Review of vibroseis data acquisition and processing for better amplitudes: adjusting the sweep and deconvolving for the time-derivative of the true groundforce

The goal of vibroseis data acquisition and processing is to produce seismic reflection data with a known spatially-invariant wavelet, preferably zero phase, such that any variations in the data can be attributed to variations in geology. In current practice the vibrator control system is designed to make the estimated groundforce equal to the sweep and the resulting particle velocity data are cross-correlated with the sweep. Since the downgoing far-field particle velocity signal is proportional to the time-derivative of the groundforce, it makes more sense to cross-correlate with the time-derivative of the sweep. It also follows that the ideal amplitude spectrum of the groundforce should be inversely proportional to frequency. Because of non-linearities in the vibrator, bending of the baseplate and variable coupling of the baseplate to the ground, the true groundforce is not equal to the pre-determined sweep and varies not only from vibrator point to vibrator point but also from sweep to sweep at each vibrator point. To achieve the goal of a spatially-invariant wavelet, these variations should be removed by signature deconvolution, converting the wavelet to a much shorter zero-phase wavelet but with the same bandwidth and signal-to-noise ratio as the original data. This can be done only if the true groundforce is known. The principle may be applied to an array of vibrators by employing pulse coding techniques and separating responses to individual vibrators in the frequency domain. Various approaches to improve the estimate of the true groundforce have been proposed or are under development; current methods are at best approximate.     

On the accuracy of the ground force estimated in vibroseis acquisition

For a linear elastic Earth the time derivative of the ground force is considered proportional to the far-field wavelet. Under the assumption that the baseplate is stiff and the bending forces of the baseplate are negligible, the ground force is also approximated by the sum of the accelerations of the baseplate and the reaction mass weighted by the respective masses. Combining these two assumptions, the time derivative of the weighted sum is considered proportional to the far-field wavelet. This result, often referred to as the far-field wavelet assumption, although convenient and most often employed is not always valid. We explore its validity using the spectral harmonic ratios of recorded data, which are used extensively in data filtering and analysis of vibratory data. We show that the far-field wavelet assumption fails particularly for harmonic components of even order. More compact soil after repeated shots further invalidates this assumption. Non-linear modelling of the ground under the vibrator point may provide a direction towards solving this discrepancy. Finally, we describe a method for the estimation of the harmonic spectral ratios.     

Nonlinear analysis on the coupling process of electromagnetic vibrator and earth

Vibrator is an excitation equipment of the vibratory source in the seismic exploration[1―3]. In order to ap-proach the δ function, dynamite can be used to release high energy in an instantaneous explosion and form the seismic wavelet. On the other hand, a portable vi-brator sweeps a low energy signal for a long time to simulate the function of an explosion source. The re-flection signal of the portable vibrator is estimated for time-delay by digital cross correlation technology, and the disp…     

Developments in vibrator control

Hydraulic limitations, non-rigidity of the baseplate as well as variable characteristics of the ground constantly distort the downgoing energy output by vibrators. Therefore, a real time feedback control must be performed to continuously adjust the emitted force to the reference pilot signal. This ground force is represented by the weighted sum of the reaction mass and the baseplate accelerations. It was first controlled with an amplitude and phase locked loop system, poorly reactive and sensitive to noise. Later on, new vibrator electronics based on a digital model of the vibrator were introduced. This model is based on the physical equations of the vibrator and of the ground. During an 'identification' process, the model is adjusted to each particular vibrator. Completed by a Kalman adaptive filter to remove the noise, it computes ten estimated states via a linear quadratic estimator. These states are used by a linear quadratic control to compute the torque motor input and to compare the ground force estimated from the states with the pilot signal. Test results using downhole geophones demonstrate the benefit of filtered mode operation.     

Modelling and modal analysis of seismic vibrator baseplate

The vibroseis method must be extended to its limits as the search for oil and gas continues on land. To successfully improve vibroseis data quality, it is crucial to evaluate each element in the vibroseis data acquisition system and ensure that the contribution from each element is successful. Vibroseis systems depend greatly upon the ability of vibrators to generate synchronous, repeatable ground-force sweeps over a broad frequency range. This requires that the reaction mass and the baseplate of the vibrator move as rigid bodies. However, rigid-body motion is not completely true for high- frequency vibrations, especially for the vibrator baseplate. In order to accurately understand the motion of the vibrator baseplate, a finite element analysis model of the vibrator baseplate and the coupled ground has been developed. This model is useful for simulating the vibrator baseplate dynamics, evaluating the impact of the baseplate on the coupled ground and vibrator baseplate design. Model data demonstrate that the vibrator baseplate and its stilt structure are subject to six significant resonant frequencies in the range of 10–80 Hz. Due to the low rigidity of the baseplate, the baseplate stilt structure experiences severe rocking motions at lower frequencies and the baseplate pad experiences severe flexing motions at higher frequencies. Flexing motions cause partial decoupling, which gives rise to increased levels of harmonic distortion and less useable signal energy. In general, the baseplate pad suffers more bending and flexing motions at high frequencies than low frequencies, leading less efficiency in transmitting the useable energy into the ground.     

SIMULTANEOUS VIBROSEIS RECORDING1

An experiment was undertaken at BP's Fulbeck Geophysical test site to compare the viability of various simultaneous vibroseis recording techniques, which are often recommended as a means of improving data acquisition production rates for 3D seismic surveys. Of particular interest were: (a) the ability to separate the signals from each source during processing, (b) the generation and suppression of harmonics and (c) the effects of any source interaction. Two vibrators were deployed with a baseplate separation of 10 m, about a borehole containing a vertical array of geophones. Our analysis concentrated on the groundforce signals measured at each vibrator and the far-field signatures measured using a vertical geo-phone at a depth of 204 m. By comparing single vibrator records with similar but separated records from a simultaneous recording sequence, signal separability, harmonic suppression and vibrator interaction could be fully studied. Separated far-field signatures from simultaneous vibroseis methods using combinations of up and downsweeps exhibited unsuppressed harmonics and substantial energy from the undesired source which leaked through the correlation process. The ‘up/down’ method was capable of separating the signal from each source by only 12.7 dB, and is therefore unsuitable as a field technique. The variphase simultaneous vibroseis methods studied afforded some harmonic suppression and gave signal separations of about 30.0 dB. Use of variphase simultaneous vibroseis methods will compromise the quality of the data recorded, when compared with single-source acquisition methods. None of the simultaneous vibroseis methods tested provided adequate signal separation and, therefore, cannot be recommended as data acquisition techniques. The ‘alternate sweeping’ method coupled with multispread recording will give the desired improvement in data acquisition rates, while preserving the necessary quality of our seismic data.     

SEISMIC VIBRATOR MODELLING1

The wavefield in, and at the surface of, a homogeneous, isotropic, perfectly elastic half-space, excited by a traction distribution at the surface of the medium is investigated. The emitted wavefield is a spatial convolution of the surface tractions and the spatial impulse response. The properties of the wavefield in the far-field of the medium are derived and it is shown that the far-field particle velocity is essentially equal to a weighted sum of the time derivative of the integrated surface tractions, that is, of the components of the ‘ground force’. The theory is valid for an arbitrary geometry and orientation of the surface tractions, and is independent of the boundary conditions at the surface of the medium. The surface tractions are related to a source that consists of a mass distribution with an arbitrary force distribution imposed upon it. A boundary condition is introduced that accounts for the mass load and the forces applied to it but neglects vibrations within the mass. The boundary condition follows from the equation of motion of the surface mass load. The theory is applied to the Vibroseis configuration, using a P-wave vibrator model with a uniformly distributed force imposed on top of the baseplate, and assuming that horizontal surface traction components are absent. The distribution of displacement and stress directly underneath the baseplate of a single vibrator and an array of vibrators is investigated. Three different boundary conditions are used: (1) assuming uniform pressure, (2) assuming uniform displacement, (3) using the equation of motion of the baseplate as a boundary condition. The calculations of the distribution of stress and displacement over the plate for different elastic media and several frequencies of operation show that only the results obtained with the mixed boundary condition agree with measurements made in the field. The accuracy of three different phase-feedback signals is compared using synthetic data. Baseplate velocity phase-feedback leads to huge deviations in the determination of the far-field wavelet; reaction mass acceleration phase-feedback looks stable but neglects the differentiating earth filter; and phase-feedback to a weighted sum of baseplate and reaction mass accelerations becomes unstable with increasing frequency. The instability can be overcome using measurements over the whole baseplate. The model can be extended to a lossy layered earth.     

Geophysical benefits from an improved seismic vibrator

The seismic vibrator has become a very important source for land data acquisition and there have been dramatic improvements in recent times in the application of the vibroseis technique. These improvements have led to much increased productivity and in many cases much denser source sampling. At the same time, the vibrator itself has seen little improvement over the last couple of decades. There are needs in a few areas where an improvement in the vibrator itself can bring benefits to the quality of the seismic data acquired. This paper describes progress in four such areas, low‐frequency performance, high‐frequency performance, an improved estimate of the vibrator groundforce and source signature consistency over variable ground conditions. Each of these vibrator characteristics will be discussed in turn. Meanwhile, two field test results in which the performance of two different vibrators in these four areas are compared.     

TWO METHODS FOR CONTINUOUS MONITORING OF HARMONIC DISTORTION IN VIBROSEIS SIGNALS1

The quality of Vibroseis survey data can be improved by continuously monitoring the vibrator's baseplate and reaction mass accelerations. Equipment failures can be detected as they occur, rather than relying on similarity trials at the beginning and end of the day's production. Equipment faults can then be corrected as they happen and thus would not have a detrimental effect on the quality of the survey data. Source efficiency can be optimized by monitoring the amount of harmonic distortion generated by the vibrator at different drive levels on the different surfaces which may be encountered during a survey. Phase problems introduced by poor coupling of the baseplate to the ground can also be identified and addressed in the field. Rapid analysis of vibrator signals is required if continuous monitoring is to be useful. Frequency-time (f-t) analyses of vibrator signals are often used in processing centres, but are slow and require a large storage capacity which makes the technique unsuitable for a field analysis system. The two methods proposed to analyse vibrator signals entail the use of hodograms and time-varying notch filters. Hodograms provide a qualitative analysis of harmonic distortion and vibrator performance. A fast, time-varying notch filter gives quantitative and qualitative information about the harmonic distortion present in the signal and can be used to identify problems with vibrator behaviour. Both the hodogram and fast, time-varying notch filter methods can analyse the vibrator's reaction mass and baseplate accelerations as it progresses through its sweep and can present automatically interpreted results to the operator before moving to the next vibrator point.     

ON THE DETERMINATION OF THE DOWNGOING P-WAVES RADIATED BY THE VERTICAL SEISMIC VIBRATOR*

It is well recognized that in order to realize the full potential of the Vibroseis technique, one needs to ensure accurate phase locking and a meaningful cross-correlation. To achieve these two important objectives we require an accurate estimate of the compressional stress wave radiated by the vibrator into the ground. In this paper a simple method (subject of a patent application) is developed for predicting the compressional stress waves radiated by a vertical vibrator. The main feature of the proposed method is that it involves the field measurement of the acceleration of the reaction mass and the baseplate, respectively. The method is illustrated by computing the compressional stress waves generated by a typical vertical vibrator radiating into ice, chalk, sand, and mud. It is shown that for a seismic vibrator radiating into hard ground the pressure of the downgoing P-wave is 180° out of phase with the baseplate velocity. It is also shown that when the driving force of the seismic vibrator has a flat amplitude spectrum, the amplitude spectrum of the downgoing P-wave falls off by 6 dB/octave towards low frequencies.     

Source measurement effect on high fidelity vibratory seismic separation

High Fidelity Vibratory Seismic (HFVS) acquisition and separation can play an important role in today's land acquisition schemes. The method – in which multiple vibrators are swept simultaneously using sweeps with known phase encoding and then the data are inverted and separated into individual records – can improve productivity in the field and at the same time improve signal characteristics in the data. It relies on the measured weighted sum of accelerations (base plate and reaction mass) to invert the acquired data and separate the individual vibrator responses. Separation can be sub-optimal if the measured motions vary from the 'true source' input into the ground. Differences in true source and measured source can arise due to poor coupling between vibrators and ground, soil compaction or other factors. Using both a synthetic model and real data, we show that if the true source changes between sweeps but is not measured, vibrator responses can leak into adjacent vibrator responses upon separation. In a recent survey with HFVS acquisition, we observed a 25–30 dB separation between adjacent vibrators, which could be improved with greater reliability of the source measurement. The vibrator leakage can reduce the data quality considerably. We discuss the results of this survey and show that separation is affected by source measurement error. Further, we conclude that it is necessary either 1) to use source measurements that can capture the variability of the true source between sweeps or 2) to compensate for the source measurement variations in processing or in acquisition.     

THE AMPLITUDE AND PHASE RESPONSE OF A SEISMIC VIBRATOR*

The amplitude and phase response of a simple model is compared with the performance of a real vibrator working in the field. The field results show a characteristic phase response which confirms that the real drive force applied to the baseplate and its load impedance is faithfully represented by the acceleration of the reaction mass. It follows that all the parameters necessary to calculate the load impedance and the true power dissipated in the earth can be measured at the output of the vibrator. It also follows that the current method of baseplate phase compensation should be reconsidered.     

Radiation from flexural vibrations of the baseplate and their effect on the accuracy of traveltime measurements

We analyse the problem of radiation of seismic waves by a vibroseis source when the baseplate is subject to flexure. A theoretical model is proposed to account for baseplate flexure, generalizing the well‐known model of the vibroseis source of Sallas and Weber, which was developed for a rigid plate. Using the model proposed, we analyse the effect of flexure on the properties of seismic waves. We show that the flexure does not contribute to the far‐field and mainly affects the readings of the reference accelerometer that is used to measure the force applied to the ground; these readings generally become dependent on the location of the sensor on the plate. For muddy and sandy soils, the effect of flexure on baseplate‐acceleration measurements is nonetheless pronounced at the high end of the vibroseis frequency band only (～100 Hz), and is negligible at all frequencies for stiffer soils. The corresponding phase lags introduced by the flexural vibrations at high frequencies lead to errors in the traveltime measurements (through the cross‐correlation function) of up to 0.6 ms for muddy soils and less for denser soils. We show the existence of an optimal position of the reference sensor on the baseplate and also propose a general method of eliminating the phase lag due to the baseplate flexure in acceleration measurements.     

The effects of inter‐vibrator interference on vibrator performance

The output from the hydraulic vibrators typically used for land seismic surveys is controlled by monitoring the acceleration measured by accelerometers mounted on the reaction mass and baseplate. The considerable energy output by such vibrators, which are coupled with the sensitivity of the accelerometers used, results in crosstalk if more than one vibrator is being used. In this paper, we present the results of a field experiment in which we measured the crosstalk between two adjacent vibrators. We found that the level of crosstalk was approximately ‐20 dB when the vibrators were adjacent but decreased with increasing frequency and separation. This result has implications for measurements of vibrator performance, source‐signature deconvolution, and in particular, estimates of the total energy output by a fleet of vibrators.     

ENHANCED SERVOVALVE TECHNOLOGY FOR SEISMIC VIBRATORS1

The Pelton DR^TM Servovalve Enhancement causes the natural output of a vibrator to resemble the desired output more closely. This simplifies the control problem and reduces harmonic distortion. The traditional type of servovalve used on seismic vibrators is a flow-control servovalve. Flow is proportional to a vibrator's baseplate velocity, with respect to its reaction mass. The new servovalve control parameter is pressure rather than flow. The differential pressure applied to a vibrator's actuator piston, multiplied by the area of the piston, equals the force applied to the vibrator's baseplate structure. This may be defined as actuator force. There is a simpler and more linear relationship between actuator force and ground force than between actuator velocity and ground force. Thus, it is better for the servovalve to control pressure into the actuator rather than flow. A flow-control servovalve can be made to control pressure by sensing the differential pressure across a vibrator's actuator piston and applying it as a negative feedback around the servovalve main stage. This has been carried out and tested. The result is more accurate vibrator control and reduced harmonic distortion.     

基于重构激发信号的电磁式可控震源相关检测参考信号方法研究

针对电磁式可控震源地震数据的相关检测,研究发现,在地下结构复杂、基板-大地耦合不佳时,常规方法——基于震源控制信号或基板附近信号作为参考信号检测得到的地震记录中,存在子波到时误差和虚假多次波问题.本文分析了上述问题的理论原因,并提出基于重构激发信号的相关检测参考信号方法(Correlation Detection Reference Signal Based on the Reconstructed Excitation Signal,CDRSBRES).首先,利用直达波与其他地震波到时不一致的特点,从震源基板附近信号中分离、提取直达波.然后,利用直达波重构震源激发信号并作为参考信号对地震数据进行相关检测.最后,应用谱白化技术提高检测结果质量.数值模拟研究表明,重构激发信号与理想激发信号的相关系数为0.9869,达到高度线性相关,CDRSBRES方法检测的地震记录在子波到时和波形特征上均与模型相符.随后,在某金属矿区开展了可控震源对比实验.与液压式可控震源MiniVib T15000检测结果相比,电磁式可控震源PHVS 500的检测结果中:基于震源控制信号的检测结果存在子波到时误差约0.012s,对应垂向精度误差约11.16m;基于基板附近信号的检测结果部分区域出现虚假多次波,信噪比降低;而CDRSBRES方法的检测结果子波到时误差约0.001s,对应垂向精度误差约0.93m,波形特征一致,相同区域无虚假多次波.综上,本方法适用于电磁式可控震源地震数据的高精度检测,尤其对于地下结构复杂区域的高分辨率地震勘探具有重要意义.     

Harmonic by harmonic removal technique for improving vibroseis data quality

In this paper, an improved method is presented to reduce vibrator harmonic distortion, one harmonic at a time and the method is illustrated with both simulated and field data. This method improves on the previous method that treated all the harmonics at once. The significant contribution in this procedure is a considerable reduction for the harmonics without any alteration for the weakest signals possibly present in positive and negative times. The core of the proposed technique depends on an accurate simulation for all the harmonics one by one existing in the positive and negative times of the data after cross‐correlation with the fundamental sweep and then subtracting the simulated harmonics from the original data using an optimization procedure. The steps and mathematical equations of the procedure are explained in detail in the body of the article in the section titled ‘harmonic by harmonic attenuation procedure’. Accordingly, a well‐developed procedure for enhancing the vibroseis data quality in both down‐ and up‐sweep data is illustrated. The procedure was tested on both synthetic and field data sets.     

Simulation of synthetic ground motions for specified earthquake and site characteristics

A method for generating a suite of synthetic ground motion time‐histories for specified earthquake and site characteristics defining a design scenario is presented. The method employs a parameterized stochastic model that is based on a modulated, filtered white‐noise process. The model parameters characterize the evolving intensity, predominant frequency, and bandwidth of the acceleration time‐history, and can be identified by matching the statistics of the model to the statistics of a target‐recorded accelerogram. Sample ‘observations’ of the parameters are obtained by fitting the model to a subset of the NGA database for far‐field strong ground motion records on firm ground. Using this sample, predictive equations are developed for the model parameters in terms of the faulting mechanism, earthquake magnitude, source‐to‐site distance, and the site shear‐wave velocity. For any specified set of these earthquake and site characteristics, sets of the model parameters are generated, which are in turn used in the stochastic model to generate the ensemble of synthetic ground motions. The resulting synthetic acceleration as well as corresponding velocity and displacement time‐histories capture the main features of real earthquake ground motions, including the intensity, duration, spectral content, and peak values. Furthermore, the statistics of their resulting elastic response spectra closely agree with both the median and the variability of response spectra of recorded ground motions, as reflected in the existing prediction equations based on the NGA database. The proposed method can be used in seismic design and analysis in conjunction with or instead of recorded ground motions. Copyright © 2010 John Wiley & Sons, Ltd.     

Weighted sum method for calculating ground force: an evaluation by using a portable vibrator system

Using a lightweight portable vibrator, we have evaluated the accuracy of the 'weighted sum' method for calculating ground force. Experiments in which the vibrator was suspended elastically have shown that, contrary to expectations based on standard theory, the amplitude of the weighted sum ground force was significantly above zero at high frequencies (> 500 Hz). Complementary investigations with load cells confirmed these results. If not accounted for, these deviations may introduce significant 'vibroseis-correlation noise' in processed records. Furthermore, we have demonstrated that ground force and base-plate velocity can be used to estimate the radiation impedance, which describes the interaction of (vibratory) sources with the ground. Using the mechanical characteristics of the system (i.e. maximum displacement, maximum velocity and maximum acceleration of the base-plate) and the radiation impedance, the behaviour of the portable vibrator on typical Dutch soil types was evaluated. We found that for the same sweep, more high-frequency energy could be generated on hard grounds (e.g. concrete) characterized by a higher radiation impedance than on softer grounds (e.g. clay or sand). Knowledge of this behaviour may provide important information for use in data interpretation.     

Geophone‐ground coupling with flat bases

Seismic acquisition can be costly and inefficient when using spiked geophones. In most cases, such as the desert, the most practical solution is the use of flat bases, where geophone‐ground coupling is based on an optimal choice of the mass and area of contact between the receiver and the ground. This optimization is necessary since areas covered by sand are loose sediments and poor coupling occurs. Other cases include ground coupling in stiff pavements, for instance urban areas and ocean‐bottom nodes. We consider three different approaches to analyse coupling and model the geophone with a flat base (plate) resting on an elastic half‐space. Two existing models, based on the full‐wave theory, which we refer to as the Wolf and Hoover‐O'Brien models, predict a different behaviour with respect to the novel method introduced in this work. This method is based on the transmission coefficient of upgoing waves impinging in the geophone‐ground contact, where the ground is described as an anelastic half‐space. The boundary conditions at the contact have already been used to model fractures and are shown here to provide the equation of the damped oscillator. This fracture‐contact model depends on the stiffness characteristic of the contact between the geophone base plate and the ground. The transmission coefficient from the ground to the plate increases for increasing weight and decreasing base plate area. The new model predicts that the resonant frequency is independent of the geophone weight and plate radius, while the recorded energy increases with increasing weight and decreasing base plate area (as shown from our own experiments and measurements by Krohn) which is contrary to the theories developed by Wolf and Hoover‐O'Brien. The transient response is obtained by an inverse Fourier transform. Optimal geophone‐ground coupling and energy transmission are required, the first concept meaning that the geophone is following the motion of the ground and the second one that the signal is detectable. As a final example, we simulate seismic acquisition based on the novel theory, showing the differences between optimal and poor ground‐to‐geophone energy transmission.