System and method for determining positions of towed marine seismic streamers

• US 7,376,045 B2
• Filed: 10/21/2005
• Issued: 05/20/2008
• Est. Priority Date: 10/21/2005
• Status: Active Grant

• Current Assignee: PGS Geophysical As (PGS ASA)
• Original Assignee: PGS Geophysical As (PGS ASA)
• Inventors: Kröling, Nils Gunnar Olof, Gunnarsson, Per Birger, Tenghamn, Stig Rune Lennart, Lunde, Nils, Falkenberg, Jon
• Primary Examiner(s): Lobo; Ian J.
• Application Number:
  US11/256,390
• Publication Number:
  US 20070091719A1
• Time in Patent Office: 942 Days
• Field of Search: 367/19, 367/129, 367/130, 367/124, 367/127
• US Class Current: 367/19
• CPC Class Codes: G01S 15/46 Indirect determination of position data
• CPC Class Codes: G01S 2015/465 by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
• CPC Class Codes: G01V 1/3835 measuring position, e.g. by GPS or acoustically

Abstract

A system comprises a plurality of acoustic transmitters, mounted inside the streamers, adapted to transmit broadband signals having low cross-correlation between the signals of different transmitters; a plurality of acoustic receivers, mounted inside the streamers, adapted to receive the signals from the transmitters; at least one processor adapted to cross-correlate the signals received at the receivers with copies of transmitter signals to determine identities of the transmitters of the received signals and to determine travel times of the received signals; and a main processor adapted to convert the travel times to distances between the identified transmitters and the receivers and to determine relative positions of the streamers from the distances.

Claims

1. A system for determining relative positions of a plurality of towed marine seismic streamers, comprising:

a plurality of acoustic transmitters, mounted inside the streamers, adapted to transmit broadband signals having low cross-correlation between the signals of different transmitters;

a plurality of acoustic receivers, mounted inside the streamers, said receivers being adapted to receive the signals transmitted in an in-line direction between transmitters and receivers mounted in the same streamer and to receive signals transmitted in a cross line direction between transmitters and receivers mounted in different streamers;

at least one receiver processor adapted to cross-correlate the signals received at the receivers with copies of transmitter signals to determine identities of transmitters of the received signals and travel times of the received signals; and

a main processor adapted to convert the travel times to distances between the identified transmitters and the receivers, to determine in-line distances along streamers between transmitters and receivers in the same streamer, and cross line distances between transmitters and receivers in different streamers, to combine the converted distances to form a trilateration network representation of the distances between the transmitters and the receivers, to solve the trilateration network representation to determine the relative positions of the transmitters and the receivers in the streamers, including position changes resulting from stretching of the steamers as well as position changes resulting from movement of the streamers, and to determine relative positions of the streamers from the relative positions of the transmitters and receivers.

2. The system of claim 1, wherein the receivers are employed exclusively for determining the positions of the streamers.

3. The system of claim 1, wherein:

the main processor is adapted to transmit time synchronization signals to transmitter processors adapted to control the transmitters;

the main processor is adapted to transmit triggering schedules for transmitting signals to the transmitter processors; and

the transmitter processors are adapted to employ the time synchronization signals and the triggering schedules to control transmitting the signals from the transmitters.

4. The system of claim 3, wherein the main processor is adapted to employ the time synchronization signals and the triggering schedules to measure the travel times between the transmitters and the receivers.

5. The system of claim 1, wherein:

the main processor is adapted to transmit time synchronization signals to the receiver processors;

the main processor is adapted to transmit time windows for listening for the signals to the receiver processors; and

the receiver processors are adapted to employ the time synchronization signals and the time windows to control receiving the signals by the receivers.

6. The system of claim 1, wherein the receiver processors are adapted to compensate the received signals for Doppler effects.

7. The system of claim 1, wherein the receiver processors are adapted to store copies of the transmitter signals.

8. The system of claim 1, wherein the receiver processors are adapted to generate copies of the transmitter signals.

9. The system of claim 1, further comprising:

sound velocity sensors deployed along the streamers, adapted to determine a local sound velocity in water; and

wherein;

the main processor is adapted to employ the local sound velocity in water to convert the travel times to distances.

10. The system of claim 1, wherein the transmitters and the receivers are adapted to operate in a frequency band of approximately 10 to 40 kHz.

11. The system of claim 1, wherein the processor is further adapted to determine absolute reference positions on the streamers;

and employ the absolute reference positions to determine absolute positions of the streamers from the relative positions of the streamers.

12. A method for determining relative positions of a plurality of towed marine seismic streamers, comprising:

towing a plurality of acoustic transmitters mounted inside the streamers, wherein the transmitters are adapted to transmit broadband signals having low cross-correlation between the signals of different transmitters;

towing a plurality of acoustic receivers mounted inside the streamers, wherein the receivers are adapted to receive the signals of the transmitters transmitted in the in-line direction between transmitters and receivers mounted in the same streamer and to receive signa1s transmitted in a cross line direction between transmitters and receivers mounted in different streamers;

transmitting the signals from the transmitters;

receiving the signals at the receivers;

cross-correlating the received signals with copies of transmitter signals to determine identities of transmitters of the received signals and to determine travel times of the received signals;

converting the travel times to distances between the identified transmitters and the receivers, to determine in-line distances along streamers between transmitters and receivers in the same streamer, and cross line distances between transmitters and receivers in different streamers;

combining the converted distances to form a trilateration network representation of the distances between the transmitters and the receivers;

solving the trilateration network representation to determine the relative positions of the transmitters and receivers in the streamers, incuding position changes resulting from stretching of the streamers as well as position changes resulting from movement of the streamers, and to determine relative positions of the streamers from the relative positions of the transmitters and receivers.

13. The method of claim 12, wherein the receivers are employed exclusively for determining the positions of the streamers.

14. The method of claim 12, wherein the step of transmitting the signals further comprises:

transmitting time synchronization signals to transmitter processors controlling the transmitters;

transmitting triggering schedules for transmitting signals to the processors; and

employing the time synchronization signals and the triggering schedules in the transmitter processors to control transmitting the signals from the transmitters.

15. The method of claim 14, wherein the step of receiving the signals further comprises:

transmitting time synchronization signals to receiver processors controlling the receivers;

transmitting time windows for listening for the signals to the receiver processors; and

employing the time synchronization signals and the time windows in the receiver processors to control receiving the signals by the receivers.

16. The method of claim 14, the step of converting the travel times to distances further comprises:

employing the time synchronization signals and the triggering schedules in the processors to calculate travel times between transmitters and receivers.

17. The method of claim 12, wherein the step of cross-correlating the received signals further comprises:

compensating the received signals for Doppler effects.

18. The method of claim 12, wherein the step of cross-correlating the received signals further comprises:

storing copies of the transmitter signals in processors.

19. The method of claim 12, wherein the step of cross-correlating the received signals further comprises:

generating copies of the transmitter signals in processors.

20. The method of claim 12, wherein the step of converting the travel times to distances further comprises:

deploying sound velocity sensors to determine a local sound velocity in water; and

employing the local sound velocity in water to convert the travel times to distances.

21. The method of claim 12, wherein the transmitters and receivers operate in a frequency band of approximately 10 to 40 kHz.

22. The method of claim 12, further comprising:

determining absolute reference positions on the streamers; and

employing the absolute reference positions to determine absolute positions of the streamers from the relative positions of the streamers.