Body motion compensation filter

G - Physics – 01 – V

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349/23

G01V 1/04 (2006.01) G01V 1/38 (2006.01) H03H 11/12 (2006.01)

Patent

CA 1137205

ROGERS, BERESKIN & PARR C A N A D A ABSTRACT An electronic filter for use in determining the vertical displacement of a body travelling through water relative to a datum such as mean sea level has specific app- lication to underwater seismic systems in which a towed body forms a part of equipment for producing profiles of under- water terrain. Noise-corrupted vertical position and acceler- ation signals are generated respectively by pressure and acceleration transducers located in the towed body. The filter has a first signal channel which receives and filters the position signal, and a second signal channel which receives and filters the accelleration signal. The transfer functions of the first and second signal channels are selected to attenuate noise characteristic of the position and accelleration signals, and are related in a manner which permits the filter to effect- ively sum the filtered signals to generate a signal indicative of the body's vertical displacement. The first signal channel has a transfer function which is substantially the product of a predetermined gain divided by the pressure transducer gain and a first real, rational, polynomial function of the form P1(s)/Q(s). The second signal channel has a transfer function which is substantially the product of the predetermined gain divided by the accelerometer gain and a second real, rational polynomial function of the form sP2(s)/Q(s). The degree of Q(s) is an integer n greater than 2, and the degree of each of P1(s) and P2(s) is less than n. P1(s) and P2(s) are constrained to satisfy the relationship P1(s)+ s3P2(s) = Q(s). The magnitude of P1(s)/Q(s) is arranged to be less than 1 for S = jw where w is any radial frequency within the frequency range of the pressure transducer noise, and the zeroes of Q(s) are selected so that a transfer function 1/Q(s) has a 20n db/decade roll-off in the frequency range of the pressure transducer noise. The second signal channel has a transfer function zero at 0 frequency so that typical accelerometer noise is attenuated.

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