The full-waveform inversion method is a high-precision inversion method based on the minimization of the misfit between the synthetic seismograms and the observed data.However,this method suffers from cycle skipping i...The full-waveform inversion method is a high-precision inversion method based on the minimization of the misfit between the synthetic seismograms and the observed data.However,this method suffers from cycle skipping in the time domain or phase wrapping in the frequency because of the inaccurate initial velocity or the lack of low-frequency information.furthermore,the object scale of inversion is affected by the observation system and wavelet bandwidth,the inversion for large-scale structures is a strongly nonlinear problem that is considerably difficult to solve.In this study,we modify the unwrapping algorithm to obtain accurate unwrapped instantaneous phase,then using this phase conducts the inversion for reducing the strong nonlinearity.The normal instantaneous phases are measured as modulo 2π,leading the loss of true phase information.The path integral algorithm can be used to unwrap the instantaneous phase of the seismograms having time series and onedimensional(1 D)signal characteristics.However,the unwrapped phase is easily affected by the numerical simulation and phase calculations,resulting in the low resolution of inversion parameters.To increase the noise resistance and ensure the inversion accuracy,we present an improved unwrapping method by adding an envelope into the path integral unwrapping algorithm for restricting the phase mutation points,getting accurate instantaneous phase.The objective function constructed by unwrapping instantaneous phase is less affected by the local minimum,thereby making it suitable for full-waveform inversion.Further,the corresponding instantaneous phase inversion formulas are provided.Using the improved algorithm,we can invert the low-wavenumber components of the underneath structure and ensure the accuracy of the inverted velocity.Finally,the numerical tests of the 2 D Marmousi model and 3 D SEG/EAGE salt model prove the accuracy of the proposed algorithm and the ability to restore largescale low-wavenumber structures,respectively.展开更多
A path following control algorithm for an unmanned underwater vehicle（UUV） using temporary path generation guidance was proposed in this paper.Owing to different initial states of the vehicle,such as position and or...A path following control algorithm for an unmanned underwater vehicle（UUV） using temporary path generation guidance was proposed in this paper.Owing to different initial states of the vehicle,such as position and orientation,the path following control in the horizontal plane may yield a poor performance.To deal with the negative effect induced by initial states,a temporary path generation was presented based on the relationship between the original reference path and the vehicle’s initial states.With different relative positions between the vehicle and reference path,including out of straight lines,as well as inside and outside a circle,the related temporary paths guiding the vehicle to the reference path were able to be generated in real time.The vehicle was guided to steer along the temporary path until it reached the tangent point at the reference path,where the controller was designed using the input-output feedback linearization method.Simulation results demonstrated that the proposed algorithm is effective under the three different situations mentioned above.展开更多
基金supported by the National Science and Technology major projects of China(No.2017ZX05032-003-002)Shandong Key Research and Development Plan Project(No.2018GHY115016)China University of Petroleum(East China)Independent Innovation Research Project(No.18CX06023A)。
文摘The full-waveform inversion method is a high-precision inversion method based on the minimization of the misfit between the synthetic seismograms and the observed data.However,this method suffers from cycle skipping in the time domain or phase wrapping in the frequency because of the inaccurate initial velocity or the lack of low-frequency information.furthermore,the object scale of inversion is affected by the observation system and wavelet bandwidth,the inversion for large-scale structures is a strongly nonlinear problem that is considerably difficult to solve.In this study,we modify the unwrapping algorithm to obtain accurate unwrapped instantaneous phase,then using this phase conducts the inversion for reducing the strong nonlinearity.The normal instantaneous phases are measured as modulo 2π,leading the loss of true phase information.The path integral algorithm can be used to unwrap the instantaneous phase of the seismograms having time series and onedimensional(1 D)signal characteristics.However,the unwrapped phase is easily affected by the numerical simulation and phase calculations,resulting in the low resolution of inversion parameters.To increase the noise resistance and ensure the inversion accuracy,we present an improved unwrapping method by adding an envelope into the path integral unwrapping algorithm for restricting the phase mutation points,getting accurate instantaneous phase.The objective function constructed by unwrapping instantaneous phase is less affected by the local minimum,thereby making it suitable for full-waveform inversion.Further,the corresponding instantaneous phase inversion formulas are provided.Using the improved algorithm,we can invert the low-wavenumber components of the underneath structure and ensure the accuracy of the inverted velocity.Finally,the numerical tests of the 2 D Marmousi model and 3 D SEG/EAGE salt model prove the accuracy of the proposed algorithm and the ability to restore largescale low-wavenumber structures,respectively.
基金Supported by the National Natural Science Foundation of China under Grant No.51179038the Program of New Century Excellent Talents in University under Grant No. NCET-10-0053
文摘A path following control algorithm for an unmanned underwater vehicle（UUV） using temporary path generation guidance was proposed in this paper.Owing to different initial states of the vehicle,such as position and orientation,the path following control in the horizontal plane may yield a poor performance.To deal with the negative effect induced by initial states,a temporary path generation was presented based on the relationship between the original reference path and the vehicle’s initial states.With different relative positions between the vehicle and reference path,including out of straight lines,as well as inside and outside a circle,the related temporary paths guiding the vehicle to the reference path were able to be generated in real time.The vehicle was guided to steer along the temporary path until it reached the tangent point at the reference path,where the controller was designed using the input-output feedback linearization method.Simulation results demonstrated that the proposed algorithm is effective under the three different situations mentioned above.
