model calculation is matched with the result of the uniform net adjustment , and the contradiction between the data is eliminated ;

5 . The MEPS is developed and applied in several foreign projects . The research and development and application of the system are of great theoretical and practical significance for China to break the foreign technical blockade and establish a deep - sea towed navigation positioning system with independent property rights .
【学位授予单位】：武汉大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：P742;P744.4

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