Subsea cable tracking in an uncertain environment using particle filters

Abstract

Localization of subsea cables is a demanding and challenging task. Among the few methods reported in the literature, magnetic field detection is the most promising one, as the cable does not require to be seen visually. Magnetic noise and a quick attenuation of the magnetic field propagating in sea water often make available methods unreliable. The authors propose a novel method of using particle filters for estimating the position of a subsea cable in a highly uncertain environment. The method was tested on data collected from a buried cable in the Baltic Sea, Denmark and shown to have a close approximation to the true location of the subsea cable. The method can be used to localize a subsea cable in an offshore noisy and uncertain environment and provides an inexpensive alternative to the use of a diver or a remotely operated platform.

A New Method for Locating Positions of Single-Core Cables in Three-Phase Submarine Power Circuits Based on Phase Difference Data

“…Three parallel straight wires carrying three-phase currents are used to generate an AC magnetic field. A survey line, which is perpendicular to the extended direction of the cables, is set in order to be consistent with the routing survey of submarine cables in actual engineering [6], [22]. A triaxial fluxgate magnetometer is employed to detect orthogonal components of the magnetic field along the survey line.…”

“…Consequently, regular surveys of submarine cables are essential to monitor route changes and swiftly locate faults when damage occurs [3]. Common submarine cable location methods include visual tracking [3], hydroacoustic detection [3], [4], [5] and magnetic sensing [6], [7], [8]. Magnetic sensing is the most suitable method for submarine power cables because these cables are typically buried in the seabed, limiting the effectiveness of visual tracking and hydroacoustic detection [8].…”

“…The extremum method, which is based on the AC magnetic field intensity, is a common passive method in industry [10]. Considering the magnetic field model of a single submarine cable, the maximum detected value of the horizontal magnetic field intensity and the minimum detected value of the vertical magnetic field intensity both occur when magnetic sensors are directly above the cable [6]. Hence, the cable can be located based on the positions of the extremums.…”

Advanced Autonomy for Uuv-Based Sas

“…Recent efforts employ SAS imagery to detect underwater scars, cables, and pipelines (22). With sequential detections across multiple images, tracking can be performed using Kalman filters, Bayesian approaches, and particle filters (23)(24)(25). These recent advancements enable effective information processing that can elicit advanced autonomy behaviors based on the mission plan.…”

Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance

“…For the underwater cable detection, dedicated devices, such as the underwater camera, side scan sonar, sub-bottom profiler and magnetic sensor, are often used. Compared to visual and acoustic methods working well for large diameter pipelines, sensing of electromagnetic fields is the most suitable method for locating the buried depth of a very thin cable and tracking the cable route regardless of whether the cable is buried underground or placed beneath the seabed [ 3 , 4 ]. In fact, magnetic sensing technology is applied to not only the detection of the underwater cables, but also bridge cables, steel cables, underground pipelines, etc.…”