Heading sensor for deflector angle of attack estimation

Patent metadata

Field	Value
Publication number	US-9885587-B2
Application number	US-201514630272-A
Country	US
Kind code	B2
Filing date	Feb 24, 2015
Priority date	Jun 18, 2014
Publication date	Feb 6, 2018
Grant date	Feb 6, 2018

Abstract

Embodiments relate to coupling a heading sensor to a deflector surface reference for obtaining the deflector heading which can be used in estimation of the deflector angle of attack. A method may comprise: towing a plurality of streamers behind a survey vessel in a body of water, wherein at least one deflector provides a lateral component of force to the streamers; determining a deflector heading over ground using at least measurements from a heading sensor on a surface reference corresponding to the deflector; determining a deflector velocity over ground using at least measurements from a position sensor on the surface reference; determining a water current of the body of water; and estimating a deflector angle of attack based on inputs comprising the deflector heading, the deflector velocity over ground, and the water current.

First claim

What is claimed:

1. A method comprising:
towing a plurality of streamers behind a survey vessel in a body of water, wherein at least one deflector provides a lateral component of force to the streamers;
determining a deflector heading over ground using at least measurements from a heading sensor on a surface reference corresponding to the deflector;
determining a deflector velocity over ground using at least measurements from a position sensor on the surface reference;
determining a water current of the body of water;
estimating a deflector angle of attack based on inputs comprising the deflector heading, the deflector velocity over ground, and the water current;
adjusting the deflector angle of attack to modify lateral thrust generated by the at least one deflector in response to the step of estimating the deflector angle of attack; and
adjusting a location of the plurality of streamers as the survey vessel moves in the body of water.

2. The method of claim 1 , further comprising determining a deflector lift and comparing the deflector angle of attack and the deflector lift.

3. The method of claim 2 , further comprising sending a signal to the deflector to adjust the actual deflector angle of attack in response to the step of comparing the deflector angle of attack and the deflector lift.

4. The method of claim 2 , wherein the deflector lift is determined using at least measurements from a tension sensor on a lead-in line for the deflector.

5. The method of claim 2 , further comprising cleaning the deflector in response to the step of comparing the deflector angle of attack and the deflector lift.

6. The method of claim 1 , wherein the water current is determined using at least measurements from a water current measurement system on the survey vessel.

7. The method of claim 1 , wherein heading sensors comprises a global positioning system sensor, and wherein the surface reference comprises a float that supports the deflector in the body of water.

8. The method of claim 1 , wherein the position sensor comprise a magnetometer.

9. The method of claim 1 , wherein the deflector comprises at least one of a door, a paravane, or a steering rudder.

10. The method of claim 1 , wherein the heading sensor comprises at least one of a compass, a gyroscope, or a magnetometer.

11. A system comprising:
a heading sensor on a surface reference corresponding to a deflector;
a position sensor on the surface reference;
a current measurement system on a survey vessel; and
a data processing system communicatively coupled to the heading sensor, position sensor, and current measurement system, wherein the data processing system is configured to estimate a deflector angle of attack for the deflector based on inputs comprising measurements from the heading sensor indicative of deflector heading, measurements from the position sensor indicative of deflector velocity over ground, and measurements from the current measurement system indicative of water current, wherein the data processing system is further configured to adjust the deflector angle of attack to modify lateral thrust generated by the deflector in response to the estimated deflector angle of attack to move a plurality of streamers, wherein the deflector provides movement to a plurality of streamers.

12. The system of claim 11 , further comprising a tension sensor on a lead-in line for the deflector.

13. The system of claim 11 , wherein the heading sensor comprises a global positioning system sensor, and wherein the surface reference comprises a float configured to support the deflector in a body of water.

14. The system of claim 11 , wherein the position sensor comprise a magnetometer.

15. The system of claim 11 , wherein the deflector comprises at least one of a door, a paravane, or a steering rudder.

16. The system of claim 11 , wherein the heading sensor comprises at least one of a compass, a gyroscope, or a magnetometer.

17. A system comprising:
a survey vessel;
a current measurement system on the survey vessel;
a streamer coupled to the survey vessel for towing behind the survey vessel, wherein geophysical sensors are disposed on the streamer at spaced apart locations;
a deflector coupled to the streamer;
a surface reference coupled to the deflector for supporting the deflector in a body of water;
a heading sensor on the surface reference; and
a position sensor on the surface reference.

18. The system of claim 17 , further comprising a data processing system communicatively coupled to the heading sensor, position sensor, and current measurement system, wherein the data processing system is configured to estimate a deflector angle of attack for the deflector based on inputs comprising measurements from the heading sensor indicative of deflector heading, measurements from the position sensor indicative of deflector velocity over ground, and measurements from the current measurement system indicative of water current.

19. The system of claim 17 , further comprising a tension sensor on a lead-in line for the deflector.

20. The system of claim 18 , wherein the data processing system is further configured to adjust the deflector angle of attack to modify lateral thrust generated by the deflector in response to the estimated deflector angle of attack.

21. The system of claim 17 , wherein the heading sensor comprises a global positioning system sensor, and wherein the surface reference comprises a float configured to support the deflector in a body of water.

22. The system of claim 17 , wherein the position sensor comprise a magnetometer.

23. The system of claim 17 , wherein the deflector comprises at least one of a door, a paravane, or a steering rudder.

24. The system of claim 17 , wherein the heading sensor comprises at least one of a compass, a gyroscope, or a magnetometer.

Assignees

• Pgs Geophysical As

Inventors

• Oscarsson Mattias Dan Christian
• Firing Thomas Wennerod

Classifications

• G01D5/12 Primary

  using electric or magnetic means (G01D5/06 takes precedence) · CPC title

• G01C19/00

  Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects · CPC title

• G01V1/3826 Primary

  dynamic steering, e.g. by paravanes or birds · CPC title