Method and seismic vibrator guidance system based on a field acquired trajectory

1. A method for modifying a given path to be followed by a source during a 4-dimensional (4D) seismic survey, the method comprising:

receiving the given path, comprising given shooting positions, at a control device on board a vehicle that caries the source, each given shooting position specifying a geographical location along the given path where the source is shot;

during a first seismic survey that is a baseline survey for the 4D seismic survey,

driving the vehicle around an obstacle that is encountered while following the given path, which results in deviating the vehicle from the given path, thus generating a new path, the new path comprising at least one new shooting position corresponding to one of the given shooting positions and

updating the given path, based on the new path, when a deviation condition is met,

wherein the given path is not further updated during any seismic survey of the 4D seismic survey subsequent to the baseline seismic survey.

2. The method of claim 1 , further comprising:

recording the new path when deviating from the given path; and

substituting geographical positions of the given path with corresponding geographical positions of the new path to update the given path.

3. The method of claim 1 , where the updating further comprises:

calculating a difference between the given path and the new path;

comparing the difference with a threshold; and

automatically updating the given path when the difference is larger than the threshold.

4. The method of claim 1 , wherein the new path corresponds to a portion of the given path.

5. The method of claim 1 , wherein given shooting positions of the source along a portion of the given path, that is not followed by the source during the baseline survey, are translated into new shooting positions along the new path.

6. The method of claim 5 , wherein the new shooting positions translated on the new path are calculated by the control device in real-time or post-processing.

7. The method of claim 6 , further comprising:

calculating the new shooting positions by determining intersections of the new path with segments originating at the given shooting positions.

8. A control device configured to modify a given path to be followed by a source during a 4-dimensional (4D) seismic survey, the control device comprising:

an interface configured to receive the given path comprising given shooting positions, each given shooting position specifying a geographical location along the given path where the source is shot; and

a processor connected to the interface and configured to,

monitor the given path during a first seismic survey that is a baseline survey for the 4D seismic survey,

track a deviation from the given path when the source encounters an obstacle along the given path, which results in the source following a new path comprising at least one new shooting position corresponding to one of the given shooting positions, and

update the given path, based on the new path, when a deviation condition is met,

wherein the given path is not further updated during any seismic survey of the 4D seismic survey subsequent to the baseline seismic survey.

9. The control device of claim 8 , wherein the processor is further configured to:

record the new path when deviating from the given path; and

substitute geographical positions of the given path with corresponding geographical positions of the new path to update the given path.

10. The control device of claim 8 , wherein the processor is further configured to:

calculate a difference between the given path and the new path;

compare the difference with a threshold; and

automatically update the given path when the difference is larger than the threshold.

11. The control device of claim 8 , wherein the new path corresponds to a portion of the given path.

12. The control device of claim 8 , wherein the processor is further configured to:

translate given shooting positions of the source along a portion of the given path, that is not followed by the source during the baseline survey, into new shooting positions along the new path.

13. The control device of claim 12 , wherein the new shooting positions translated on the new path are calculated by the processor in real-time or post-processing.

14. The control device of claim 13 , wherein the processor is further configured to:

calculate the new shooting positions by determining intersections of the new path with segments originating at the given shooting positions,

wherein the segments are perpendicular on the new path.

15. A non-transitory computer readable medium including computer executable instructions, wherein the instructions, when executed by a processor, implement a method for modifying a given path to be followed by a source during a 4-dimensional (4D) seismic survey, the method comprising:

receiving the given path, comprising given shooting positions, at a control device on board a vehicle that caries the source, each given shooting position specifying a geographical location along the given path where the source is shot;

during a first seismic survey that is a baseline survey for the 4D seismic survey

driving the vehicle around an obstacle that is encountered while following the given path, which results in deviating the vehicle from the given path, thus generating a new path, the new path comprising at least one new shooting position corresponding to one of the given shooting positions, and

updating the given path, based on the new path, when a deviation condition is met,

wherein the given path is not further updated during any seismic survey of the 4D survey subsequent to the baseline seismic survey.

16. The non-transitory computer-readable medium of claim 15 , further comprising:

recording the new path when deviating from the given path; and

substituting geographical positions of the given path with corresponding geographical positions of the new path to update the given path.

17. The non-transitory computer-readable medium of claim 15 , further comprising:

calculating a difference between the given path and the new path;

comparing the difference with a threshold; and

automatically updating the given path when the difference is larger than the threshold.