CN111271513A - Visualized positioning and guiding method for submarine cable management - Google Patents
Visualized positioning and guiding method for submarine cable management Download PDFInfo
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- CN111271513A CN111271513A CN202010081476.8A CN202010081476A CN111271513A CN 111271513 A CN111271513 A CN 111271513A CN 202010081476 A CN202010081476 A CN 202010081476A CN 111271513 A CN111271513 A CN 111271513A
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- Prior art keywords
- positioning
- flexible protection
- protection pad
- hanger
- underwater
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/12—Laying or reclaiming pipes on or under water
- F16L1/16—Laying or reclaiming pipes on or under water on the bottom
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/12—Laying or reclaiming pipes on or under water
- F16L1/20—Accessories therefor, e.g. floats, weights
- F16L1/202—Accessories therefor, e.g. floats, weights fixed on or to vessels
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
- H02G1/10—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle in or under water
Abstract
A visual positioning and guiding method for submarine cable management is disclosed, wherein the equipment used in the method consists of a water surface positioning part and an underwater positioning part; the method comprises the following steps: firstly, installing equipment, guiding an operation ship to tow to a submarine pipe cable treatment sea area, and then carrying out side-scan sonar scanning on the pipe cable treatment section route to obtain the accurate position coordinate and state of the pipe cable before the flexible protection pad is laid; then, the underwater sound positioning system is installed and calibrated, and the water surface positioning guide system guides the operation ship to be in place; and (4) carrying out hoisting operation after the underwater equipment is installed, and finishing the laying of the flexible protection pad. The visual positioning guiding method has high system positioning precision, can realize three-dimensional visual real-time positioning, can track the whole process of the lowering process of the flexible protection pad and the hanging bracket and record the motion trail, can automatically separate the flexible protection pad and the hanging bracket underwater, and has the real-time virtual reality scene display capability; the method also has the advantages of intuition, safety, high efficiency, reliability, real-time performance, fault tolerance and the like.
Description
One, the technical field
The invention relates to a visual positioning and guiding method for submarine cable management, in particular to a visual positioning and guiding method for submarine cable management for flexible protection pad laying.
Second, background Art
The submarine pipe cable is the foundation for the development of marine oil and gas fields, and has the main function of ensuring the mutual transmission of the medium of crude oil, natural gas, water and the like, and the cables of power, communication and the like of the fixed oil production (gas production) platform of the marine oil field between the platform and the land terminal processing plant and the oil and ore area platform. In order to ensure the safe and reliable operation of the submarine cable and the normal production of the oil field, the submarine cable is usually buried under the seabed by a depth of more than 1.5 m. The submarine cable is exposed, suspended, displaced, damaged or even broken due to the damage of natural factors such as the annual scouring of the bottom layer flow of the seabed, the flowing of sediment and the like, and the artificial damages of fishery fishing operation, unsafe anchoring and in-place operation of construction operation ships, mistaken anchoring operation of ships in the past and the like. If the submarine pipe cable is suspended and exceeds the standard and is displaced, great potential safety hazards exist in oil field production; if the submarine pipe cable is hung off by a ship anchor, the production of an oil field needs to be stopped, the economic loss is huge, and the oil and gas leakage can cause serious ocean and atmosphere environment pollution. Therefore, the exposed, suspended and displaced submarine cables must be subjected to necessary treatment, potential safety hazards are eliminated in time, and safe and reliable operation of the submarine cables is guaranteed. The conventional methods for treating the submarine pipe cable include bionic grass laying, grouting, sandbag landfill, cement briquetting, flexible protection pad laying and the like, and relatively speaking, the flexible protection pad laying is an ideal method for ensuring safe and reliable operation of the submarine pipe cable. In the prior submarine pipeline and cable treatment construction, the flexible protection pad is mostly laid by adopting a method of anchoring and taking in place by a floating crane ship, and underwater guiding and unhooking by divers. The method has the following defects: firstly, a diver needs to work underwater, and the operation risk is high; secondly, the operation time efficiency is poor, the anchoring of the floating crane ship takes time, the four anchors need 4 to 5 hours, the diving operation is limited by tide, and the operation can not be carried out at night; thirdly, the operation cost is high, and the whole operation needs barge inversion, anchor throwing and boat throwing and diving support; and fourthly, the operation procedure is complex and needs multiple departments to cooperate with operation.
Third, the invention
In order to solve the defects of the prior art, the invention aims to provide a visual positioning and guiding method for submarine cable management, which is safe and reliable in operation and high in positioning precision.
The technical scheme adopted for realizing the purpose of the invention is as follows: the device applied to the visual positioning and guiding method for submarine cable management consists of a water surface positioning part and an underwater positioning part.
The water surface positioning part comprises a navigation computer, an electric compass, a fiber-optic gyroscope attitude and heading device (FOG), a satellite station differential GPS and a pipe cable detector.
The underwater positioning comprises an underwater acoustic positioning system (USBL), a forward-looking multi-beam image sonar, a side-scan sonar and an automatic unhooking hanger; the underwater acoustic positioning system (USBL) consists of hydrophones, underwater beacons and a shell processor (HUB).
(1) Installation of the equipment: a hydrophone and a side scan sonar of a water sound positioning system (USBL) are arranged in the middle of an automatic unhooking hanger of the workboat, are positioned in the middle of a front propeller and a rear propeller and are more than 1 m lower than the bottom of the workboat; front-view multi-beam image sonar probes are respectively installed on the side surface of the automatic unhooking hanger and two ends of the axis of the automatic unhooking hanger, and four underwater beacons are respectively and vertically installed on four corners of the automatic unhooking hanger; and two ends of the axis of the hanging bracket are respectively provided with a submarine cable depth gauge. An antenna of a centimeter-level star station differential GPS is arranged at the top of the hydrophone mounting rod; the electric compass and the optical fiber gyro attitude heading reference equipment are arranged in a deck container; the navigation computer and the deck processor (HUB) are respectively arranged in the deck container and are connected with the driving platform and the crane operation room.
(2) Guiding the operation ship to tow: and the marine engineering GIS positioning and guiding system guides the operating ship to towage to the submarine pipe cable treatment operating sea area.
(3) Sweeping and measuring the route of the submarine pipe cable treatment section: before the operation ship is in place, the submarine pipe cable treatment section route needs to be subjected to side scan sonar scanning, and the route position and the pipeline state are subjected to latest scanning and checking to obtain the accurate position coordinate and state of the pipe cable before the flexible protection pad is laid.
(4) And installing and calibrating the underwater sound positioning system (USBL) according to the operation use method and the operation procedure of the underwater sound positioning system (USBL).
(5) Guiding the workboat in position: and after the scanning is finished, the water surface positioning guide system guides the operation ship to be in place, and after the position reaches the in-place point, the operation ship starts a dynamic positioning mode to keep the ship position.
(6) Installation of underwater equipment: after scanning and before hoisting, respectively installing an underwater beacon of an underwater acoustic positioning system (USBL) and a forward-looking multi-beam image sonar probe on a hanger, and turning on an underwater beacon switch; the equipment installation parameters are bound into the navigation computer positioning software in advance.
(7) Hoisting operation: before the hoisting operation, the automatic unhooking hanger is subjected to air pump pressure limitation (less than 6Mp), automatic air supply and automatic unhooking state integrity test; after the flexible protective pad is hung on the automatic unhooking hanger, a crane driver lifts according to a deck command instruction, rotates to a set position, puts the hanger into water, and operates the front-looking multi-beam image sonar probe; when the lowering height of the hanger is lower than the mounting height of the hydrophone, the deck GIS navigation positioning system, positioning software of a hydroacoustic positioning system (USBL) and foresight multi-beam image sonar software can synchronously track and display the plane position and height of the flexible protection pad on the hanger in real time; the position of the ship is timely adjusted by the ship captain of the operation ship according to the position of the flexible protection pad on the hanger displayed by the system in the lowering process, and the position of the flexible protection pad on the hanger in the lowering process is enabled to coincide with the designed position to the maximum extent. And when the positioning software of the GIS navigation positioning system and the underwater acoustic positioning system (USBL) shows that the flexible protection pad on the hanger reaches the designed position, the automatic unhooking switch is turned on to complete the automatic unhooking of the flexible protection pad. Then, the operation ship moves one length of the flexible protection pad along the flexible protection pad laying route, and the next protection pad is laid.
(8) And (3) testing the laying position and quality of the flexible protection pad: when the laying length and the number of the flexible protection pads meet the design requirements, scanning the laying position and the quality of the flexible protection pads, if the scanning image shows that the laying route of the flexible protection pads completely covers the pipeline and cable route, namely the head and the tail of the flexible protection pads are not exposed, and the distance between every two adjacent protection pads meets the design precision requirement, and the laying is finished; if the laying does not meet the design requirement, the project manager is requested to determine whether to adjust and supplement.
The flexible protection pad on the automatic unhooking hanger frame is not placed at the designed position, the hanger frame needs to be lifted by about 0.5 m, fine adjustment is carried out on the position of the hanger frame, and after the requirement of installation accuracy is met, the automatic unhooking system is unhooked and released, so that the flexible protection pad is separated from the hanger frame.
When the visual positioning guide installation of flexible protection pad, will satisfy following weather condition: the wind speed is less than 12 m/s and the wave height is less than 1 m.
The specific requirements of the flexible protection pad during visual positioning and guiding installation are as follows: the flexible protection pad and the hanging bracket are automatically separated underwater, and the mean fault interval time is more than 1000 hours; the longitudinal installation precision of the flexible protection pad is 20 cm (10% of the width of the flexible protection pad), and the transverse precision of the flexible protection pad is 50 cm (10% of the length of the flexible protection pad); the reference position provided by the satellite station differential GPS is as follows: the plane position precision is better than 10 cm, the elevation precision is better than 20 cm, and the orientation precision is better than 0.1 degree; and (3) rolling precision: 0.05 °, pitch accuracy: 0.05 degree; the relative position of the flexible protection pad and the submarine pipe cable is visualized.
Compared with the prior art, the method adopted by the invention has the following advantages:
(1) the equipment installation and use are simple and feasible. The positioning and guiding system has the advantages of light equipment weight, small volume, convenience in carrying, simplicity and rapidness in equipment installation, no need of diving operation, shortened construction period and improved working efficiency.
(2) The system has high positioning precision.
The overall technical performance and indexes of the system are as follows:
● the system can realize three-dimensional visual real-time positioning, flexible pad and hanger lowering process whole-course image-text (image and parameter) tracking and motion track recording
● the flexible pad and the hanger can be automatically separated underwater without underwater diving support (Manual unhooking)
● graphic display of work ship and boom position
● having virtual reality scene real-time display capability
● relative position measurement accuracy: 0.10 cm
● heading accuracy: 0.1 degree
● roll accuracy: 0.05 degree
● pitching accuracy: 0.05 degree
● data update rate: 10Hz
(3) The method also has the advantages of intuition, safety, high efficiency, reliability, real-time performance, fault tolerance and the like.
Fourth, detailed description of the invention
The following describes a visualized positioning and guiding method for subsea umbilical cable management according to the present invention in detail with reference to embodiments.
A visual positioning and guiding method for submarine cable management is provided, and the guiding method is characterized in that the device applied by the guiding method is composed of a water surface positioning part and an underwater positioning part.
The water surface positioning part comprises a navigation computer, an electric compass, a fiber-optic gyroscope attitude and heading device (FOG), a satellite station differential GPS and a pipe cable detector. The navigation computer host preprocesses and time synchronizes the collected data, then carries out coordinate conversion to unify all the coordinates, fuses the data by using an information fusion technology after carrying out error compensation, carries out three-dimensional display on a screen in real time, and can realize scene restoration in the computer host through the recorded data information. The water surface positioning part monitors the real-time course attitude of the operation ship and the relative positions of the automatic unhooking hanger (flexible protection pad) and the submarine pipe cable and the installed flexible protection pad in real time.
The underwater positioning comprises an underwater acoustic positioning system (USBL), a forward-looking multi-beam image sonar, a side-scan sonar and an automatic unhooking hanger; the underwater acoustic positioning system (USBL) consists of hydrophones, underwater beacons and a shell processor (HUB). Due to the limitation of the precision of built-in heading and attitude sensors of the hydrophone, the underwater positioning precision is improved by adopting an external electric compass and a fiber-optic gyroscope attitude heading and heading device (FOG); the method is limited by the software version and functions of an underwater sound positioning system (USBL), a 1+4 mode is adopted, namely, 1 hydrophone and four beacons are arranged, the outline of a flexible protection pad to be placed and an automatic unhooking hanging frame can be displayed in the software of the USBL, meanwhile, a deck processor (HUB) outputs the positions of the four underwater beacon points on the automatic unhooking hanging frame to a navigation computer, and the three-dimensional coordinates of the flexible protection pad and the automatic unhooking hanging frame are calculated by the navigation computer.
(1) Installation of the equipment: a hydrophone and a side scan sonar of a hydroacoustic positioning system (USBL) are arranged in the middle of an automatic unhooking hanger of a working ship (DP dynamic positioning), are positioned between a front propeller and a rear propeller and are more than 1 m lower than the bottom of the ship; the interference of the bubbles generated by the propeller on the underwater sound positioning and the side scan sonar can be avoided to the maximum extent, so that the sound waves can be transmitted in all directions, and the relative positioning precision is ensured. The front-view multi-beam image sonar probes are respectively installed on the side face of the automatic unhooking hanger and the two ends of the axis of the automatic unhooking hanger and used for monitoring the lowering process and position of the automatic unhooking hanger, the seamless connection between the placing position where the flexible protection pad is placed and the position where the flexible protection pad is placed is ensured, and the construction requirements are met. Four underwater beacons are respectively and vertically installed on four corners of an automatic unhooking hanger, the top avoids shielding as far as possible, acoustic communication between at least two underwater beacons and hydrophones is normal when underwater operation is guaranteed, accurate and reliable position information is output to a navigation computer by an underwater sound positioning system (USBL) and a shell processor (HUB), the navigation computer carries out ground resolving on the position information of the four underwater beacons, and the relative positions of a flexible protection pad and a control pipeline cable route are displayed in real time in a data and image mode, a crane manipulator adjusts the crane derrick mast position according to the position information, and the flexible protection pad is guaranteed to be placed on a designed position. The two ends of the axis of the hanging bracket are respectively provided with a submarine cable depth gauge, the relative positions of the flexible protection pad and the cable management route are monitored in real time, the height coincidence of the axis of the flexible protection pad and the cable management route is ensured, and the flexible protection pad is ensured to be uniformly and neatly placed on the actual cable. The centimeter-level star station differential GPS antenna is arranged at the top of the hydrophone mounting rod, so that high-precision geodetic position coordinates are provided, eccentricity resolving is omitted, and absolute positioning precision is improved. The electric compass and the fiber-optic gyroscope attitude and heading equipment are arranged in a deck container, wharf static calibration is needed before operation, high-precision external heading and attitude parameters are provided for equipment such as hydrophones, side-scan sonars and forward-looking multi-beam image sonars, relative positioning precision is improved, and absolute positioning precision of underwater sound positioning is ensured. The navigation computer and a deck processor (HUB) are respectively arranged in the deck container and connected with the driving platform and the crane operation room to realize multi-channel frequency division display.
(2) Guiding the operation ship to tow: and the marine engineering GIS positioning and guiding system guides the operating ship to towage to the submarine pipe cable treatment operating sea area.
(3) Sweeping and measuring the route of the submarine pipe cable treatment section: before the operation ship is in place, the submarine pipe cable treatment section route needs to be subjected to side scan sonar scanning, and the route position and the pipeline state (buried, exposed and suspended) need to be subjected to latest scanning and checking to obtain the accurate position coordinate and state of the pipe cable before the flexible protection pad is laid.
(4) The installation and calibration of the underwater sound positioning system (USBL) are carried out according to the operation and use method and operation procedure of the underwater sound positioning system (USBL), and the main methods are circle, junctor and relative position measurement.
(5) Guiding the workboat in position: and after the scanning is finished, the water surface positioning guide system guides the operation ship to be in place, and after the position reaches the in-place point, the operation ship starts a dynamic positioning mode to keep the ship position.
(6) Installation of underwater equipment: after scanning and before hoisting, respectively installing an underwater beacon of an underwater acoustic positioning system (USBL) and a forward-looking multi-beam image sonar probe on a hanger, and turning on an underwater beacon switch; the equipment installation parameters are input into the navigation computer positioning software in advance.
(7) Hoisting operation: before the hoisting operation, an air pump pressure limit (less than 6Mp), automatic air supply and automatic unhooking state integrity test are carried out on an air pump of the automatic unhooking hanger; after the flexible protective pad is hung on the automatic unhooking hanger, a crane driver lifts according to a deck command instruction, rotates to a set position, puts the hanger into water, and starts up the front-looking multi-beam image sonar probe; when the lowering height of the hanger is lower than the mounting height of the hydrophone, the deck GIS navigation positioning system, positioning software of a hydroacoustic positioning system (USBL) and foresight multi-beam image sonar software can synchronously track and display the plane position and height of the flexible protection pad on the hanger in real time; the position of the ship is timely adjusted by the ship captain of the operation ship according to the position of the flexible protection pad on the hanger displayed by the system in the lowering process, and the position of the flexible protection pad on the hanger in the lowering process is enabled to coincide with the designed position to the maximum extent. And when the positioning software of the GIS navigation positioning system and the underwater acoustic positioning system (USBL) shows that the flexible protection pad on the hanger reaches the designed position, the automatic unhooking switch is turned on to complete the automatic unhooking of the flexible protection pad. Then, the operation ship moves one length of the flexible protection pad along the flexible protection pad laying route, and the next protection pad is laid.
(8) And (3) testing the laying position and quality of the flexible protection pad: when the laying length and the number of the flexible protection pads meet the design requirements, scanning the laying position and the quality of the flexible protection pads, if the scanning image shows that the laying route of the flexible protection pads completely covers the pipeline and cable route, namely the head and the tail of the flexible protection pads are not exposed, and the distance between every two adjacent protection pads meets the design precision requirement, and the laying is finished; if the laying does not meet the design requirement, the project manager is requested to determine whether to adjust and supplement.
The flexible protection pad on the automatic unhooking hanger frame is not placed at the designed position, the hanger frame needs to be lifted by about 0.5 m, fine adjustment is carried out on the position of the hanger frame, and after the requirement of installation accuracy is met, the automatic unhooking system is unhooked and released, so that the flexible protection pad is separated from the hanger frame.
When the visual positioning guide installation of flexible protection pad, will satisfy following weather condition: the wind speed is less than 12 m/s and the wave height is less than 1 m.
The specific requirements of the flexible protection pad during visual positioning and guiding installation are as follows: the flexible protection pad and the hanging bracket are automatically separated underwater, and the mean fault interval time is more than 1000 hours; the longitudinal installation precision of the flexible protection pad is 20 cm (10% of the width of the flexible protection pad), and the transverse precision of the flexible protection pad is 50 cm (10% of the length of the flexible protection pad); the reference position provided by the satellite station differential GPS is as follows: the plane position precision is better than 10 cm, the elevation precision is better than 20 cm, and the orientation precision is better than 0.1 degree; and (3) rolling precision: 0.05 °, pitch accuracy: 0.05 degree; the relative position of the flexible protection pad and the submarine pipe cable is visualized.
During operation, the relative positions of the work vessel, the lifting frame and the related equipment are mainly determined by the following parameters:
(1) heading:
the heading of the operating ship is provided by an electric compass; mounting a bow direction by a hanging bracket (flexible pad): and calculating the geodetic azimuth according to the positions of the two beacons on the hanger. The reference orientation of the hydrophone is provided by an electronic compass (or attitude and heading device FOG) and is calibrated to eliminate installation errors.
(2) Radial distance: and the straight-line distance between the positioning point and a target point on the designed route.
(3) Orientation; straight line orientation (clockwise angle to true north) from anchor point to target point on design route
(4) Longitudinal distance: the projected distance of the radial distance on the design route.
(5) Transverse deviation: the vertical distance of the anchor point to the design route.
(6) Axial distance of the operating ship: the projection distance and the vertical distance from the positioning point to the operational fore-aft line of the operation ship are determined.
The visible positioning guide system for submarine cable management is a special data acquisition and processing system, which needs to acquire output signals of a plurality of navigation sensors, carry out attitude heading reference and combined filtering calculation, output positioning results through a communication interface or a display control device and carry out three-dimensional dynamic display. According to the requirements of the system, the method mainly needs to realize the following functions:
1) resolving the satellite station differential GPS information;
2) resolving attitude and heading information, and performing related preprocessing and error correction;
3) information fusion of a satellite station differential GPS, attitude and heading equipment, an electric compass, a hydroacoustic positioning system (USBL), a pipe cable detector and the like, namely, high-precision position, speed and attitude information is obtained through a Federal Kalman filter;
4) a data communication function;
5) displaying information;
6) displaying a scene in a three-dimensional manner;
7) data post-processing and the like.
The invention relates to a visual positioning and guiding method for submarine cable management, which adopts the key technology that:
(1) the data acquisition and image processing processes of the whole set of system need to be carried out strictly according to the time synchronization standard. The method is characterized in that satellite station GPS clock information is used as a time system, corresponding sampling frequency is set according to the performance of each sub-device, synchronous acquisition and storage of satellite station difference GPS, optical fiber gyro attitude and heading reference device (FOG), electric compass and water sound positioning system (USBL) data are achieved in a navigation computer through software, preprocessing is carried out on the data, and measurement errors caused by various random noises and sound wave environmental noises are filtered.
(2) In order to ensure that the fusion of various measurement information is accurate and error-free, the selection of the coordinate system of the system should be kept strictly uniform. In the scheme, a coordinate system for information fusion of the combined system takes WGS-84 as a reference, coordinate conversion is carried out on equipment data, and all parts of data are strictly unified to be under the WGS-84 for operation.
(3) During the installation of the protection pad, due to the precision of the equipment, the installation position, deck deformation, lever arm effect, variability, complexity and uncertainty of the offshore operation environment and the like, the work of analyzing and compensating errors in the host computer is necessary.
(4) The information fusion of the system is realized by using a no-setting Federal Kalman filter. The optical fiber gyroscope attitude and heading equipment (FOG), the compass GPS and the electronic compass can be combined in pairs to form 3 course sub-filters, and the other four underwater beacons can also form one course sub-filter. And the position of the flexible protection pad (automatic unhooking hanger) is provided by a sub-filter formed by combining a satellite-station difference GPS and a water sound positioning system (USBL). All the sub-filters have no information exchange, independent filtering and no mutual influence caused by feedback resetting, so that the fault of one subsystem cannot influence the other subsystem, and the highest fault tolerance is provided. In addition, as the optical fiber gyroscope attitude and heading equipment (FOG), the compass GPS and the electronic compass can provide navigation information and can be combined in pairs, multiple sets of redundancy is provided for course determination; the satellite station difference GPS and the electric compass provide high-precision position information of the operation ship, and are combined with the USBL, the pipe cable detector and the sonar system to provide multiple sets of redundancy for determining the relative position of the flexible protection pad (automatic unhooking hanger). Therefore, the multiple sets of redundancy provide safer and more accurate guarantee for the whole system.
(5) And displaying the underwater installation in three dimensions in real time. The navigation computer needs to display the information of the speed, the position, the direction and the posture of the flexible protection pad (the automatic unhooking hanger), the position of the submarine pipe cable and the like in real time, and the underwater installation is guided by real-time display.
(6) And when the system fails and cannot work normally, the system receives the alarm information and performs docking scene restoration by using the stored data. In addition, the post-processing technology can also evaluate the performance of each part of the system, thereby ensuring the system to be more reliable.
The whole system scheme is relatively comprehensive in function, has multiple sets of redundant information, provides guarantee for smooth visual underwater installation, can effectively realize scene restoration even under the fault condition, and is good in fault tolerance and feasible in operability.
The visualized positioning guiding method for submarine cable management has the advantages of high positioning precision, strong visualization, strong system adaptability, no influence of tide, no need of diving operation support, shortened operation period, high economic benefit and realization of intuition, authenticity, high precision, safety and reliability of the management process.
Claims (4)
1. A visual positioning and guiding method for submarine cable management is provided, and the equipment used in the method is composed of a water surface positioning part and an underwater positioning part. The water surface positioning part comprises a navigation computer, an electric compass, a fiber-optic gyroscope attitude and heading device (FOG), a satellite station differential GPS and a pipe cable detector. The underwater positioning comprises an underwater acoustic positioning system (USBL), a forward-looking multi-beam image sonar, a side-scan sonar and an automatic unhooking hanger; the underwater acoustic positioning system (USBL) consists of hydrophones, underwater beacons and a shell processor (HUB). The method is characterized in that: the visual positioning guide method comprises the following specific steps:
(1) installation of the equipment: a hydrophone and a side scan sonar of a water sound positioning system (USBL) are arranged in the middle of an automatic unhooking hanger of the workboat, are positioned in the middle of a front propeller and a rear propeller and are more than 1 m lower than the bottom of the workboat; front-view multi-beam image sonar probes are respectively installed on the side surface of the automatic unhooking hanger and two ends of the axis of the automatic unhooking hanger, and four underwater beacons are respectively and vertically installed on four corners of the automatic unhooking hanger; and two ends of the axis of the hanging bracket are respectively provided with a submarine cable depth gauge. An antenna of a centimeter-level star station differential GPS is arranged at the top of the hydrophone mounting rod; the electric compass and the optical fiber gyro attitude heading reference equipment are arranged in a deck container; the navigation computer and the deck processor (HUB) are respectively arranged in the deck container and are connected with the driving platform and the crane operation room.
(2) Guiding the operation ship to tow: and the marine engineering GIS positioning and guiding system guides the operating ship to towage to the submarine pipe cable treatment operating sea area.
(3) Sweeping and measuring the route of the submarine pipe cable treatment section: before the operation ship is in place, the submarine pipe cable treatment section route needs to be subjected to side scan sonar scanning, and the route position and the pipeline state are subjected to latest scanning and checking to obtain the accurate position coordinate and state of the pipe cable before the flexible protection pad is laid.
(4) And installing and calibrating the underwater sound positioning system (USBL) according to the operation use method and the operation procedure of the underwater sound positioning system (USBL).
(5) Guiding the workboat in position: and after the scanning is finished, the water surface positioning guide system guides the operation ship to be in place, and after the position reaches the in-place point, the operation ship starts a dynamic positioning mode to keep the ship position.
(6) Installation of underwater equipment: after scanning and before hoisting, respectively installing an underwater beacon of an underwater acoustic positioning system (USBL) and a forward-looking multi-beam image sonar probe on a hanger, and turning on an underwater beacon switch; the equipment installation parameters are bound into the navigation computer positioning software in advance.
(7) Hoisting operation: before the hoisting operation, the automatic unhooking hanger is subjected to air pump pressure limitation (less than 6Mp), automatic air supply and automatic unhooking state integrity test; after the flexible protective pad is hung on the automatic unhooking hanger, a crane driver lifts according to a deck command instruction, rotates to a set position, puts the hanger into water, and operates the front-looking multi-beam image sonar probe; when the lowering height of the hanger is lower than the mounting height of the hydrophone, the deck GIS navigation positioning system, positioning software of a hydroacoustic positioning system (USBL) and foresight multi-beam image sonar software can synchronously track and display the plane position and height of the flexible protection pad on the hanger in real time; the position of the ship is timely adjusted by the ship captain of the operation ship according to the position of the flexible protection pad on the hanger displayed by the system in the lowering process, and the position of the flexible protection pad on the hanger in the lowering process is enabled to coincide with the designed position to the maximum extent. And when the positioning software of the GIS navigation positioning system and the underwater acoustic positioning system (USBL) shows that the flexible protection pad on the hanger reaches the designed position, the automatic unhooking switch is turned on to complete the automatic unhooking of the flexible protection pad. Then, the operation ship (DP dynamic positioning) moves one length of the flexible protection pad along the flexible protection pad laying route to lay the next protection pad.
(8) And (3) testing the laying position and quality of the flexible protection pad: when the laying length and the number of the flexible protection pads meet the design requirements, scanning the laying position and the quality of the flexible protection pads, if the scanning image shows that the laying route of the flexible protection pads completely covers the pipeline and cable route, namely the head and the tail of the flexible protection pads are not exposed, and the distance between every two adjacent protection pads meets the design precision requirement, and the laying is finished; if the laying does not meet the design requirement, the project manager is requested to determine whether to adjust and supplement.
2. The visual submarine umbilical treatment positioning and guiding method according to claim 1, wherein: the flexible protection pad on the automatic unhooking hanger frame is not placed at the designed position, the hanger frame needs to be lifted by about 0.5 m, fine adjustment is carried out on the position of the hanger frame, and after the requirement of installation accuracy is met, the automatic unhooking system is unhooked and released, so that the flexible protection pad is separated from the hanger frame.
3. The visual submarine umbilical treatment positioning and guiding method according to claim 1, wherein: when the visual positioning guide installation of flexible protection pad, will satisfy following weather condition: the wind speed is less than 12 m/s and the wave height is less than 1 m.
4. The visual positioning and guiding method for subsea umbilical administration according to claims 1, 2 and 3, wherein: the specific requirements of the flexible protection pad during visual positioning and guiding installation are as follows: the flexible protection pad and the hanging bracket are automatically separated underwater, and the mean fault interval time is more than 1000 hours; the longitudinal installation precision of the flexible protection pad is 20 cm (10% of the width of the flexible protection pad), and the transverse precision of the flexible protection pad is 50 cm (10% of the length of the flexible protection pad); the reference position provided by the satellite station differential GPS is as follows: the plane position precision is better than 10 cm, the elevation precision is better than 20 cm, and the orientation precision is better than 0.1 degree; and (3) rolling precision: 0.05 °, pitch accuracy: 0.05 degree; the relative position of the flexible protection pad and the submarine pipe cable is visualized.
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| CN111271513B (en) | 2021-08-31 |
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