CN103434610B - A kind of offshore drilling platforms butt junction location bootstrap technique - Google Patents
A kind of offshore drilling platforms butt junction location bootstrap technique Download PDFInfo
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Abstract
The present invention proposes a kind of offshore drilling platforms butt junction location bootstrap technique.Combine inertial navigation, satellite navigation, optical measuring technique, utilize the metrical information of fiber optic gyro aviation attitude system, differential GPS, gyro compass, total powerstation multiple sensors, by data time, spatial synchronization process, establish the multisensor time, space unifies benchmark, achieve the three-dimensional high-precision that butt junction location guides and measure; Carrying out information fusion by introducing without reconfigurable Federated Kalman Filter, exporting docking guidance information; By the Data Post to differential GPS information, achieve the malfunction monitoring of system, enhance system reliability and fault-tolerance; Utilizing virtual reality technology, achieve the omnidistance three-dimensional display of whole docking operation, is a kind of effective bootstrap technique docked with oil production platform by drilling platform.
Description
Technical field
What the present invention relates to is the butt junction location bootstrap technique of the three-dimensional marine drilling platform of a kind of population parameter and oil production platform, particularly relates to a kind of marine drilling platform platform butt junction location bootstrap technique.
Background technology
Be at sea meet higher precision and reliability requirement and save human and material resources resource in engineering, offshore drilling platforms docking not only requires the work accommodation ability of system in the presence of a harsh environment, also require that system can provide the information such as three-dimensional relative position, speed, attitude, in real time for decision-maker provides directly perceived, accurate, real-time mated condition parameter information in dynamic application process simultaneously.
The research being directed to marine drilling platform butt-joint operation is at present 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, and do not have high precision target traceability, docking operation shows in real time without virtual reality scenario; Abroad for drilling platform docking comparatively commonly position reference system/position monitoring equipment, its System's composition, install complicated, fund and rate of fuel consumption higher, precision is general, and with strong points, expanded application inconvenience.
Summary of the invention
The object of this invention is to provide a kind of safety, reliable, low cost, the offshore drilling platforms butt junction location bootstrap technique of the safety of drilling platform butt-joint operation and the adaptive capacity to environment can be improved.
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, fiber optic gyro aviation attitude system is utilized to measure roll angle, pitch angle, the course angle of drilling platform in real time, the group system utilizing fiber optic gyro aviation attitude system, differential GPS, gyro compass to form measures the orientation of drilling platform in real time, differential GPS and total powerstation measure relative position and the inclination angle of the relative oil production platform of drilling platform in real time, design docking clearance line, and store 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) obtains are carried out spatial synchronization process, set up the multisensor time, space unifies benchmark;
(5) by the amount measurement updaue in unified benchmark, Real-time Obtaining also stores the error that drilling platform docks absolute presupposition clearance line in guided procedure, and carries out error compensation;
(6) to the docking guidance information after compensation in the differential GPS information stored in step (2) and step (5), high accuracy data post-processing is carried out;
The method of described high accuracy data post-processing is: gather and store DGPS data, construct the parity vector based on svd, utilize the fault feature vector be normalized, obtain the fault signature plane that satellite failure proper vector is formed, whether in fault signature plane, whether respective satellite fault is judged further according to proper vector, more traditional method based on identification thresholding efficiently avoid undetected and by mistake alert generation, solves 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 calculation result in real time;
Described adopts four course subfilters and a relative position filter as subfilter without set formula Federated Kalman Filter, four course subfilters provide measurement information by FOG aviation attitude system and DGPS, FOG aviation attitude system and gyro compass, differential GPS and gyro compass, total powerstation and DGPS respectively, and relative position filter provides measurement information by total powerstation and DGPS;
(8) filtering information will exported 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, utilize the omnidistance three-dimensional display realizing whole docking operation based on fractal algorithm and sea modeling method.
(9) repeat step (2) ~ step (8), until the cantilever beam moving window of drilling platform covers the operation wellhead of oil production platform completely, and carry out pitching pile and fix, complete offshore drilling platforms butt junction location and guide operation.
Good effect of the present invention is:
Low cost: the present invention adopts differential GPS, fiber optic gyro aviation attitude system, gyro compass, total powerstation as nucleus equipment, not only obtains high-precision metrical information, and at system acquisition expenses, install and use, tool has great advantage in consumption of fuel etc.
Ease for use: System's composition is succinct, easy to install, the introducing of three-dimensional virtual reality technology makes docking operation more directly perceived.
Independence: by this system, staff can carry out information playback according to demand, line correlation technical training of going forward side by side, and can drill, to improve self-skill level simultaneously.
Reliability: this system schema, through fully proving, has many cover redundant measurement information, not only obtains high-acruracy survey result, and ensure that the reliability of system through information fusion.Meanwhile, the professional skill of staff can be consolidated and strengthen to the introducing of off-line data processing playback module further, ensures reliability.
Specific aim: system is for drilling platform relevant device docking exploitation in offshore oil development enterprise, equipment interconnection correlation parameter obtains comprehensively in real time, by virtual reality technology and platform thereof, 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 component devices portability and install and use the comformability of environment, not only can be used for offshore platform docking, by amendment three-dimensional display module, can be used for the large parts high precision docking of the aspect such as factory, building equally.
The present invention due to component devices portability and install and use the comformability of environment, this system not only can be used for offshore platform docking, and by amendment three-dimensional display module, the large components/devices docking that can be the aspect such as integrated mill, building equally provides technical guarantee.
Accompanying drawing explanation
Fig. 1 is a kind of offshore drilling platforms butt junction location bootstrap technique data handling procedure figure.
Detailed description of the invention
Below application process of the present invention is described further.
Drilling platform and oil production platform to after scooping out and ensureing that drilling platform cantilever beam stretches out, the operation wellhead on oil production platform is covered, i.e. the complete overwrite job bank of the cantilever beam moving window of drilling platform in the moving range that rig floor on cantilever beam is maximum in machine and transverse direction.
Platform docking system is formed primarily of fiber optic gyro aviation attitude system, differential GPS, gyro compass, total powerstation and main frame.
Described fiber optic gyro aviation attitude system is installed on drilling platform, for measuring 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 relative position of the course angle and drilling platform and oil production platform of measuring drilling 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 drilling platform relative to the position of oil production platform and inclination angle, and auxiliary differential GPS measures the course of drilling platform.
Present invention employs 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 display true to nature of the measurement of the real-time change information such as the 3 d pose of three-dimensional relative position, relative azimuth, drilling platform in drilling platform and oil production platform docking operation, transmission and operation overall process.
Concrete implementation step is:
(1) before butt-joint operation, first staff arrives oil production platform, is installed on oil production platform by differential GPS base station and total powerstation target, accurately measures the position of differential GPS base station and the azimuth information of jacket on oil production platform.
(2) aim at operation to start, on drilling platform, fiber optic gyro aviation attitude system is utilized to measure roll angle, pitch angle, the course angle of drilling platform in real time, the group system utilizing fiber optic gyro aviation attitude system, differential GPS, gyro compass to form measures the orientation of drilling platform in real time, differential GPS and total powerstation measure relative position and the inclination angle of the relative oil production platform of drilling platform in real time, design docking clearance line, and store differential GPS information;
(3) the location guidance information obtained in step (2) is transferred to computing machine, in main frame, quality control treatments and data consistency process are carried out to the data collected, by the time of carrying out, spatial synchronization process, set up the multisensor time, space unifies benchmark;
Described time synchronizing: with gps clock information for time reference benchmark, by calculating GPS and fiber optic gyro aviation attitude system, gyro compass, the data syn-chronization time difference of total powerstation within the data fusion time period, and then use Lagrangian fit three point interpolation method to calculate fiber optic gyro aviation attitude system, gyro compass, total powerstation at the virtual measurement of gps data updated time, realize multisensor time lock.
Described spatial synchronization process: adopt WGS-84 coordinate to be common coordinate system, utilize coordinate transform, realize multisensor spatial synchronization.
(4) by the amount measurement updaue in unified benchmark, Real-time Obtaining also stores the error that drilling platform docks absolute presupposition clearance line in guided procedure, and carries out error compensation;
Described error compensating method is: carry out error compensation by measurement lever arm effect and installation error to fiber optic gyro aviation attitude system; Compensated by the installation site of reduction to centre to fiber optic gyro aviation attitude system, gps antenna, gyro compass, total powerstation; 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 docking guidance information after compensation in the differential GPS information stored in step (2) and step (4), high accuracy data post-processing is carried out;
(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 calculation result in real time;
Described adopts four course subfilters and a relative position filter as subfilter without set formula Federated Kalman Filtering, and described without set formula Federated Kalman Filtering is: adopt four course subfilters and a relative position filter as subfilter; Four course subfilters export the course information of drilling platform, measurement information is provided respectively by fiber optic gyro aviation attitude system and differential GPS, fiber optic gyro aviation attitude system and gyro compass, differential GPS and gyro compass, total powerstation and differential GPS, relative position filter exports the relative position information of drilling platform and oil production platform, provides measurement information by total powerstation and differential GPS; The information sharing scheme 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; Senior filter exports the course information of drilling platform and the relative position information of drilling platform and oil production platform; Senior filter resets without information subfilter.
(7) filtering information will exported 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) repeat step (2) ~ step (7), until the cantilever beam moving window of drilling platform covers the operation wellhead of oil production platform completely, and carry out pitching pile and fix, complete offshore drilling platforms butt junction location and guide operation;
Described high accuracy data post-processing technology is: gather and store DGPS data, construct the parity vector based on svd, utilize the fault feature vector be normalized, obtain the fault signature plane that satellite failure proper vector is formed, whether in fault signature plane, whether judge respective satellite fault according to proper vector further.
Described virtual reality technology, exploitation three-dimensional live butt junction location guides software, adopts based on internal memory and external memory synergistic data processing method, utilizes the omnidistance three-dimensional display realizing whole docking operation based on fractal algorithm and sea modeling method.First the virtual scene emulation of offshore oil development is carried out based on the model database combination equipment set up, by texture mapping illumination calculation, contextual data management and environment dynamic change impact detection simulation generating platform docking 3D modelling, show in real time in conjunction with the Three-Dimensional Dynamic that visual angle is arranged, scene drawing technology realizes whole process on a display screen.
As shown in Figure 1, fiber optic gyro aviation attitude system, differential GPS, gyro compass, total powerstation gather each several part real time data respectively, by serial ports, data are sent to main frame.The data of differential GPS can be saved to independent region in a computer, to carry out high accuracy data reprocessing analysis.
Each sensing real time data is extracted in main frame, data time and spatial synchronization process are carried out to it, and then carry out each several part error compensation, send into Federated Kalman Filter and carry out information fusion, output information fusion results, information fusion result is fed through three-dimensional display software simultaneously, coordinate model database, carry out the virtual scene emulation of offshore oil development, realize texture, pinup picture, illumination calculates, contextual data manages, environment dynamic change detects, setting software parameter, carry out scene drawing, and then real-time butt junction location bootup process is 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 except azimuth information jointly, fiber optic gyro aviation attitude system, gyro compass, differential GPS independently can both measure azimuth information, and can combine between any two, ensure that the redundancy of system during azimuthal measurement is not less than 3, and for three-dimensional relative position measurement, utilizing differential GPS and total powerstation can ensure at least there is a set of redundancy, system reliability is high.
Claims (2)
1. an offshore drilling platforms butt junction location bootstrap technique, 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, fiber optic gyro aviation attitude system is utilized to measure roll angle, pitch angle, the course angle of drilling platform in real time, the group system utilizing fiber optic gyro aviation attitude system, differential GPS, gyro compass to form measures the orientation of drilling platform in real time, differential GPS and total powerstation measure relative position and the inclination angle of the relative oil production platform of drilling platform in real time, design docking clearance line, and store differential GPS information;
(3) the location guidance information obtained in step (2) is transferred to computing machine, carry out time synchronizing, the data of differential GPS are saved to independent region in a computer;
(4) data that step (3) obtains are carried out spatial synchronization process, set up the multisensor time, space unifies benchmark;
(5) by the amount measurement updaue in unified benchmark, Real-time Obtaining also stores the error that drilling platform docks absolute presupposition clearance line in guided procedure, and carries out error compensation;
(6) to the docking guidance information after compensation in the differential GPS information stored in step (2) and step (5), high accuracy data post-processing is carried out; The method of described high accuracy data post-processing is: gather and store DGPS data, construct the parity vector based on svd, utilize the fault feature vector be normalized, obtain the fault signature plane that satellite failure proper vector is formed, whether in fault signature plane, whether judge respective satellite fault according to proper vector further;
(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 calculation result in real time;
(8) filtering information will exported 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 adopts based on internal memory and external memory synergistic data processing method, utilize the omnidistance three-dimensional display realizing whole docking operation based on fractal algorithm and sea modeling method, first the virtual scene emulation of offshore oil development is carried out based on the model database combination equipment set up, by texture mapping illumination calculation, contextual data management and environment dynamic change impact detection simulation generating platform docking 3D modelling, show in real time in conjunction with the Three-Dimensional Dynamic that visual angle is arranged, scene drawing technology realizes whole process on a display screen;
(9) repeat step (2) ~ step (8), until the cantilever beam moving window of drilling platform covers the operation wellhead of oil production platform completely, and carry out pitching pile and fix, complete offshore drilling platforms butt junction location and guide operation.
2. a kind of offshore drilling platforms butt junction location bootstrap technique according to claim 1, it is characterized in that: described adopts four course subfilters and a relative position filter as subfilter without set formula Federated Kalman Filter, four course subfilters provide measurement information by FOG aviation attitude system and DGPS, FOG aviation attitude system and gyro compass, differential GPS and gyro compass, total powerstation and DGPS respectively, and relative position filter provides measurement information by total powerstation and DGPS.
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