石油勘探中水下高精度定位算法研究

发布时间：2018-05-08 21:52

本文选题：OBC + 水下定位　；参考：《中国石油大学(华东)》2014年硕士论文

【摘要】：随着水下定位技术与石油物探技术的快速发展,海上石油勘探正朝着精细化的方向发展,传统的勘探技术已不能满足要求,急需高精度的水下定位技术予以保障。近年来发展的浅海OBC勘探技术取得了一定的经济效益,然而由于海洋环境的复杂性,定位精度有待进一步提高。此外,在声源发射声波的初始入射角较大时,采用平均声速将会存在较大的剩余误差,制约水下定位精度。基于以上问题,本文进行了以下几个方面的研究:一、从水下声学定位的基本原理入手,对几种常用的水下声学定位系统及声学二次定位系统进行了总结,重点分析了影响水下定位精度的因素,并提出了一些提高定位精度的措施。二、在总结现有水下定位数学模型的基础上,建立了水下单差和双差定位模型,详细推导了基于走航式和GPS浮标式的水下差分定位数学模型,并通过数值仿真和实测算例说明差分模型能够有效地削弱系统误差的影响,提高了定位精度;三、采用非差定位模式,研究利用卡尔曼滤波技术处理水下静态定位数据的方法,通过仿真和实测算例说明滤波效果。四、对几种常用的声速改正方法进行了总结,在此基础上对分层等梯度的声线跟踪算法进行了改进,并通过仿真和实测算例验证了新方法的有效性;将差分定位模型与声速改正算法结合,仿真算例结果表明该方法既能够改正声线弯曲误差,也能够削弱系统误差的影响,在水深较深、入射角较大时该方法仍能够达到较高的精度。五、采用MATLAB与C#混合编程实现了基于浮标的水下差分定位软件的编制。
[Abstract]:With the rapid development of underwater positioning technology and petroleum geophysical exploration technology, offshore oil exploration is developing in the direction of refinement. The traditional exploration technology can not meet the requirements and needs the protection of high precision underwater positioning technology. In recent years, the development of shallow water OBC exploration technology has achieved certain economic benefits. However, due to the complexity of marine environment, the positioning accuracy needs to be further improved. In addition, when the initial incident angle of acoustic wave is large, there will be a large residual error when the average velocity of sound is adopted, which restricts the accuracy of underwater positioning. Based on the above problems, this paper studies the following aspects: first, from the basic principles of underwater acoustic positioning, several commonly used underwater acoustic positioning system and acoustic secondary positioning system are summarized. The factors influencing the positioning accuracy are analyzed, and some measures to improve the positioning accuracy are put forward. Secondly, on the basis of summarizing the existing mathematical models of underwater positioning, the single and double differential positioning models are established, and the underwater differential positioning mathematical models based on walking and GPS buoys are derived in detail. Numerical simulation and real examples show that the differential model can effectively reduce the influence of system errors and improve the positioning accuracy. Thirdly, using non-differential positioning mode, the method of using Kalman filter to process underwater static positioning data is studied. The filtering effect is illustrated by simulation and real examples. Fourthly, several commonly used sound speed correction methods are summarized, and then the layered and equal gradient sound line tracking algorithm is improved, and the effectiveness of the new method is verified by simulation and real calculation examples. By combining the differential positioning model with the sound velocity correction algorithm, the simulation results show that the method can not only correct the sound line bending error, but also weaken the influence of the system error, which is deep in the water depth. The method can still achieve high accuracy when the incident angle is large. Fifthly, the underwater differential positioning software based on buoy is realized by mixed programming of MATLAB and C #.
【学位授予单位】：中国石油大学(华东)
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：P744.4;P715

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