CN103434610A - Docking positioning guiding method for offshore oil drilling platform - Google Patents
Docking positioning guiding method for offshore oil drilling platform Download PDFInfo
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Abstract
The invention provides a docking positioning guiding method for an offshore oil drilling platform. The method is characterized by integrating inertial navigation, satellite navigation and optical measurement technologies, and utilizing measurement information of an optical-fiber gyro attitude heading reference system, a differential GPS (global positioning system), a gyrocompass and multiple sensors of a total station to establish a time and space uniform benchmark of multiple sensors by synchronously processing data time and space, and thus the three-dimensional high-precision measurement of docking positioning guidance is realized; a non-reset federated kalman filter is utilized to integrate the information, and then the docking guiding information is outputted; through the data after-treatment of the information of the differential GPS, faults of the system can be monitored, and the system reliability and fault tolerance can be improved; by virtue of a virtual reality technology, the whole-process three-dimensional display of the entire docking process can be realized. The method can be used for effectively guiding the docking of a drilling platform and an oil production platform.
Description
Technical field
What the present invention relates to is the three-dimensional marine drilling platform of a kind of population parameter and the orientation direction method of docking of oil production platform, particularly relates to a kind of marine drilling platform platform and docks the orientation direction method.
Background technology
In engineering, be at sea satisfied higher precision and reliability requirement and saving human and material resources resource, the offshore drilling platforms docking is not only required in the work accommodation ability of system under harsh environment, also require system that the information such as three-dimensional relative position, speed, attitude can be provided in real time, in the dynamic application process, for the decision-maker, provide directly perceived, accurate, real-time mated condition parameter information simultaneously.
The research that is directed at present the marine drilling platform butt-joint operation is less." the multi-functional positioning guidance system in naval vessel " of the level that is in a leading position at home can provide two-dimensional localization information, and precision is general, does not have the high precision target traceability, and docking operation shows in real time without virtual reality scenario; Dock comparatively commonly position reference system/position monitoring equipment for drilling platform abroad, its system forms, installs complicated, and fund and rate of fuel consumption are higher, and precision is general, and with strong points, expanded application inconvenience.
Summary of the invention
The purpose of this invention is to provide a kind of safely, reliable, low-cost, can improve the safety of drilling platform butt-joint operation and to the offshore drilling platforms docking orientation direction method of the adaptive capacity of environment.
The object of the present invention is achieved like this:
(1) differential GPS base station and total powerstation target are installed on oil production platform;
(2) on drilling platform, utilize fiber optic gyro boat appearance system to measure in real time roll angle, pitch angle, the course angle of drilling platform, the group system that utilizes fiber optic gyro boat appearance system, differential GPS, gyro compass to form is measured the orientation of drilling platform in real time, differential GPS and total powerstation are measured relative position and the inclination angle of the relative oil production platform of drilling platform in real time, design docking clearance line, and storage differential GPS information;
(3) the location guidance information obtained in step (2) is transferred to computing machine, carry out time synchronizing;
(4) data that step (3) obtained are carried out the spatial synchronization processing, set up the multisensor time, benchmark is unified in space;
(5) by the measurement amount in unified benchmark, upgrade, Real-time Obtaining is also stored the error that drilling platform docks absolute presupposition clearance line in guided procedure, and carry out error compensation;
(6) to the differential GPS information of storage in step (2) and the docking guidance information after the middle compensation of step (5), carry out the high accuracy data post-processing;
The method of described high accuracy data post-processing is: gather and store DGPS data, the parity vector of structure based on svd, the fault feature vector of normalized is carried out in utilization, obtain the fault signature plane that the satellite failure proper vector forms, further according to proper vector, whether on the fault signature plane, whether judge the respective satellite fault, more traditional method based on the identification thresholding has been avoided generation undetected and that mistake is alert effectively, has solved the integrity test problems of system;
(7) the docking guidance information after compensation in step (5) is transferred to without set formula Federated Kalman Filter, carry out filtering and resolve, export in real time calculation result;
Describedly without set formula Federated Kalman Filter, adopt four course subfilters and a relative position filter as subfilter, four course subfilters provide measurement information by FOG boat appearance system and DGPS, FOG boat appearance system and gyro compass, differential GPS and gyro compass, total powerstation and DGPS respectively, and the relative position filter provides measurement information by total powerstation and DGPS;
(8) by the filtering information of output in step (7), export platform docking guide function device to, utilize the anchor hawser of towboat and drilling platform, make drilling platform close to oil production platform along the clearance line of setting, and by virtual reality technology, the dynamic three-dimensional display of the process that achieves a butt joint;
Described virtual reality technology is: adopt based on internal memory and external memory synergistic data processing method, utilization realizes the omnidistance three-dimensional display of whole docking operation based on fractal algorithm and sea modeling method.
(9) repeating step (2)～step (8), until the cantilever beam moving window of drilling platform covers the operation wellhead of oil production platform fully, and carries out pitching pile and fix, complete the operation of offshore drilling platforms docking orientation direction.
Good effect of the present invention is:
Low-cost: the present invention adopts differential GPS, fiber optic gyro boat appearance system, gyro compass, total powerstation as nucleus equipment, has not only obtained high-precision metrical information, and at the system acquisition expenses, install and use, the aspect tool such as consumption of fuel has great advantage.
Ease for use: system forms succinct, easy to install, and the introducing of three-dimension virtual reality technology makes docking operation more directly perceived.
Independence: by this system, the staff can carry out information playback according to demand, and the line correlation technical training of going forward side by side can be drilled simultaneously, to improve the self-skill level.
Reliability: this system schema, through fully proving, has many cover redundant measurement information, has not only obtained the high-acruracy survey result through information fusion, and has guaranteed the reliability of system.Simultaneously, staff's professional skill can be further consolidated and strengthened in the introducing of off-line data processing playback module, guarantees reliability.
Specific aim: system is for drilling platform relevant device docking exploitation in offshore oil development enterprise, the equipment interconnection correlation parameter obtains comprehensively in real time, by virtual reality technology and platform thereof, the staff can carry out real-time judge and decision-making to relevant information, improves work success ratio and efficiency.
Extendability: the present invention, due to the portability and the comformability of installing and using environment of component devices, not only can be used for the offshore platform docking, by revising the three-dimensional display module, can be used for equally the large parts high precision docking of the aspects such as factory, building.
The present invention is due to the portability and the comformability of installing and using environment of component devices, and this system not only can be used for the offshore platform docking, and by revising the three-dimensional display module, the large components/devices docking that can be equally the aspects such as integrated mill, building provides technical guarantee.
The accompanying drawing explanation
Fig. 1 is a kind of offshore drilling platforms docking orientation direction method data handling procedure figure.
The specific embodiment
Below application process of the present invention is described further.
Drilling platform and oil production platform to after scooping out and guaranteeing that the drilling platform cantilever beam stretches out, cover the operation wellhead on oil production platform in the moving range of the maximum on vertical and horizontal of the rig floor on cantilever beam, i.e. the complete overwrite job of the cantilever beam moving window bank of drilling platform.
The platform docking system mainly consists of fiber optic gyro boat appearance system, differential GPS, gyro compass, total powerstation and main frame.
Described fiber optic gyro boat appearance system is installed on drilling platform, for measuring the drilling platform attitude, i.e. and roll angle, pitch angle, course angle.
Described differential GPS base station is installed on oil production platform, and movement station is installed on drilling platform, for the course angle of measuring drilling platform and the relative position of drilling platform and oil production platform.
Described gyro compass is installed on drilling platform, for measuring the course information of drilling platform.
Described total powerstation is installed on drilling platform, and its target is installed on oil production platform, and for measuring position and the inclination angle of drilling platform with respect to oil production platform, and auxiliary differential GPS is measured the course of drilling platform.
The present invention has adopted the multinomial technology such as integrated navigation technology, Differential GPS Technology, laser ranging angle measurement technique, information fusion technology, virtual reality technology, high accuracy data post-processing, through multiple sensors without set formula Federated Kalman Filtering information fusion, realize the demonstration true to nature of measurement, transmission and the operation overall process of the real-time change information such as 3 d pose of three-dimensional relative position, relative azimuth, drilling platform in drilling platform and oil production platform docking operation.
Concrete implementation step is:
(1) before butt-joint operation, at first the staff arrives oil production platform, and differential GPS base station and total powerstation target are installed on oil production platform, accurately measures the position of differential GPS base station on oil production platform and the azimuth information of jacket.
(2) aiming at operation starts, on drilling platform, utilize fiber optic gyro boat appearance system to measure in real time roll angle, pitch angle, the course angle of drilling platform, the group system that utilizes fiber optic gyro boat appearance system, differential GPS, gyro compass to form is measured the orientation of drilling platform in real time, differential GPS and total powerstation are measured relative position and the inclination angle of the relative oil production platform of drilling platform in real time, design docking clearance line, and storage differential GPS information;
(3) the location guidance information obtained in step (2) is transferred to computing machine, in main frame, the data that collect are carried out to quality control treatments and data consistency processing, process by the time of carrying out, spatial synchronization, set up the multisensor time, benchmark is unified in space;
Described time synchronizing: take gps clock information as the time reference benchmark, by calculate GPS receiver and fiber optic gyro navigate appearance system, gyro compass, total powerstation in data fusion the data synchronization time difference in the time period, and then use Lagrangian fit three point interpolation method to calculate fiber optic gyro boat appearance system, gyro compass, the total powerstation virtual measurement value in the gps data updated time, realize the multisensor time lock.
Described spatial synchronization is processed: adopting the WGS-84 coordinate is common coordinate system, utilizes coordinate transform, realizes the multisensor spatial synchronization.
(4) by the measurement amount in unified benchmark, upgrade, Real-time Obtaining is also stored the error that drilling platform docks absolute presupposition clearance line in guided procedure, and carry out error compensation;
Described error compensating method is: by measuring lever arm effect and installation error, fiber optic gyro boat appearance system is carried out to error compensation; Installation site by reduction to centre to fiber optic gyro boat appearance system, gps antenna, gyro compass, total powerstation compensates; By Tom's pine singular value scalping method and 5 Lagrange's interpolation hop repairing methods, sensing data is compensated; By digital filter and data fusion, random error is compensated.
(5) to the differential GPS information of storage in step (2) and the docking guidance information after the middle compensation of step (4), carry out the high accuracy data post-processing;
(6) the docking guidance information after compensation in step (4) is transferred to without set formula Federated Kalman Filter, carry out filtering and resolve, export in real time calculation result;
Describedly without set formula Federated Kalman Filtering, adopt four course subfilters and a relative position filter as subfilter, describedly without set formula Federated Kalman Filtering be: adopt four course subfilters and a relative position filter as subfilter; The course information of four course subfilter output drilling platform, provide measurement information by fiber optic gyro boat appearance system and differential GPS, fiber optic gyro boat appearance system and gyro compass, differential GPS and gyro compass, total powerstation and differential GPS respectively, the relative position information of relative position filter output drilling platform and oil production platform, provide measurement information by total powerstation and differential GPS; The information distribution coefficient of each subfilter determines its weight by sensor accuracy; The estimated valve of each subfilter is sent into senior filter and is carried out information fusion; The course information of senior filter output drilling platform and the relative position information of drilling platform and oil production platform; Senior filter is reset without information to subfilter.
(7) by the filtering information of output in step (6), export platform docking guide function device to, utilize the anchor hawser of towboat and drilling platform, make drilling platform close to oil production platform along the clearance line of setting, and by virtual reality technology, the dynamic three-dimensional display of the process that achieves a butt joint;
(8) repeating step (2)～step (7), until the cantilever beam moving window of drilling platform covers the operation wellhead of oil production platform fully, and carries out pitching pile and fix, complete the operation of offshore drilling platforms docking orientation direction;
Described high accuracy data post-processing technology is: gather and store DGPS data, the parity vector of structure based on svd, the fault feature vector of normalized is carried out in utilization, obtain the fault signature plane that the satellite failure proper vector forms, further according to proper vector, whether on the fault signature plane, whether judge the respective satellite fault.
Described virtual reality technology, develop three-dimensional outdoor scene docking orientation direction software, adopts based on internal memory and external memory synergistic data processing method, and utilization realizes the omnidistance three-dimensional display of whole docking operation based on fractal algorithm and sea modeling method.At first the model database combination equipment based on setting up carries out the virtual scene emulation of offshore oil development, by texture mapping illumination calculation, contextual data management and environment dynamic change impact detection simulation generating platform docking 3D modelling, in conjunction with visual angle setting, scene drawing technology, realize that on read-out the Three-Dimensional Dynamic of whole process shows in real time.
As shown in Figure 1, fiber optic gyro boat appearance system, differential GPS, gyro compass, total powerstation gather respectively the each several part real time data, by serial ports, data are sent to main frame.The data of differential GPS can be saved to independent zone in computing machine, in order to carry out the high accuracy data reprocessing analysis.
Extract each sensing real time data in main frame, it is carried out to data time and spatial synchronization processing, and then carry out each several part error compensation, send into Federated Kalman Filter and carry out information fusion, the output information fusion results, the information fusion result is fed through to three-dimensional display software simultaneously, coordinate model database, carry out the virtual scene emulation of offshore oil development, realize texture, pinup picture, illumination is calculated, the contextual data management, the environment dynamic change detects, the setting software parameter, carry out scene drawing, and then will dock in real time the orientation direction process and be presented on host display.
Whole system is based on multiple sensors equipment, especially, for measurement of azimuth, except differential GPS and total powerstation are measured azimuth information jointly, fiber optic gyro boat appearance system, gyro compass, differential GPS can both independently be measured azimuth information, and can be combined between any two, while having guaranteed azimuthal measurement, the redundancy of system is not less than 3, and, for three-dimensional relative position measurement, utilize differential GPS and total powerstation can guarantee at least to exist a set of redundancy, system reliability is high.
Claims (5)
1. an offshore drilling platforms docking orientation direction method, is characterized in that comprising the steps:
(1) differential GPS base station and total powerstation target are installed on oil production platform;
(2) on drilling platform, utilize fiber optic gyro boat appearance system to measure in real time roll angle, pitch angle, the course angle of drilling platform, the group system that utilizes fiber optic gyro boat appearance system, differential GPS, gyro compass to form is measured the orientation of drilling platform in real time, differential GPS and total powerstation are measured relative position and the inclination angle of the relative oil production platform of drilling platform in real time, design docking clearance line, and storage differential GPS information;
(3) the location guidance information obtained in step (2) is transferred to computing machine, carry out time synchronizing;
(4) data that step (3) obtained are carried out the spatial synchronization processing, set up the multisensor time, benchmark is unified in space;
(5) by the measurement amount in unified benchmark, upgrade, Real-time Obtaining is also stored the error that drilling platform docks absolute presupposition clearance line in guided procedure, and carry out error compensation;
(6) to the differential GPS information of storage in step (2) and the docking guidance information after the middle compensation of step (5), carry out the high accuracy data post-processing;
(7) the docking guidance information after compensation in step (5) is transferred to without set formula Federated Kalman Filter, carry out filtering and resolve, export in real time calculation result;
(8) by the filtering information of output in step (7), export platform docking guide function device to, utilize the anchor hawser of towboat and drilling platform, make drilling platform close to oil production platform along the clearance line of setting, and by virtual reality technology, the dynamic three-dimensional display of the process that achieves a butt joint;
(9) repeating step (2)～step (8), until the cantilever beam moving window of drilling platform covers the operation wellhead of oil production platform fully, and carries out pitching pile and fix, complete the operation of offshore drilling platforms docking orientation direction.
2. a kind of offshore drilling platforms according to claim 1 docks the orientation direction method, it is characterized in that: the method for described high accuracy data post-processing is: gather and store DGPS data, the parity vector of structure based on svd, the fault feature vector of normalized is carried out in utilization, obtain the fault signature plane that the satellite failure proper vector forms, further according to proper vector, whether on the fault signature plane, whether judge the respective satellite fault.
3. a kind of offshore drilling platforms according to claim 1 and 2 docks the orientation direction method, it is characterized in that: describedly without set formula Federated Kalman Filter, adopt four course subfilters and a relative position filter as subfilter, four course subfilters provide measurement information by FOG boat appearance system and DGPS, FOG boat appearance system and gyro compass, differential GPS and gyro compass, total powerstation and DGPS respectively, and the relative position filter provides measurement information by total powerstation and DGPS.
4. a kind of offshore drilling platforms according to claim 1 and 2 docks the orientation direction method, it is characterized in that: described virtual reality technology is: adopt based on internal memory and external memory synergistic data processing method, utilization realizes the omnidistance three-dimensional display of whole docking operation based on fractal algorithm and sea modeling method.
5. a kind of offshore drilling platforms according to claim 3 docks the orientation direction method, it is characterized in that: described virtual reality technology is: adopt based on internal memory and external memory synergistic data processing method, utilization realizes the omnidistance three-dimensional display of whole docking operation based on fractal algorithm and sea modeling method.
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| CN104932504A (en) * | 2015-06-08 | 2015-09-23 | 湖北三江航天万山特种车辆有限公司 | Accurate aligning device of heavy engineering vehicle and control method of aligning device |
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| CN110108984B (en) * | 2019-05-24 | 2021-07-16 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Spatial relationship synchronization method for multiple sensors of power line patrol laser radar system |
| CN110108984A (en) * | 2019-05-24 | 2019-08-09 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | The spatial relationship synchronous method of power-line patrolling laser radar system multisensor |
| CN110245439A (en) * | 2019-06-20 | 2019-09-17 | 成都飞机工业（集团）有限责任公司 | A kind of installation error modeling and compensation method being flared conduit |
| CN110296701A (en) * | 2019-07-09 | 2019-10-01 | 哈尔滨工程大学 | Inertia and satellite combined guidance system gradation type failure recall fault-tolerance approach |
| CN113665735A (en) * | 2021-08-10 | 2021-11-19 | 中海油能源发展股份有限公司 | Posture adjusting method for self-elevating drilling platform in precise positioning process |
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