The Research Of Automatic Tracking Technology Of Submarine Cable Based On Magnetic Signal

In recent years, the submarine cable has become an essential support of modern communication because of its unique advantages. But affected by natural and human factors, more and more unexpected interruptions occur frequently, so cable-detecting becomes the key technology of smooth underwater communication, which has important theoretical significance and practical value.This thesis focuses on the double three-dimensional magnetic submarine cable detection system, and designs detection scheme of cable route and depth based on unmanned underwater vehicle. And the research go al is not only to locate cable route but also detect burial depth and fault point quickly and accurately, which provides a theoretical basis for the engineering practice of submarine cable detection.Firstly, this paper reviews the development history of global submarine cable project, and describes various cable detection techniques and their research situation. Through comparison we select magnetism method, then electromagnetic field model of submarine cable is established based on the electromagnetic property. Then, it analyzes the basic principle how the magnetic signal sensors measure the induced electromotive forces of the underwater cable. By comparing the advantages and disadvantages of different sensor configuration modes, the double three-dimensional magnetic sensor configuration model becomes the final choice.Secondly, the paper puts forward design scheme of the submarine cable route tracking system based on magnetic signal which is mounted on remote underwater vehicle, as well as introduces the composition structure of the detection system and function of each part. Under the condition of state variables are given, two computational methods of target positioning and the derivation process are studied in detail. Subsequently, the operation principle and the route tracking strategy of the ROV-based cable tracking system are designed step by step.Thirdly, the paper introduces behavior-based control strategy to the autonomous cable route tracking process, which means that it needs extracting a series of basic behaviors which have fusion and switch mechanism. Then it recommends hierarchical control system design and detection processes of submarine cable locating and tracking on autonomous underwater vehicle in more detail, in order to provide a guidance to the vehicle motion control safely and reliably.Finally, by means of Lyapunov stability criterion and PD control strategy, a cable route tracking controller in three-dimensional space is designed. The paper verifies feasibility and effectiveness of the proposed locating and tracking algorithm, and the results show that the submarine cable detection model of magnetic sensors mounted on the unmanned underwater vehicle is feasible. It is of great significance to improve efficiency of detecting submarine cable.