CN105625287B - Fixed offshore platform position and orientation repetition measurement method - Google Patents
Fixed offshore platform position and orientation repetition measurement method Download PDFInfo
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- CN105625287B CN105625287B CN201511035485.9A CN201511035485A CN105625287B CN 105625287 B CN105625287 B CN 105625287B CN 201511035485 A CN201511035485 A CN 201511035485A CN 105625287 B CN105625287 B CN 105625287B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
Abstract
The invention discloses a kind of fixed offshore platform position, orientation repetition measurement method, this method step to be：By choosing WADGPS aerial position, the pilot measurement of lubber line, power supply wiring, the installation of equipment, position and azimuthal measurement and the processing of measurement data, position and the orientation repetition measurement of fixed offshore platform are realized.This method application process is simple, and weight of equipment is light, small volume, easy to carry, and equipment installation is simple, avoids the repeatability docking caused by error, shortens the duration, improves operating efficiency, saved cost.System accuracy is high, and positional precision can be achieved：0.15m, course precision：0.05 °, there is intuitive, security, reliability, real-time etc. advantage.
Description
First, technical field
The present invention relates to a kind of fixed offshore platform in installation process to the measuring method of its position, orientation, tool
Say it is a kind of fixed offshore platform position and orientation repetition measurement method body.
2nd, background technology
Offshore oil equips industry under the drive of marine oil and gas industry sustained and rapid development at present, is in high speed development
The new period.Marine oil and gas engineer equipment industry is to be directly connected to Marine oil and gas resource exploitation, influence national energy it is stable and
The strategic industry of economic security.Marine oil and gas engineer equipment has been the new growing point of shipbuilding industry profit, and turns into main ocean state
The target that family disaccords.
Drilling platforms and fixed offshore platform butt junction location are a very important parts in marine oil and gas engineering, docking
Success or not is related to the manufacturing schedule and benefit of Marine oil and gas resource exploitation.Drilling platforms and fixed offshore platform butt junction location
Required precision is high, construction is extremely complex, during butt junction location, there is provided the fixed offshore platform position to positioning engineering staff
Put, larger deviation often occurs in orientation, position maximum deviation can reach tens meters, and azimuth deviation most conference reaches 3 °, this
The precision and success rate of butt junction location are just had a strong impact on, if there is failure or the well head for causing butt junction location because error is excessive
Covering is incomplete, it is necessary to carry out secondary butt junction location, or even can because stake cave caused by place for the first time and repeatedly
Position failure, this will greatly wasting manpower and material resources, influence project progress and benefit.
Therefore, during drilling platforms and fixed offshore platform butt junction location, position, orientation to fixed offshore platform
Repetition measurement is carried out just to be particularly important.Understood by investigating, fixed offshore platform is in installation process to the biography of its position, orientation
Measuring method of uniting is fairly simple, and general principle is to be arranged on fixed platform center using differential GPS antenna, and gyro compass is arranged on solid
On fixed platform parallel track line, measured for a long time, obtain position, Position result.This method has the following disadvantages：When
Precision is low, due to equipment error, alignment error and fixed offshore platform in hoisting process caused error, last measurement knot
Fruit often has relatively large deviation；Second, the cycle is grown, with danger, from crane from aerial toward piling in the sea when fixed platform is installed
Installed, installation site needs constantly calibration, and personnel and equipment are located on hanging platform for a long time, have certain safety
Hidden danger.
3rd, the content of the invention
To solve the deficiencies in the prior art, it is an object of the invention to provide a kind of fixed offshore platform position and orientation repetition measurement
Method, this method can realize the high-acruracy survey to fixed offshore platform position, orientation.
Realizing the technical scheme that the purpose of the present invention uses is：The fixed offshore platform position and the tool of orientation repetition measurement method
Body step is：
1) when, carrying out operation, staff arrives fixed platform first, and the installation for equipment is chosen suitable region and carried out
Power supply wiring.
2) equipment installation, is carried out；WADGPS antenna is installed on fixed platform well head center；Laser gyro inertia is led
Boat system is installed on fixed platform lubber line or pilot measurement line；Gyro compass is installed on fixed platform lubber line or pilot measurement
On line；Total powerstation is installed on fixed platform track lubber line；Receiver and data record apparatus are the same as laser gyro inertia
Navigation system and gyro compass are installed together.
3) after, all devices install, device power-up, set corresponding data sampling frequency, WADGPS,
After Laser-gym Inertial Navigation System and gyro compass stable working state, continuous several times survey is carried out to fixed platform position and orientation
Measure 1-2 hour；Using the position at WADGPS measurement fixed platform well head center, laser gyro inertial navigation system is utilized
System, gyro compass, the orientation of total powerstation combined system measurement drilling platforms, and these information are sent into data record apparatus.
4) after, data record apparatus synchronizes collection and storage to measurement data by software, coordinate is carried out to data
Conversion and pretreatment, filter out due to influence caused by various random noises, suspicious data is rejected, commented according to positional precision
Determine method and bearing accuracy assessment method is handled measurement data, be fixed the accurate position of platform and orientation, realize
Fixed offshore platform position, the high-acruracy survey in orientation.
Described WADGPS utilizes satellite-based differential technique, the difference correction amount sent by aeronautical satellite, to sea
Fixed platform well head center measures；Laser-gym Inertial Navigation System is used to measure fixed platform azimuth information.Electricity
Compass is used to measure fixed platform azimuth information；Total powerstation is used for fixed platform track lubber line pilot measurement, and different high
Spend track lubber line pilot measurement, auxiliary gyro compass, the orientation of Laser-gym Inertial Navigation System measurement fixed platform；Data are recorded
Taking equipment is used for the real-time collection and storage of measurement data, and carries out precision analysis to measurement data.
The beneficial effects of the invention are as follows：The fixed offshore platform position can comprehensively, accurately be surveyed with orientation repetition measurement method
The position and orientation of fixed platform are measured, at sea can reach various performance indications during real time job and error can
Control occurs, when signal interruption in effective range, and in accident, due to the High redundancy of system itself so that
Either being under various fortuitous events can ensure that system is accurately carried out, and system reliability is high.This method equipment
Install and use simple possible.Location equipment is in light weight, small volume, easy to carry, have measurement accuracy is high, cost is low, intuitive,
Security, reliability and real time characteristic.
4th, embodiment
The equipment that fixed offshore platform position of the present invention is applied with orientation repetition measurement method is mainly by WADGPS, laser
Gyroscopic inertia navigation system, gyro compass, total powerstation close the composition such as data processing equipment.Its operation principle is mainly poor using satellite-based
Divide the equipment such as GPS, total powerstation, gyro compass, laser gyro inertial navigation, using integrated navigation technology, WADGPS technology, laser
The technologies such as ranging angle measurement technique, lever arm e measurement technology and Data Post, realize the high accuracy in fixed offshore platform position, orientation
Measurement.
1st, the selection of WADGPS aerial position：In general, WADGPS aerial position should be chosen
In fixed platform well head center, but due on platform actual conditions it is more complicated, it may appear that situations below can not be by antenna
It is directly mounted at well head center：First, well head center is in overhead positions, locating personnel can not measure and install；Two
It is that well head center is not in top layer deck, top is blocked completely by upper deck.It is fixed just to be needed under both of these case
Position personnel calculate the relative position of gps antenna and well head center using the accurate meter of lever arm principle, to meet fixed platform position
Put measurement demand.
2nd, the pilot measurement of lubber line：Lubber line in fixed platform typically on the basis of the track on platform, but
Orbital position on platform is all located on middle deck substantially, and is nearby not easy to equipment installation without open area, and this is just
It needs to be determined that pilot measurement is carried out to it after the lubber line of track.First, the horizontal pilot measurement of track azimuth reference, first, uses whole station
Instrument accurately measures lubber line along track, then the open ground using laser range finder by its pilot measurement to same layer deck
Band；Second, after lubber line is gone out using a total station survey, because same layer deck is not suitable to opening for installation equipment
Wealthy area, then just need to install another total powerstation on the upper (lower) layer deck for possessing opening, two total powerstations enter
After row intervisibility, second total powerstation rotates identical angle, so as to by track lubber line pilot measurement to another layer of deck.
3rd, the mode of power supply wiring：Two ways typically is taken, when when fixed platform possesses condition of power supply, according to flat
The safety requirements and platform structure of platform carry out rational wiring power supply；Second, when fixed platform does not possess condition of power supply, it is necessary to
Towboat is cast anchor beside fixed platform, is powered, positioned for the location equipment on platform using the alternating current on towboat
Personnel can reasonably be connected up according to the relative position of towboat and fixed platform.
4th, equipment is installed：WADGPS antenna is arranged on fixed platform well head center or passes through what is accurately measured
Position, receiver are installed together with Laser-gym Inertial Navigation System and gyro compass；Laser-gym Inertial Navigation System and electricity
Compass is arranged on platform track lubber line or pilot measurement datum line, while it is parallel with lubber line to adjust heading line；Entirely
Instrument of standing is arranged on the datum mark of track lubber line and the opening of pilot measurement position；The same receiver of data record apparatus, swash
Optical circulator inertial navigation system and gyro compass are installed together.
5th, after all devices install, device power-up, corresponding data sampling frequency is set, in WADGPS, swashed
After optical circulator inertial navigation system and gyro compass stable working state, continuous several times measurement is carried out to fixed platform position and orientation
1-2 hour；Using the position at WADGPS measurement fixed platform well head center, using Laser-gym Inertial Navigation System,
The orientation of gyro compass, total powerstation combined system measurement drilling platforms, and these information are sent into data record apparatus.
6th, after data record apparatus synchronizes collection and storage to measurement data by software, coordinate is carried out to data and turned
Change and pre-process, filter out due to influence caused by various random noises, suspicious data is rejected, evaluated according to positional precision
Method and bearing accuracy assessment method are handled measurement data, are fixed the accurate position of platform and orientation, realize sea
Upper fixed platform position, the high-acruracy survey in orientation.
7th, the technical performance index and software function of this method application apparatus
(1) WADGPS
Positioning precision：0.15 meter
Rate accuracy：0.02 meter per second
Data updating rate：10Hz
(2) total powerstation
Angle measurement accuracy：1″
Range accuracy：(1+1ppm×D)mm
Stream time：More than 24 hours
(3) gyro compass
Course precision：Static 0.05 ° of sec φ of ＜, 0.2 ° of sec φ of dynamic ＜
(4) Laser-gym Inertial Navigation System
Course precision：0.02 ° of sec φ of ＜
Horizontal attitude precision：0.01 ° of ＜
The dynamic alignment time：15min
(5) laser range finder
Range accuracy：(1+1ppm×D)mm
(6) software function
1) resolving of WADGPS information；
2) pretreatment and the error correction of Laser-gym Inertial Navigation System, the resolving of gyro compass information and correlation；
3) information fusion of Laser-gym Inertial Navigation System, gyro compass, total powerstation；
4) presentation of information；
5) Data Post function.
8th, key technology and innovative point
(1) data acquisition is carried out in strict accordance with the standard of time synchronized, with reference to the performance of each several part equipment, sets phase
The frequency answered, the synchronization of the data such as Laser-gym Inertial Navigation System, gyro compass is realized by software in data record apparatus
Collection and storage, and data are pre-processed, filter out due to influence caused by various random noises.
(2) data collected for each equipment of system, data processing is carried out first into data record apparatus, and to swashing
Optical circulator inertial navigation system, gyro compass and total station survey data make necessary amendment before participating in resolving.With reference to army of state
Mark uses loose (Thompson) the singular value elimination method of Tom, whether contains singular value in inspection data, using 5 points of Lagranges
Laser-gym Inertial Navigation System, gyro compass, total powerstation can be lost data and mended out by interpolation method.
(3) in operation process, due to equipment itself precision, installation site, deck deformation, lever arm effect and operation on the sea
The reasons such as polygons, complexity and the uncertainty of environment, it have effectively achieved the analysis and compensation of error.
(4) uniformity of multi-data source and control errors are solved the problems, such as, realize the fusion of multisensor Federal Information, it is real
Shi Xinggao, fault-tolerance are strong.
(5) because measuring apparatus is arranged on different positions, error will be brought in unified resolve, utilizes inertial navigation system
The stem that system and gyro compass provide to and other equipment installation site, thoughts of returning home meter is carried out to the position of measuring apparatus sensor
Calculate, can obtain relatively accurate result.
Claims (2)
1. a kind of fixed offshore platform position and orientation repetition measurement method, it is characterised in that：The specific method step of use is：
1) when, carrying out operation, staff arrives fixed platform first, and the installation for equipment is chosen suitable region and is powered
Wiring；
2) equipment installation, is carried out；WADGPS antenna is installed on fixed platform well head center；Laser gyro inertial navigation system
System is installed on fixed platform lubber line or pilot measurement line；Gyro compass is installed on fixed platform lubber line or pilot measurement line
On；Total powerstation is installed on fixed platform track lubber line；Receiver and data record apparatus are led with laser gyro inertia
Boat system and gyro compass are installed together；
3) after, all devices install, device power-up, corresponding data sampling frequency is set, in WADGPS, laser
After gyroscopic inertia navigation system and gyro compass stable working state, continuous several times measurement 1- is carried out to fixed platform position and orientation
2 hours；Using the position at WADGPS measurement fixed platform well head center, Laser-gym Inertial Navigation System, electricity are utilized
The orientation of compass, total powerstation combined system measurement drilling platforms, and these information are sent into data record apparatus；
4) after, data record apparatus synchronizes collection and storage to measurement data by software, Coordinate Conversion is carried out to data
And pretreatment, filter out due to influence caused by various random noises, suspicious data is rejected, according to positional precision evaluation side
Method and bearing accuracy assessment method are handled measurement data, are fixed the accurate position of platform and orientation, are realized marine
Fixed platform position, the high-acruracy survey in orientation.
2. fixed offshore platform position as claimed in claim 1 and orientation repetition measurement method, it is characterised in that：Described satellite-based is poor
GPS is divided to utilize satellite-based differential technique, the difference correction amount sent by aeronautical satellite, to fixed offshore platform well head center
Measure；Laser-gym Inertial Navigation System is used to measure fixed platform azimuth information；Gyro compass is used to measure fixed platform
Azimuth information；Total powerstation is used for fixed platform track lubber line pilot measurement, and different height track lubber line pilot measurement,
Aid in gyro compass, the orientation of Laser-gym Inertial Navigation System measurement fixed platform；Data record apparatus is used for measurement data
Collection in real time and storage, and precision analysis is carried out to measurement data.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511035485.9A CN105625287B (en) | 2015-12-31 | 2015-12-31 | Fixed offshore platform position and orientation repetition measurement method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511035485.9A CN105625287B (en) | 2015-12-31 | 2015-12-31 | Fixed offshore platform position and orientation repetition measurement method |
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| Publication Number | Publication Date |
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| CN105625287A CN105625287A (en) | 2016-06-01 |
| CN105625287B true CN105625287B (en) | 2018-01-26 |
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Citations (3)
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|---|---|---|---|---|
| US20060293853A1 (en) * | 2005-06-23 | 2006-12-28 | Raytheon Company | Aided INS/GPS/SAR navigation with other platforms |
| CN102975816A (en) * | 2012-12-17 | 2013-03-20 | 中国人民解放军92941部队 | Docking and locating guide method of self-elevating drilling platform and fixed sea platform |
| CN103434610A (en) * | 2013-09-03 | 2013-12-11 | 哈尔滨工程大学 | Docking positioning guiding method for offshore oil drilling platform |
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2015
- 2015-12-31 CN CN201511035485.9A patent/CN105625287B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060293853A1 (en) * | 2005-06-23 | 2006-12-28 | Raytheon Company | Aided INS/GPS/SAR navigation with other platforms |
| CN102975816A (en) * | 2012-12-17 | 2013-03-20 | 中国人民解放军92941部队 | Docking and locating guide method of self-elevating drilling platform and fixed sea platform |
| CN103434610A (en) * | 2013-09-03 | 2013-12-11 | 哈尔滨工程大学 | Docking positioning guiding method for offshore oil drilling platform |
Non-Patent Citations (1)
| Title |
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| "基于天文观测的经纬仪基准方位测量功能拓展";孙庆祥等;《海洋测绘》;20110816;第31卷(第2期);第65-67页第1-5节 * |
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