CN107024227A - A kind of combined type TT＆C system installed for immersed tube and method - Google Patents
A kind of combined type TT＆C system installed for immersed tube and method Download PDFInfo
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- CN107024227A CN107024227A CN201710177038.XA CN201710177038A CN107024227A CN 107024227 A CN107024227 A CN 107024227A CN 201710177038 A CN201710177038 A CN 201710177038A CN 107024227 A CN107024227 A CN 107024227A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The present invention relates to seabed road engineering, particularly a kind of combined type TT＆C system installed for immersed tube, the combined type TT＆C system that the present invention is provided, the difference of positioning precision is required according to head end during tube coupling sinking and tail end, in head end there is provided sonar transponder, simultaneously measurement tower, and the fixed installation RTK measurement apparatus on tower are provided with tail end；Using when, the response sonar set that tube coupling is arranged on tube coupling top surface is installed using being arranged on the response sonar set installed on tube coupling and treat in tube coupling head end（Transponder）Carry out relative positioning, and then the exact position of the position acquisition tube coupling head end using installation ship；And in tail end application RTK positioning modes, absolute fix is carried out to the RTK devices on measurement tower, and then obtain the exact position of tube coupling tail end.The particular location of the tube coupling in installation process can be accurately obtained by the system, accurate reference data is provided for the installation control of tube coupling.
Description
Technical field
The present invention relates to seabed tunnel engineering, particularly a kind of combined type TT＆C system installed for immersed tube.
Background technology
Seabed tunnel is universal because its influence to shipping is small as the important cross-domain traffic infrastructure form in waters
It is considered the first choice across shipping crowded waters, and it is most commonly seen with immersed tube tunnel in seabed tunnel construction applications, sink
Pipe tunnel is that prefabricated immersed tube tube coupling is segmented in the deep depressed place in bank with elder generation, then will be segmented prefabricated cube transportation to target installation by tugboat
The mode that the water that sequentially sunk behind position is installed is built up.During tube coupling sinking, the positioning to tube coupling position need to be kept from beginning to end
Monitoring；And at tube coupling length longer (such as tube coupling length is more than 80m), the position monitor data to tube coupling head end can be produced in tail end
Raw larger error, therefore usually require to carry out position monitor to the head end and tail end of tube coupling simultaneously overall to tube coupling to ensure
Monitoring；But during tube coupling sinking, tube coupling head end (tube coupling head end need to be with having installed tube coupling abutting joint) and tube coupling tail end
(free end) is different to positioning accuracy request, and because tube coupling head end needs to dock with having installed tube coupling, therefore its needs is higher
Positioning precision.Different positioning accuracy requests brings great difficulty to the positioning work in tube coupling installation process.
The content of the invention
The goal of the invention of the present invention is that offer is a kind of both can provide higher precision position monitor for tube coupling head end, simultaneously
The combined type TT＆C system that immersed tube is installed that is used for of position monitor can be carried out to tube coupling tail end again.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of combined type TT＆C system installed for immersed tube, including,
Transponder, the transponder at least two is arranged on tube coupling head end upper surface；For respond sent on installation ship by
The Sonar Signal that ripple device is sent, to determine the real time position of transponder；Answered it should be noted that transponder herein refers both to sonar
Device is answered, send and is referred both to sonar unit of receiving and sending messages by ripple device.
Tower is measured, is fixedly installed on tube coupling tail end upper surface, at least two RTK measurement dresses are provided with the measurement tower
Put；For positioning two RTK measurement apparatus positions in real time.
Further, three RTK measurement apparatus are provided with the measurement tower.
Further, distance is more than 8m between the RTK measurement apparatus on the measurement tower.
Further, it is additionally provided with the prism positioned for total powerstation on the measurement tower.
Further, the measurement tower is triangular section steel tower；The height of the triangular section steel tower higher than the depth of water-
Tube coupling height, it is preferred that the tower top position (or according to position of RTK measurement apparatus) of the measurement tower should be sink to the bottom in tube coupling
Afterwards, higher than at least 6 meters of the water surface.
Further, the line of described two transponders is parallel with the front end face of the tube coupling, and between two transponders
Distance be more than tube coupling width 1/2nd.
Further, described two transponders are symmetrical arranged using tube coupling upper surface axis as line of symmetry.
Further, the transponder be three, three transponders it is not conllinear be arranged on tube coupling head end upper surface
On.
Further, it is additionally provided with height measuring device at each transponder.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：Provided by the present invention for heavy
The combined type TT＆C system that pipe is installed, is required the difference of positioning precision according to head end during tube coupling sinking and tail end, in head
End is provided with sonar transponder, while being provided with measurement tower, and the fixed installation RTK measurement apparatus on tower in tail end；Using when,
The response sonar set installed in tube coupling head end using being arranged on tube coupling treats installation tube coupling and is arranged on answering for tube coupling top surface
Answer sonar set and carry out relative positioning；And in tail end application RTK positioning modes, the coordinate of RTK measurement apparatus is gathered, so as to measurement
RTK devices on tower carry out absolute fix, and then obtain the exact position of tube coupling tail end.Peace can accurately be obtained by the system
The particular location of tube coupling during dress, accurate reference data is provided for the installation control of tube coupling.
Brief description of the drawings
Fig. 1 is transponder and measurement tower schematic view of the mounting position in the embodiment of the present invention.
Marked in figure：The transponders of 11- first, the transponders of 12- second, 13- trisponders；2- measures tower, and 3- tube couplings are first
End, 31- tube coupling front end faces, 4- tube coupling tail ends.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
Embodiment 1：As shown in figure 1, the present embodiment provides a kind of combined type TT＆C system installed for immersed tube, including should
Answer device and measurement tower；
The transponder at least two, is arranged on tube coupling head end upper surface；Sent for responding on installation ship by ripple device hair
The Sonar Signal sent, to determine the real time position of transponder；In the present embodiment, the transponder includes the first transponder, second
Three transponders such as transponder, trisponder；Meanwhile, in the present embodiment, the line of the first transponder and the second transponder with
The front end face of the tube coupling is parallel, and the distance between the first transponder and the second transponder be more than tube coupling width two/
One.Under preferable case, the first transponder is symmetrical arranged with the second transponder using tube coupling upper surface axis as line of symmetry.
Meanwhile, the line of trisponder and the first transponder in the present embodiment should perpendicular to the first transponder and second
Answer the line of device；I.e. three transponders are located at three summits of a right angled triangle respectively；Height is additionally provided with each transponder
Measurement apparatus is spent, in the present embodiment, the height measuring device is the depth gauge of depth of sounding the depth of the water, and it is used for measurement three in real time
The real-time height (or residing depth of water) of transponder, to judge the levelness of tube coupling；
The measurement tower is fixedly installed on tube coupling tail end upper surface, and at least two RTK surveys are provided with the measurement tower
Measure device；For positioning two RTK measurement apparatus positions in real time.
Under preferable case, three RTK measurement apparatus are provided with the measurement tower, two of which RTK measurement apparatus is used for
Positioning, a RTK measurement apparatus is used for standby；And in yet some other cases, being additionally provided with the RTK measurement apparatus is used for
The prism of total powerstation positioning, in RTK measurement apparatus because various factors can not be in use, be surveyed using total station prism instead of RTK
Amount device is positioned.
It is preferred that, the RTK measurement apparatus on the measurement tower is respectively positioned on same level height, and between RTK measurement apparatus
Distance is more than 8m, in some cases, the length of side of measurement tower wanting at a distance of 8m it is impossible to meet RTK measurement apparatus in itself
Ask, at this point it is possible to by setting telescopic support on measurement tower, RTK sides device is stretched out from measurement tower tower body, so that
Meet required distance between each RTK measurement apparatus.
Because tube coupling application environment is complicated, when such as at sea carrying out immersed tube work, wind and waves is frequently encountered, therefore,
Measure tower particularly significant relative to the stability of tube coupling, in light of this situation under, it is disconnected for triangle that the present embodiment preferably measures tower
Face steel tower；The height of the triangular section steel tower is higher than the depth of water-tube coupling height, in fact, the triangular section steel tower
Height should be met, and immersed tube is sink to behind the bottom, and the position of pinnacle of a pagoda or installation RTK measurement apparatus is higher than the water surface at least 6m, because,
RTK measurement apparatus only in 6m minimum higher than the water surface, just there is more preferable positioning precision；The triangular section that the present embodiment is selected
Steel tower is up-thin-low-thick structure, is 6.4m in the section length of side with tube coupling upper surface installation site, the triangular section steel tower
~7.2m, preferably 7m；And in middle high section, the section length of side of the triangular section steel tower is 4.5m~5.5m, preferably 4.8m；Together
When in order to adapt to different water depth, the triangular section steel tower uses merogenesis assembly type, wherein, be joined directly together with tube coupling upper surface
Base part highly be 4m~5m, preferably 4.5m；And in middle and high end, it is highly 3m~4m, preferably 4m often to save steel tower.Can basis
The actual depth of water on the sinking ground of tube coupling sets the height of the triangular section steel tower.
During concrete application, the positioning of tube coupling head end relies on the first transponder of tube coupling head end upper surface, the second response
The transponders such as device；During work, the transponder positioned at tube coupling head end upper surface receives the sonar that sending on installation ship is sent by ripple device
Specify information is included in signal, the Sonar Signal, the specify information is including but not limited to such as identification information (is used to judge the sound
Whether signal is to be sent to oneself, rather than other transponders or send by ripple device), measurement instruction etc.；Transponder receives the sound
Can return to response Sonar Signal after signal, the response Sonar Signal of transponder equally include identification information, measurement instruction and
One or more in the information such as the range information of response measurement instruction.
First transponder, the second transponder are additionally operable in addition to returning to the positional information of itself and have installed tube coupling upper table
The transponder installed on face carries out interactive positioning, to judge tube coupling to be installed and install the relative position between tube coupling；Such as,
One transponder or the second transponder are received after the detection instruction sent and sent by ripple device, to positioned at installed installed on tube coupling the
Four transponders, the 5th transponder send detection sonar signal, and the transponder of band the 4th, the 5th transponder are returned after response signal, obtained
To the distance of itself transponder of distance the 4th, the 5th transponder, above-mentioned range information is fed back to and sent by ripple device；On installation ship
Processor is received after the above-mentioned range information for sending and being sent by ripple device, according to tube coupling to be installed and the actual bit for having installed tube coupling
Put, treat installation tube coupling and be adjusted, to cause tube coupling to be installed and install the enough precise alignments of pipe energy-saving.It should be noted that
In order that must measure more precisely, usual first transponder, the second transponder, the installation position of the 4th transponder and the 5th transponder
Put and meet following condition：Tube coupling to be installed and installed tube coupling docking after the completion of, four transponders respectively be located at one square
In four vertex positions, other embodiment, it also may be such that positioned at tube coupling and four responses on tube coupling be installed
Device is located at four apexes of a rectangle respectively；When each transponder meets above-mentioned condition, its measurement accuracy can obtain substantially
Lifting.
And the RTK measurement apparatus that the positioning of tube coupling tail end is relied on measurement tower, need to be in tube coupling sinking during concrete application
The distance of neighbouring bank or offshore sea setting GPS reference station, base station and tube coupling sinking point should meet the need of RTK measurements
Will；During immersed tube sinking, the RTK measurement apparatus on measurement tower is positioned in real time at GPS reference station, due to RTK
The position of measurement apparatus and tube coupling is relatively fixed, and each good RTK measurement apparatus and each characteristic point phase of tube coupling tail end are being demarcated in advance
On the premise of to position, the physical location of each characteristic point of tube coupling tail end can be obtained by the physical location of RTK measurement apparatus.It should note
Anticipate, for convenience the transportation by driving of tube coupling, in most cases, measurement tower is all just in water after cube transportation to the sinking water surface
What face was installed, now, the tube coupling of floating across the sea can be rocked ceaselessly due to the influence of Hydroclimate (such as strong wind, wave),
So as to cause the coordinate at its each position (including RTK devices on measurement tower and measurement tower) ceaselessly to convert, this for
(demarcation refers to for the demarcation of RTK devices：Determine the relative position of RTK measurement apparatus and tube coupling characteristic point) it is very unfavorable, specifically, I
Can adopt RTK devices are demarcated with the following method：
(two summits for including tube coupling tail end) set a tube coupling RTK respectively at the characteristic point of tube coupling tail end upper surface four
Measurement apparatus；Four characteristic points are located at four summits of a rectangular or square respectively；Anchor point in the application is to refer to
The coordinate of the spatial shape of reflection tube coupling gathers position on the whole, and characteristic point typically can be：Such as, any summit of tube coupling,
The end points of the axis of tube coupling arbitrary face and midpoint, tube coupling central point etc., set and can be described as tube coupling again at tube coupling RTK measurement apparatus
Anchor point, is demarcated using following steps to tube coupling：
S100：Arbitrary characteristics point using tube coupling sets tube coupling coordinate system, determines each position of tube coupling in tube coupling coordinate as origin
Position and each coordinate of tube coupling anchor point in tube coupling coordinate system in system；Generally, this step can be in dry-docking or deep depressed place
(i.e. before cube transportation) is completed, and due to tube coupling RTK measurement apparatus to be fixedly installed on tube coupling anchor point, and its relative position is not
Become, therefore tube coupling locating point position is once determined in dry-docking, then on the sea for not stopping to rock, positioned at tube coupling anchor point
RTK measurement apparatus location information can still prepare expression the anchor point position.It should be noted that certain situation
Under, except above-mentioned obvious characteristic point, some are apart from these obvious characteristic points or apart from tube coupling certain edges thereof along specific range
Point can also as tube coupling characteristic point, a such as summit specific range apart from tube coupling, and the point is to two of tube coupling
The equidistant point at edge can also serve as characteristic point, in fact, it is considered that setting the premise of tube coupling coordinate system
Under, the point for having arbitrarily determined coordinate in tube coupling coordinate system on tube coupling can serve as characteristic point.
Wait tube coupling to reach the installation site water surface, or reach after the water surface site similar to installation site hydrological environment,
In tube coupling upper surface, specified location installs measurement tower, and the setting measurement tower RTK measurement apparatus on measurement tower；Measurement tower is installed
Measurement tower RTK measurement apparatus and the relative position of tube coupling are determined into rear use following steps：
S200：Gather the positioning of M minutes each tube coupling RTK measurement apparatus and the RTK measurement apparatus on measurement tower
Information；Each tube coupling RTK measurement apparatus of synchronization and the location information of measurement tower RTK measurement apparatus are considered as one group of positioning number
According to e.g., in the present embodiment, one group of location data includes four tube coupling RTK measurement apparatus of synchronization and three are located at survey
Measure totally seven location informations of RTK measurement apparatus on tower.
General, in step S200, if the time once gathered is too short, e.g., M is less than 5 minutes, then determining according to acquisition
Position information calculate each be located at measurement tower on RTK measurement apparatus error of coordinate in tube coupling coordinate system it is larger, and if
The overlong time once gathered, such as M are more than 15 minutes, can cause the location information data of collection excessive again, cause to calculate complicated.
Therefore, in the present embodiment, our preferred 5≤M≤15.
S300：According to every group of location data, calculate each be located at measurement tower on RTK measurement apparatus in tube coupling coordinate system
Coordinate, and the result calculated according to each group, calculate this period each RTK measurement apparatus on measurement tower in tube coupling coordinate system
The average value S of middle coordinate.For each measurement tower RTK measurement apparatus, the average value S of its coordinate in tube coupling coordinate system by
This when segment record the coordinate that calculates of all groups of location datas it is cumulative and divided by group number obtain.
It should be noted that when calculating coordinate of the measurement tower RTK measurement apparatus in tube coupling coordinate system using each group of data, if should
Group location data in, the location information of any one RTK measurement apparatus is unlocked, then abandon whole group location data without；Just originally
For embodiment, i.e. (in the present embodiment, seven RTK measurement apparatus include four tube coupling RTK measurement dresses to seven RTK measurement apparatus
Put and three measurement tower RTK measurement apparatus) the group data that lock of location information can just be used；It is well known that fixed
The locking of position information refers to that the positioning of the RTK measurement apparatus is reached within designated precision, and change can be set as needed；This reality
Apply in example, the location information locking of six RTK measurement apparatus refers to when positioning precision is less than 1cm in horizontal direction and vertical direction
When upper positioning precision is less than 2cm.
S400：Respectively in different time sections repeat step S200 and step S300；And calculate different periods and each measure tower
The overall average of RTK measurement apparatus coordinate in tube coupling coordinate system
In the present embodiment, we perform step S200 and step S300 respectively from six different periods, to obtain not
With the average value S of the measurement tower RTK measurement apparatus coordinate in tube coupling coordinate system of each in the period, with the RTK on measurement tower
Exemplified by measurement apparatus 21：Assuming that our the RTK measurement apparatus 21 that obtains in six different time sections coordinates in tube coupling coordinate system
Average value be S respectively1、S2、S3、S4、S5、S6；Then the total of coordinate in tube coupling coordinate system of different periods RTK measurement apparatus 21 puts down
AverageNow, we assert RTK measurement apparatus 21 in tube coupling coordinate system
Coordinate isSame reason, we can also obtain measurement tower on RTK measurement apparatus 22 in tube coupling coordinate system
CoordinateCoordinate of the RTK measurement apparatus 23 in tube coupling coordinate systemIn the immersed tube installation process of follow-up tube coupling,
We are by positioning the real-time positioning informations of two in three RTK measurement apparatus being located on measurement tower, then by it in pipe
Coordinate in section coordinate system is such asCalculate the physical location of each characteristic point of tube coupling tail end.
In practical application, in step 400, also comprising step S401：Compare what is obtained in six periods according to residual error inspection technique
Any measurement tower RTK measurement apparatus coordinate average value S in tube coupling coordinate system1、S2、S3、S4、S5、S6Uniformity the step of, when any
Any one measurement tower RTK measurement apparatus residual error of coordinate average value in tube coupling coordinate system in section transfinites, then abandons the period
All data, e.g., S are found by residual error inspection technique1Residual error transfinite, then abandon the first period acquisition all data.For appointing
For one measurement tower RTK measurement apparatus, itsRather than
And in some cases, if all in the data of six periods, when having more than 1/3rd and being abandoned, for example,
Data S in six periods1、S2、S3Residual error transfinite, exceeded 1/3rd periods in six periods, then day part
Only it is left S in data4、S5、S6, this demarcation failure is now represented, all data that this demarcation is obtained are abandoned, from new selection
Time is demarcated.
It is additionally provided with it should be noted that being set on the measurement tower at measurement tower RTK measurement apparatus for total powerstation positioning
Prism, when under some hydrologic conditions or weather conditions, RTK measurement apparatus occur and can not position, whole station is switched in time
Instrument prism realizes the positioning to the position, to ensure the complete progress of whole calibration process.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (9)
1. a kind of combined type TT＆C system installed for immersed tube, it is characterised in that including,
Transponder, the transponder at least two is arranged on tube coupling head end upper surface；Sent for responding on installation ship by ripple device
The Sonar Signal of transmission, to determine the real time position of transponder；
Tower is measured, is fixedly installed on tube coupling tail end upper surface, at least two RTK measurement apparatus are provided with the measurement tower；
For positioning two RTK measurement apparatus positions in real time.
2. combined type TT＆C system as claimed in claim 1, it is characterised in that three RTK surveys are provided with the measurement tower
Measure device.
3. combined type TT＆C system as claimed in claim 1, it is characterised in that RTK measurement apparatus on the measurement tower it
Between distance be more than 8m.
4. combined type TT＆C system as claimed in claim 1, it is characterised in that be additionally provided with the measurement tower for whole station
The prism of instrument positioning.
5. combined type TT＆C system as claimed in claim 1, it is characterised in that the measurement tower is triangular section steel tower；
The height of the triangular section steel tower is higher than the depth of water-tube coupling height.
6. combined type TT＆C system as claimed in claim 1, it is characterised in that the line of described two transponders and the pipe
The front end face of section is parallel, and the distance between two transponders are more than 1/2nd of tube coupling width.
7. combined type TT＆C system as claimed in claim 6, it is characterised in that described two transponders are with tube coupling upper surface
Axis is symmetrical arranged for line of symmetry.
8. combined type TT＆C system as claimed in claim 1, it is characterised in that the transponder is three, should described in three
Answer that device is not conllinear to be arranged on tube coupling head end upper surface.
9. combined type TT＆C system as claimed in claim 1, it is characterised in that be additionally provided with elevation carrection at each transponder
Device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710177038.XA CN107024227A (en) | 2017-03-22 | 2017-03-22 | A kind of combined type TT＆C system installed for immersed tube and method |
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| CN201710177038.XA CN107024227A (en) | 2017-03-22 | 2017-03-22 | A kind of combined type TT＆C system installed for immersed tube and method |
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| CN112000069A (en) * | 2020-07-24 | 2020-11-27 | 中交第一航务工程局有限公司 | Integrated measurement and control system for floating transportation and installation of open sea immersed tube and measurement and control method thereof |
| CN116625334A (en) * | 2023-07-20 | 2023-08-22 | 中交第一航务工程局有限公司 | Positioning method for sinking and butting sinking pipes |
| CN117452413A (en) * | 2023-12-22 | 2024-01-26 | 深圳大学 | Method and system for positioning pipe joint installation sonar of immersed tunnel |
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