Submarine cable searching and positioning method based on magnetic induction coil cross combination mode

Abstract

The invention relates to a submarine cable searching and positioning method based on a magnetic induction coil cross combination mode, and the method comprises the following steps: arranging a detection device which comprises an underwater robot and an array composed of a first probe, a second probe, a third probe and a fourth probe, wherein the first probe and the second probe are horizontally disposed at a distance L, and the third probe and the fourth probe are vertically arranged and are spaced by a distance L; carrying out submarine cable route detection, carrying the array on an underwater robot, carrying out underwater measurement, determining the submarine cable route according to the change of the induced electromotive force of the first probe and the second probe by taking the induced electromotive force of the third probe and the fourth probe as a reference basis in the moving process of the underwater robot, and preliminarily judging the position relationship between the array and the submarine cable; and determining the position of the submarine cable, and further accurately calculating the horizontal relative distance and the vertical relative distance between the array and the submarine cable according to the position relationship between the array and the submarine cable.

Description

technical field [0001] The invention relates to a submarine cable search and positioning method based on a cross combination mode of a magnetic induction coil, which is applied in the technical field of submarine cable search and positioning. Background technique [0002] As people continue to dig deep into marine resources, submarine cables (including submarine cables and submarine optical cables) have gradually become the main means of cross-sea communication and offshore operations and are widely used. In order to prevent and avoid unknown factors at sea (such as anchors hooked into Submarine cables, construction of offshore engineering projects, etc.) will cause certain damage to the submarine cable, affecting optical cable communication and offshore power supply, it is necessary to accurately detect the routing and burial depth of the submarine cable; detection methods include AC magnetic field detection method, absolute magnetic field Detection method, metal detection ...

AI Technical Summary

Problems solved by technology

It is a more practical sensor based on the AC magnetic field detection method to carry a magnetic detection rod composed of a copper coil and a magnetic core through an underwater robot. The coil probes are combined in a suitable way; the more representative coil probe combination scheme is based on the dual three-dimensional magnetic probe array of the underwater robot, which consists of two three-dimensional probe base arrays, each three-dimensional The basic array is composed of three identical probes that are orthogonal to each other. The routing of the submarine cable and the relative position of the basic array can be judged by the positive and negative relationship of the magnetic induction intensity measured on different coils at the same time. The induced electromotive force measured by different coils ratio to calculate the buried depth data of the submarine cable; first, the three axes of the two three-dimensional arrays need to be strictly aligned horizontally, requiring high workmanship, otherwise there will be errors caused by the structure itself during the measurement process, and secondly, in the actual During detection, it is necessary for the detector to repeatedly move left and right in the magnetic field of the cable and change its attitude to obtain three curves of the change law of the amplitude of the induced electromotive force. The position of the cable is obtained by combining the dummy point method and the peak value method, and the three-dimensional array needs to use each detector The phase relationship of the induced electromotive force of the probes is used to judge the relative position. Its reliability depends on the synchronization of the subsequent circuit processing signals. If there is a phase difference between the induced electromotive forces of the two probes, it is likely to misjudge the relative position of the submarine cable. In the calculation In the process, it is also necessary to obtain the angle between the two magnetic detectors and the submarine cable. On the one hand, the structure and algorithm of this detection method are relatively complicated. On the other hand, there are errors in the structure of the dual three-dimensional probes, which leads to insufficient calculation of detection data. Accurate and time-consuming

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