CN109490927B - Positioning system and positioning method for underwater leveling frame - Google Patents

Positioning system and positioning method for underwater leveling frame Download PDF

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Publication number
CN109490927B
CN109490927B CN201811600860.3A CN201811600860A CN109490927B CN 109490927 B CN109490927 B CN 109490927B CN 201811600860 A CN201811600860 A CN 201811600860A CN 109490927 B CN109490927 B CN 109490927B
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beacon
array
acoustic transceiver
measuring
coordinates
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CN109490927A (en
Inventor
王崇明
田春和
隋海琛
杨鲲
王晓进
秦建
杨海忠
王永强
雷鹏
安永宁
马深
秦金涛
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Tianjin Research Institute for Water Transport Engineering MOT
Tianjin Water Transport Engineering Survey and Design Institute
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Tianjin Research Institute for Water Transport Engineering MOT
Tianjin Water Transport Engineering Survey and Design Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/022—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention discloses an underwater leveling frame positioning system, which comprises an underwater leveling frame, a measuring ship, a positioning beacon system, a matrix beacon system and a matrix beacon calibration system, wherein the underwater leveling frame is positioned on the measuring ship; the positioning beacon system comprises a plurality of positioning beacons arranged on the leveling frame; the array beacon system comprises a plurality of array beacons arranged around the leveling area; the system comprises a GPS for positioning, a compass for measuring the heading of the measuring ship, a gesture sensor for measuring the motion gesture of the measuring ship and an acoustic transceiver for measuring the distance between the measuring ship and the positioning beacon, wherein the GPS, the compass, the gesture sensor and the acoustic transceiver are all fixed on the measuring ship; the measuring vessel is located above the array beacon when the array beacon is calibrated, and the measuring vessel is located above the leveling rack when the leveling rack is positioned. The invention also discloses a positioning method of the underwater leveling frame. The invention realizes the absolute positioning and high-precision relative positioning of the leveling frame under water, and improves the leveling operation efficiency.

Description

Positioning system and positioning method for underwater leveling frame
Technical Field
The invention relates to a leveling frame positioning system and a positioning method, in particular to an underwater leveling frame positioning system and a positioning method thereof.
Background
At present, more and more river-crossing and sea-crossing channels in China are built by adopting a immersed tube method, and the immersed tube type river-crossing and sea-crossing channel has the outstanding advantages of being shallow in depth, large in section, capable of bearing large-flow traffic by a shorter road-tunnel transition section, and suitable for urban central areas. The foundation leveling is a critical process in the construction of tunnels by a immersed tube method, and a large platform type leveling ship with lifting supporting legs is generally adopted for leveling operation, and more than two GPS are adopted for positioning. However, the platform type leveling ship has high manufacturing cost, complex operation, long manufacturing period, general customization for special engineering and poor universality, and the pile plugging and unplugging has higher risk and complex typhoon evacuation procedure. At present, the existing immersed tube tunnel engineering test in China adopts an underwater leveling frame to carry out foundation leveling construction, and a GPS (global positioning system) can only be positioned above the water surface and can not be used for positioning the underwater leveling frame.
Disclosure of Invention
The invention provides an underwater leveling frame positioning system capable of accurately positioning and a positioning method thereof, which aim to solve the technical problems in the prior art.
The invention adopts the technical proposal for solving the technical problems in the prior art that: an underwater leveling frame positioning system comprises an underwater leveling frame, a measuring ship, a positioning beacon system, a matrix beacon system and a matrix beacon calibration system; the positioning beacon system comprises a plurality of positioning beacons arranged on the leveling frame; the array beacon system comprises a plurality of array beacons arranged around the leveling area; the array beacon calibration system comprises a GPS for positioning, a compass for measuring the heading of the measuring ship, a posture sensor for measuring the movement posture of the measuring ship and an acoustic transceiver for measuring the distance between the array beacon and the positioning beacon, wherein the GPS, the compass, the posture sensor and the acoustic transceiver are all fixed on the measuring ship; the survey vessel is located above the array beacon when the array beacon is calibrated, and the survey vessel is located above the leveling rack when the leveling rack is positioned.
Further, the positioning beacons are provided with four, and are respectively arranged on the four corner points of the leveling frame.
Further, the array beacons are arranged in a rectangular array.
Further, three array beacons are arranged on the long side of the rectangular array, and two array beacons are arranged on the short side of the rectangular array.
Further, wherein the acoustic transceiver is mounted on a side of the survey vessel having a water penetration depth exceeding the bottom of the vessel.
Further, a data processing system is included that receives and processes signals from the GPS, compass, attitude sensor, and acoustic transceiver.
The invention also provides an underwater leveling frame positioning method by utilizing the underwater leveling frame positioning system, which comprises the following steps:
firstly, arranging rectangular matrix beacons around a leveling area;
step two, installing and fixing a GPS, a compass, an attitude sensor and an acoustic transceiver on a measuring vessel;
measuring the geographic coordinates of the body by using a GPS, and measuring the heading by using a compass; measuring the motion gesture of the ship by using a gesture sensor; measuring the three-dimensional offset of the GPS and the acoustic transceiver;
step four, positioning a measuring ship above one of the array beacons, calibrating the array beacons, and calculating the position coordinates of each array beacon relative to a geodetic coordinate system;
step five, installing a fixed positioning beacon on the leveling frame body;
step six, placing the leveling frame in an initial area of the underwater engineering;
step seven, the measuring ship is positioned above the leveling frame, and an acoustic transceiver is used for measuring the distance R between the array beacon and the positioning beacon;
step eight, calculating the positions of the positioning beacons according to the positions of the array beacons and the distance R, so as to determine the positions of the leveling frames;
and step nine, moving the leveling frame and the measuring ship, and repeating the steps six to eight until the leveling engineering is finished.
Further, the specific method of the fourth step is that firstly, according to the data measured in the third step, the three-dimensional coordinate position of the acoustic transceiver is calculated; measuring the distance between the base station and each array beacon by using an acoustic transceiver; and then constructing a mathematical model taking the three-dimensional coordinates of the acoustic transceiver, the three-dimensional coordinates of each array beacon and the distance between the acoustic transceiver and each array beacon as parameters to obtain the three-dimensional coordinates of each array beacon.
Further, the calculation formulas for calculating the three-dimensional coordinate position of the acoustic transceiver are formulas 1 to 3:
X T ＝X G +d x * sinH cosP (1)
Y T ＝Y G +d y * cosH cosK (formula 2)
Z T ＝Z G +d z * cosK cosP (3)
Wherein, in the formulas 1 to 3:
X T is the X-direction coordinate of the acoustic transceiver;
Y T is the Y-coordinate of the acoustic transceiver;
Z T is the Z-direction coordinate of the acoustic transceiver;
X G is the X-direction coordinate of the GPS;
Y G the Y-direction coordinate of the GPS;
Z G the Z-direction coordinate of the GPS;
h, measuring the heading of the ship;
k, measuring the roll angle of the ship;
p, measuring the pitch angle of the ship;
d x the offset is the X-direction offset between the acoustic transceiver and the GPS;
d y y-direction offset between the acoustic transceiver and GPS;
d z is the Z-offset between the acoustic transceiver and the GPS.
Further, the mathematical model is constructed according to the principle of indirect adjustment, and comprises the following steps:
step a-1, firstly, constructing a distance function between an acoustic transceiver and a certain array beacon:
l=f (x) +Δl (formula 4)
Step a-2, linearizing the distance function to obtain the following formula:
step a-3, solving an error equation as follows:
step a-4, the measuring ship performs circumferential running along the array beacon, the distance between the acoustic transceiver and the array beacon can be obtained by each measurement, and the following matrix can be constructed by setting n measurement distances in total:
l＝BX S (7)
Then there are:
X S ＝ (B T B) -1 B T l (8)
Wherein:
ΔL i ＝Δl i +L i -f(x) i 0 (10)
The coordinates of the obtained array beacon are:
wherein in the formulae 4 to 14,
xs is a distance correction function between the acoustic transceiver and the array beacon;
b, a coefficient to be solved;
l is a measurement value of the inclined distance between the acoustic transceiver and the array beacon;
l, is the true value of the inclined distance between the acoustic transceiver and the array beacon;
Δl is a measurement error of a true value of the skew distance between the acoustic transceiver and the array beacon;
f (x) is a distance function between the acoustic transceiver and the array beacon;
L i i=1, n, which is the measurement of the i-th measured skew distance between the acoustic transceiver to the array beacon;
Δl i the measurement error of the true value of the i-th measured skew distance between the acoustic transceiver and the array beacon is i=1, n;
f(x) 0 i i=1, n as a function of the distance from the acoustic transceiver to the i-th measurement of the array beacon;
correction of coordinates from the acoustic transceiver to the array beacon;
correction of coordinates from the acoustic transceiver to the array beacon;
correction of coordinates from the acoustic transceiver to the array beacon;
X i for the X-direction coordinates of the acoustic transceiver at the ith measurement, i=1, n;
Y i for the Y-coordinate of the acoustic transceiver at the ith measurement, i=1, n;
Z i for the Z-coordinate of the acoustic transceiver at the ith measurement, i=1, n;
x is the true value of the X-direction coordinate of the matrix beacon coordinate;
y is the true value of the Y-direction coordinate of the matrix beacon coordinate;
z is the true value of the Z-direction coordinate of the matrix beacon coordinate;
X 0 an approximation of the X-direction coordinates of the matrix beacon coordinates;
Y 0 an approximation of the Y-direction coordinates of the matrix beacon coordinates;
Z 0 is an approximation of the Z-coordinate of the matrix beacon coordinates.
The invention has the advantages and positive effects that: transmitting the absolute position to each array beacon through a shipborne array beacon calibration system, and obtaining a high-precision relative position through acoustic ranging and adjustment processing of the array beacons; the positioning beacon arranged on the leveling frame can obtain the position of the leveling frame through the acoustic ranging between the positioning beacon and the matrix beacon, and the accurate lap joint between two adjacent base strips is realized. Therefore, the absolute positioning of the leveling frame under water and the relative positioning with higher precision are realized, so that the splicing between the foundation strips after leveling is more accurate, and the efficiency of leveling operation is improved.
Drawings
FIG. 1 is a schematic diagram of the working principle of the present invention;
fig. 2 is a schematic diagram of a beacon layout of a positioning beacon system and an array beacon system in the present invention.
In the figure: 101. a first array beacon; 102. a second array beacon; 103. a third array beacon; 104. a fourth array beacon; 105. a fifth array beacon; 106. a sixth array beacon; 200. leveling rack; 201. a first positioning beacon; 202. a second positioning beacon; 203. a third positioning beacon; 204. and a fourth positioning beacon.
Detailed Description
For a further understanding of the invention, its features and advantages, reference is now made to the following examples, which are illustrated in the accompanying drawings in which:
referring to fig. 1 to 2, an underwater leveling frame positioning system includes a leveling frame 200 positioned under water, and further includes a survey vessel, a positioning beacon system, an array beacon system, and an array beacon calibration system; the positioning beacon system comprises a plurality of positioning beacons arranged on the leveling frame 200; the array beacon system comprises a plurality of array beacons arranged around the leveling area; the array beacon calibration system comprises a GPS for positioning, a compass for measuring the heading of the measuring ship, a posture sensor for measuring the movement posture of the measuring ship and an acoustic transceiver for measuring the distance between the array beacon and the positioning beacon, wherein the GPS, the compass, the posture sensor and the acoustic transceiver are all fixed on the measuring ship; the survey vessel is positioned above the array beacon when the array beacon is calibrated and the survey vessel is positioned above the screed 200 when the screed 200 is positioned. The acoustic transceiver refers to a transducer for transmitting and receiving underwater acoustic signals, such as a Dunker 6 acoustic transceiver of Sonardyne Fusion series, and the like.
Further, for easy installation and positioning, the positioning beacons may be provided with four positioning beacons, including a first positioning beacon 201, a second positioning beacon 202, a third positioning beacon 203, and a fourth positioning beacon 204, and the four positioning beacons may be respectively installed on the four corner points of the leveling rack 200 correspondingly. I.e. the first positioning beacon 201 may be located at a first one of the four corner points; the second positioning beacon 202 may be located at a second corner of the four corners; third positioning beacons 203 may be located on a third corner of the four corners; the fourth positioning beacon 204 may be located at a fourth corner of the four corners.
Further, to facilitate calibration calculation of the position of the positioning beacons relative to the matrix beacons, the matrix beacons may be arranged in a rectangular array. Further, for convenience of installation and calculation, three array beacons may be disposed on a long side of the rectangular array, and two array beacons may be disposed on a short side of the rectangular array. As shown in fig. 2, a first array beacon 101, a second array beacon 102, a third array beacon 103, a fourth array beacon 104, a fifth array beacon 105, and a sixth array beacon 106 may be included; the six array beacons are arranged in a rectangular shape, three array beacons can be arranged on the long side, and two array beacons can be arranged on the short side. The immersed tube is rectangular, so that the arrangement can cover the whole immersed tube range and is convenient to install in a deep-excavated foundation trench.
Further, the array beacons may be spaced apart by 40-50m for ease of installation and mating with the levelling rack 200.
Further, to improve the measurement accuracy, the height of the array signal gauge from the water bottom can be 2-2.5m.
Further, to reduce acoustic multipath reflected interference, the acoustic transceiver may be mounted on the side of the survey vessel at a depth above the bottom of the vessel, i.e., below the bottom of the vessel.
Further, the GPS compass can further comprise a mounting frame, the GPS, the compass, the attitude sensor and the acoustic transceiver can be respectively and fixedly mounted on the mounting frame.
Further, a data processing system, such as a computer, may be included that may receive and process signals from the GPS, compass, attitude sensor, and acoustic transceiver. The data processing system can be a computer or a data processing system which can carry out data processing operation is formed by taking a CPU (Central processing Unit) of a microprocessor as a core and correspondingly configuring modules such as a memory, a wireless signal transceiver and the like.
Further, a display may be included that may receive signals from the data processing system and display.
The invention also provides an embodiment of an underwater leveling frame positioning method by utilizing the underwater leveling frame positioning system, which comprises the following steps:
firstly, arranging rectangular matrix beacons around a leveling area;
step two, installing and fixing a GPS, a compass, an attitude sensor and an acoustic transceiver on a measuring vessel; the GPS, the compass, the attitude sensor and the acoustic transceiver can be fixed on the mounting frame by adopting the mounting frame, and then the mounting frame is fixed on the measuring vessel;
measuring the geographic coordinates of the body by using a GPS, and measuring the heading by using a compass; measuring the motion gesture of the ship by using a gesture sensor, including measuring the roll angle, the pitch angle and the like of the ship; measuring the three-dimensional offset of the GPS and the acoustic transceiver; a ruler, or other measurement device, may be used to measure the three-dimensional offset of the GPS center point to the center point of the acoustic transceiver. If the installation frame is arranged, obtaining through three-dimensional projection of two installation points of the installation frame; the three-dimensional coordinates of the GPS center and the acoustic transceiver center can be directly observed by using the total station, so that the three-dimensional relative relation of the two devices, namely the three-dimensional offset, can be obtained.
Step four, positioning a measuring ship above one of the array beacons, calibrating the array beacons, and calculating the position coordinates of each array beacon relative to a geodetic coordinate system;
step five, installing a fixed positioning beacon on the leveling frame body;
step six, placing the leveling frame in an initial area of the underwater engineering;
step seven, the measuring ship is positioned above the leveling frame, and an acoustic transceiver is used for measuring the distance R between the array beacon and the positioning beacon;
step eight, calculating the positions of the positioning beacons according to the positions of the array beacons and the distance R, so as to determine the positions of the leveling frames;
and step nine, moving the leveling frame and the measuring ship, and repeating the steps six to eight until the leveling engineering is finished.
Further, the specific method in the fourth step may be that firstly, according to the data measured in the third step, the three-dimensional coordinate position of the acoustic transceiver is calculated; measuring the distance between the base station and each array beacon by using an acoustic transceiver; and then constructing a mathematical model taking the three-dimensional coordinates of the acoustic transceiver, the three-dimensional coordinates of each array beacon and the distance between the acoustic transceiver and each array beacon as parameters to obtain the three-dimensional coordinates of each array beacon.
Further, the calculation formula for calculating the three-dimensional coordinate position of the acoustic transceiver may be formula 1 to formula 3:
X T ＝X G +d x * sinH cosP (1)
Y T ＝Y G +d y * cosH cosK (formula 2)
Z T ＝Z G +d z * cosK cosP (3)
Wherein, in the formulas 1 to 3:
X T is the X-direction coordinate of the acoustic transceiver;
Y T is the Y-coordinate of the acoustic transceiver;
Z T is the Z-direction coordinate of the acoustic transceiver;
X G is the X-direction coordinate of the GPS;
Y G the Y-direction coordinate of the GPS;
Z G the Z-direction coordinate of the GPS;
h, measuring the heading of the ship;
k, measuring the roll angle of the ship;
p, measuring the pitch angle of the ship;
d x the offset is the X-direction offset between the acoustic transceiver and the GPS;
d y y-direction offset between the acoustic transceiver and GPS;
d z is the Z-offset between the acoustic transceiver and the GPS.
Further, the mathematical model may be based on the principle of indirect adjustment, and the construction steps may be:
step a-1, firstly, constructing a distance function between an acoustic transceiver and a certain array beacon:
l=f (x) +Δl (formula 4)
Step a-2, linearizing the distance function to obtain the following formula:
step a-3, solving an error equation as follows:
step a-4, the measuring ship performs circumferential running along the array beacon, the distance between the acoustic transceiver and the array beacon can be obtained by each measurement, and the following matrix can be constructed by setting n measurement distances in total:
l＝BX S (7)
Then there are:
X S ＝ (B T B) -1 B T l (8)
Wherein:
ΔL i ＝Δl i +L i -f(x) i 0 (10)
The coordinates of the obtained array beacon are:
wherein in the formulae 4 to 14,
xs is a distance correction function between the acoustic transceiver and the array beacon;
b, a coefficient to be solved;
l is a measurement value of the inclined distance between the acoustic transceiver and the array beacon;
l, is the true value of the inclined distance between the acoustic transceiver and the array beacon;
Δl is a measurement error of a true value of the skew distance between the acoustic transceiver and the array beacon;
f (x) is a distance function between the acoustic transceiver and the array beacon;
L i i=1, n, which is the measurement of the i-th measured skew distance between the acoustic transceiver to the array beacon;
Δl i the measurement error of the true value of the i-th measured skew distance between the acoustic transceiver and the array beacon is i=1, n;
f(x) 0 i i=1, n as a function of the distance from the acoustic transceiver to the i-th measurement of the array beacon;
correction of coordinates from the acoustic transceiver to the array beacon;
correction of coordinates from the acoustic transceiver to the array beacon;
correction of coordinates from the acoustic transceiver to the array beacon;
X i for the X-direction coordinates of the acoustic transceiver at the ith measurement, i=1, n;
Y i for the Y-coordinate of the acoustic transceiver at the ith measurement, i=1, n;
Z i for the Z-coordinate of the acoustic transceiver at the ith measurement, i=1, n;
x is the true value of the X-direction coordinate of the matrix beacon coordinate;
y is the true value of the Y-direction coordinate of the matrix beacon coordinate;
z is the true value of the Z-direction coordinate of the matrix beacon coordinate;
X 0 an approximation of the X-direction coordinates of the matrix beacon coordinates;
Y 0 an approximation of the Y-direction coordinates of the matrix beacon coordinates;
Z 0 is an approximation of the Z-coordinate of the matrix beacon coordinates.
The working principle of the invention is as follows:
both the positioning beacon and the matrix beacon may be a type 6G beacon, compatt, manufactured by Sonardyne, england. The acoustic transceiver may send a command to locate a beacon, requesting that the location beacon be ranging. The positioning beacon transmits an acoustic signal to the matrix beacon and records the transmission time t1, the matrix beacon returns an acoustic signal to the positioning beacon immediately after receiving the acoustic signal, the positioning beacon records the time t2 when receiving the acoustic signal, and the distance s=v (t 2-t 1)/2 between the positioning beacon and the matrix beacon is the sound velocity of the water, namely the distance is equal to the velocity multiplied by the time. And the positioning beacon sends the obtained distance signal to the acoustic transceiver, and all signal transmission adopts a wireless transmission mode.
(1) Calculation of array beacon position
Let the geographical coordinates of the GPS measurements be (X G ，Y G ，Z G ) The compass obtains a heading H, the attitude sensor obtains a roll angle K, the pitch angle P, the geographic coordinates of the onboard acoustic transceiver are (X, Y, Z), and the three-dimensional offset between the acoustic transceiver and GPS is (d x ，d y ，d z ) The coordinates of the acoustic transceiver are:
X＝X G +d x * sinH cosP (1)
Y＝Y G +dy cosH cosK (formula 2)
Z＝Z G +d z * cosK cosP (3)
The geographical coordinates of the acoustic transceiver are (X, Y, Z), and the coordinates of the seafloor array beacon to be determined are (X 0 ，Y 0 ，Z 0 ) The true value of the skew distance between the two is LThe measurement error is Δl, f (x) is a function of the distance between the acoustic transceiver and the array beacon, and L is expressed as:
l=f (x) +Δl (formula 4)
Linearizing the above method to obtain:
the error equation is:
the following matrix form is constructed from the n measured distances:
l＝BX S (7)
Then there are:
X S ＝ (B T B) -1 B T l (8)
Wherein:
ΔL i ＝Δl i +L i -f(x) i 0 (10)
The coordinates of the available array beacons are:
by adopting the calculation method and the like, the coordinates of all the submarine array beacons can be obtained.
According to the method, the position coordinates of six array beacons can be calculated. For example, the first array beacon 101 has coordinates (X 101 ，Y 101 ，Z 101 ) The second array beacon 102 is (X 102 ，Y 102 ，Z 102 ) The third array beacon 103 is (X 103 ，Y 103 ，Z 103 ) The fourth array beacon 104 is (X 104 ，Y 104 ，Z 104 ) The fifth array beacon 105 is (X 105 ，Y 105 ，Z 105 ) Sixth array beacon 106 is (X 106 ，Y 106 ，Z 106 )
(2) Calculation of location beacons
The first positioning beacon 201 position calculation is illustrated as an example. Let the first positioning beacon 201 position coordinates be (X 201 ，Y 201 ，Z 201 ) The coordinates of the first array beacon 101 are (X 101 ，Y 101 ，Z 101 ) The second array beacon 102 is (X 102 ，Y 102 ，Z 102 ) The third array beacon 103 is (X 103 ，Y 103 ，Z 103 ) The fourth array beacon 104 is (X 104 ，Y 104 ，Z 104 ) The fifth array beacon 105 is (X 105 ，Y 105 ，Z 105 ) Sixth array beacon 106 is (X 106 ，Y 106 ，Z 106 )。
The positioning beacon sends out acoustic signals, the acoustic signals are perceived by the array beacon, the array beacon perceives the acoustic signals and then sends perception signals to a data processing device such as an acoustic transceiver in a wireless mode, and a data processing system such as a computer calculates the actual measurement distance R between the positioning beacon and the array beacon according to the signals of the array beacon 101 Is a parameter related to (a) is provided.
Such as: the first positioning beacon 201 sends out an acoustic signal, the acoustic signal is perceived by the first array beacon 101, the first array beacon 101 transmits a perception signal to a data processing device such as an acoustic transceiver in a wireless mode after perceiving the acoustic signal, and a data processing system such as a computer calculates an actual measurement distance R between the first positioning beacon 201 and the first array beacon 101 according to the signal of the first array beacon 101 101 Is a parameter related to (a) is provided.
And (3) the same principle: the measured distance between the first positioning beacon 201 and the second array beacon 102 is R 102 The first positioning beacon 201 and the third array beacon 103 are R 103 The measured distance between the first positioning beacon 201 and the fourth array beacon 104 is R 104 The measured distance between the first positioning beacon 201 and the fifth array beacon 105 is R 105 The measured distance between the first positioning beacon 201 and the sixth array beacon 106 is R 106 ，
Then there are:
by solving the above equation, the position coordinates of the first positioning beacon 201 can be obtained according to the measurement adjustment theory, and the coordinates of the second positioning beacon 202, the third positioning beacon 203 and the fourth positioning beacon 204 can be obtained in turn by the same method, so that the position coordinates can be calculated: the first positioning beacon 201 has a position coordinate of (X 201 ，Y 201 ，Z 201 ) The second positioning beacon 202 has a position coordinate (X 202 ，Y 202 ，Z 202 ) The third positioning beacon 203 has a position coordinate (X 203 ，Y 203 ，Z 203 ) The fourth positioning beacon 204 has a position coordinate (X 204 ，Y 204 ，Z 204 ) The position of the leveling rack 200 is thus obtained.
After the leveling frame 200 is positioned to the immersed tunnel leveling design construction area, foundation leveling operation of the area is started immediately, after leveling is finished, the leveling frame 200 and the measuring ship are moved to the next area, and the position of the matrix beacon system is distributed at the water bottom without change, so that the relative position relation of the leveling frame 200 in the two areas can be accurately obtained, and accurate overlapping of crushed stone furrows is ensured.
The above-described embodiments are only for illustrating the technical spirit and features of the present invention, and it is intended to enable those skilled in the art to understand the content of the present invention and to implement it accordingly, and the scope of the present invention is not limited to the embodiments, i.e. equivalent changes or modifications to the spirit of the present invention are still within the scope of the present invention.

Claims (7)

1. An underwater leveling frame positioning system comprises an underwater leveling frame and is characterized by further comprising a measuring ship, a positioning beacon system, a matrix beacon system and a matrix beacon calibration system; the positioning beacon system comprises a plurality of positioning beacons arranged on the leveling frame; the array beacon system comprises a plurality of array beacons arranged around the leveling area; the array beacon calibration system comprises a GPS for positioning, a compass for measuring the heading of the measuring ship, a posture sensor for measuring the movement posture of the measuring ship and an acoustic transceiver for measuring the distance between the array beacon and the positioning beacon, wherein the GPS, the compass, the posture sensor and the acoustic transceiver are all fixed on the measuring ship; the measuring ship is positioned above the array beacon when the array beacon is calibrated, and the measuring ship is positioned above the leveling frame when the leveling frame is positioned;
the system also comprises a data processing system, wherein the data processing system receives and processes signals from the GPS, the compass, the attitude sensor and the acoustic transceiver;
the data processing method of the data processing system is as follows:
first according to the following data: calculating the three-dimensional coordinate position of the acoustic transceiver by using the geographic coordinates of the GPS, the ship heading, the ship movement gesture and the three-dimensional offset of the GPS and the acoustic transceiver; measuring the distance between the base station and each array beacon by using an acoustic transceiver; then constructing a mathematical model taking the three-dimensional coordinates of the acoustic transceiver, the three-dimensional coordinates of each array beacon and the distance between the acoustic transceiver and each array beacon as parameters, and obtaining the three-dimensional coordinates of each array beacon;
the mathematical model is constructed according to the principle of indirect adjustment, and comprises the following steps:
step a-1, firstly, constructing a distance function between an acoustic transceiver and a certain array beacon:
l=f (x) +Δl (formula 4)
Step a-2, linearizing the distance function to obtain the following formula:
step a-3, solving an error equation as follows:
step a-4, the measuring ship performs circumferential running along the array beacon, the distance between the acoustic transceiver and the array beacon can be obtained by each measurement, and the following matrix can be constructed by setting n measurement distances in total:
l＝BX S (7)
Then there are:
X S ＝(B T B) -1 B T l (8)
Wherein:
ΔL i ＝Δl i +L i -f(x) i 0 (10)
The coordinates of the obtained array beacon are:
wherein in the formulae 4 to 14,
xs is a distance correction function between the acoustic transceiver and the array beacon;
b, a coefficient to be solved;
l is a measurement value of the inclined distance between the acoustic transceiver and the array beacon;
l, is the true value of the inclined distance between the acoustic transceiver and the array beacon;
Δl is a measurement error of a true value of the skew distance between the acoustic transceiver and the array beacon;
f (x) is a distance function between the acoustic transceiver and the array beacon;
L i i=1, n, which is the measurement of the i-th measured skew distance between the acoustic transceiver to the array beacon;
Δl i the measurement error of the true value of the i-th measured skew distance between the acoustic transceiver and the array beacon is i=1, n;
f(x) 0 i i=1, n as a function of the distance from the acoustic transceiver to the i-th measurement of the array beacon;
correction of coordinates from the acoustic transceiver to the array beacon;
correction of coordinates from the acoustic transceiver to the array beacon;
correction of coordinates from the acoustic transceiver to the array beacon;
X i for the X-direction coordinates of the acoustic transceiver at the ith measurement, i=1, n;
Y i for the Y-coordinate of the acoustic transceiver at the ith measurement, i=1, n;
Z i for the Z-coordinate of the acoustic transceiver at the ith measurement, i=1, n;
x is the true value of the X-direction coordinate of the matrix beacon coordinate;
y is the true value of the Y-direction coordinate of the matrix beacon coordinate;
z is the true value of the Z-direction coordinate of the matrix beacon coordinate;
X 0 is an array beaconAn approximation of the X-direction coordinates of the coordinates;
Y 0 an approximation of the Y-direction coordinates of the matrix beacon coordinates;
Z 0 is an approximation of the Z-coordinate of the matrix beacon coordinates.
2. The underwater screed positioning system of claim 1, wherein the positioning beacons are provided in four locations mounted on four corner points of the screed respectively.
3. The underwater screed positioning system of claim 1, wherein the matrix beacons are arranged in a rectangular array.
4. The underwater screed positioning system of claim 3, wherein three of said array beacons are provided on a long side of said rectangular array and two of said array beacons are provided on a short side of said rectangular array.
5. The underwater screed positioning system of claim 1, wherein the acoustic transceiver is mounted on a side of the survey vessel having a water penetration depth exceeding the bottom of the vessel.
6. A method of positioning an underwater screed using the underwater screed positioning system of claim 1, comprising the steps of:
firstly, arranging rectangular matrix beacons around a leveling area;
step two, installing and fixing a GPS, a compass, an attitude sensor and an acoustic transceiver on a measuring vessel;
measuring the geographic coordinates of the body by using a GPS, and measuring the heading by using a compass; measuring the motion gesture of the ship by using a gesture sensor; measuring the three-dimensional offset of the GPS and the acoustic transceiver;
step four, positioning a measuring ship above one of the array beacons, calibrating the array beacons, and calculating the position coordinates of each array beacon relative to a geodetic coordinate system;
step five, installing a fixed positioning beacon on the leveling frame body;
step six, placing the leveling frame in an initial area of the underwater engineering;
step seven, the measuring ship is positioned above the leveling frame, and an acoustic transceiver is used for measuring the distance R between the array beacon and the positioning beacon;
step eight, calculating the positions of the positioning beacons according to the positions of the array beacons and the distance R, so as to determine the positions of the leveling frames;
step nine, moving the leveling frame and the measuring ship, and repeating the step six to the step eight until the leveling engineering is finished;
the specific method of the fourth step is that firstly, according to the data measured in the third step, the three-dimensional coordinate position of the acoustic transceiver is calculated; measuring the distance between the base station and each array beacon by using an acoustic transceiver; then constructing a mathematical model taking the three-dimensional coordinates of the acoustic transceiver, the three-dimensional coordinates of each array beacon and the distance between the acoustic transceiver and each array beacon as parameters, and obtaining the three-dimensional coordinates of each array beacon;
the mathematical model is constructed according to the principle of indirect adjustment, and comprises the following steps:
step a-1, firstly, constructing a distance function between an acoustic transceiver and a certain array beacon:
l=f (x) +Δl (formula 4)
Step a-2, linearizing the distance function to obtain the following formula:
step a-3, solving an error equation as follows:
step a-4, the measuring ship performs circumferential running along the array beacon, the distance between the acoustic transceiver and the array beacon can be obtained by each measurement, and the following matrix can be constructed by setting n measurement distances in total:
l＝BX S (7)
Then there are:
X S ＝(B T B) -1 B T l (8)
Wherein:
ΔL i ＝Δl i +L i -f(x) i 0 (10)
The coordinates of the obtained array beacon are:
wherein in the formulae 4 to 14,
xs is a distance correction function between the acoustic transceiver and the array beacon;
b, a coefficient to be solved;
l is a measurement value of the inclined distance between the acoustic transceiver and the array beacon;
l, is the true value of the inclined distance between the acoustic transceiver and the array beacon;
Δl is a measurement error of a true value of the skew distance between the acoustic transceiver and the array beacon;
f (x) is a distance function between the acoustic transceiver and the array beacon;
L i i=1, n, which is the measurement of the i-th measured skew distance between the acoustic transceiver to the array beacon;
Δl i the measurement error of the true value of the i-th measured skew distance between the acoustic transceiver and the array beacon is i=1, n;
f(x) 0 i i=1, n as a function of the distance from the acoustic transceiver to the i-th measurement of the array beacon;
correction of coordinates from the acoustic transceiver to the array beacon;
correction of coordinates from the acoustic transceiver to the array beacon;
correction of coordinates from the acoustic transceiver to the array beacon;
X i for the X-direction coordinates of the acoustic transceiver at the ith measurement, i=1, n;
Y i for the Y-coordinate of the acoustic transceiver at the ith measurement, i=1, n;
Z i for the Z-coordinate of the acoustic transceiver at the ith measurement, i=1, n;
x is the true value of the X-direction coordinate of the matrix beacon coordinate;
y is the true value of the Y-direction coordinate of the matrix beacon coordinate;
z is the true value of the Z-direction coordinate of the matrix beacon coordinate;
X 0 an approximation of the X-direction coordinates of the matrix beacon coordinates;
Y 0 an approximation of the Y-direction coordinates of the matrix beacon coordinates;
Z 0 is an approximation of the Z-coordinate of the matrix beacon coordinates.
7. The underwater screeding frame positioning method as claimed in claim 6, wherein the calculation formula for calculating the three-dimensional coordinate position of the acoustic transceiver is from formula 1 to formula 3:
X T ＝X G +d x * sinH cosP (1)
Y T ＝Y G +d y * cosH cosK (formula 2)
Z T ＝Z G +d z * cosK cosP (3)
Wherein, in the formulas 1 to 3:
X T is the X-direction coordinate of the acoustic transceiver;
Y T is the Y-coordinate of the acoustic transceiver;
Z T is the Z-direction coordinate of the acoustic transceiver;
X G is the X-direction coordinate of the GPS;
Y G the Y-direction coordinate of the GPS;
Z G the Z-direction coordinate of the GPS;
h, measuring the heading of the ship;
k, measuring the roll angle of the ship;
p, measuring the pitch angle of the ship;
d x the offset is the X-direction offset between the acoustic transceiver and the GPS;
d y y-direction offset between the acoustic transceiver and GPS;
d z is the Z-offset between the acoustic transceiver and the GPS.
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