CN114291213A - Underwater submerged buoy fixed-point laying device and laying method - Google Patents
Underwater submerged buoy fixed-point laying device and laying method Download PDFInfo
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Abstract
The invention discloses a fixed-point deployment device and a fixed-point deployment method for an underwater submerged buoy, relates to the technical field of ocean observation, and solves the technical problem that the deployment precision of the submerged buoy in the prior art cannot meet the requirement; the laying device comprises a submerged buoy main floating body; the gravity anchor is connected with the submerged buoy main floating body through an anchor mooring rope; the acoustic release system is arranged on one side of the submerged buoy main floating body, which is far away from the gravity anchor; a crane cable connected to the other end of the acoustic release system; the crane ship is provided with a tail crane, and the tail crane is used for retracting and releasing a crane cable; the ultra-short baseline system comprises an ultra-short baseline transducer arranged on the submerged buoy main floating body and an ultra-short baseline receiver arranged at the bottom of the crane ship. According to the technical scheme, the arrangement device improves the position precision of the on-site placement of the submerged buoy through the mutual matching of the hanging-boat hoisting system, the dynamic positioning system device, the ultra-short baseline system and the acoustic release system.
Description
Technical Field
The invention relates to the technical field of ocean observation, in particular to a fixed point laying device and a fixed point laying method for an underwater submerged buoy.
Background
At present, when a submerged buoy system is put in operation on the sea, a buoy-first and anchor-second method is generally used. Specifically, when a ship reaches the position near a planned launching point, firstly, a warm salt chain and a main floating body which are positioned at the top of a submerged buoy are put into water, then, cables and other equipment are launched, finally, a crane is used for hoisting a gravity anchor, when the ship is moved to the position above the planned launching point by slowly moving the ship, the gravity anchor is released by opening a release hook, and after the gravity anchor falls to the ground, the launching of a submerged buoy system can be completed. By the method, the submerged buoy is launched, although the release position of the gravity anchor is above the planned launching point, the motion track of the gravity anchor after release is uncontrollable due to the dragging action of the ocean current and the submerged buoy system, so that the gravity anchor cannot accurately land at the preset launching position, and the actual launching position of the submerged buoy is deviated. In some items sensitive to position, a certain deviation of the physical quantity observed by the system may occur, thereby affecting the quality of the observed data and the execution effect of the item.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a high-precision underwater submerged buoy laying device and a laying method.
The object of the invention is achieved in the following way:
an underwater submerged buoy fixed point laying device comprises a submerged buoy main floating body; the gravity anchor is connected with the submerged buoy main floating body through an anchoring mooring rope; the acoustic release system is arranged on one side of the submerged buoy main floating body away from the gravity anchor; a hoist cable connected to the other end of the acoustic release system; the crane comprises a crane ship, a tail crane and a control system, wherein the crane ship is provided with the tail crane, and the tail crane is used for winding and unwinding a crane cable; the ultra-short baseline system comprises an ultra-short baseline transducer arranged on the submerged buoy main floating body and an ultra-short baseline receiver arranged at the bottom of the lifting vessel.
As an alternative of the technical solution of the present invention, the crane ship is provided with a dynamic positioning device and a controller, the controller is in communication connection with the ultra-short baseline receiver, and the dynamic positioning device is responsive to the controller.
As an alternative to the solution according to the invention, the mooring lines are provided with mooring systems connected by connecting elements.
As an alternative scheme of the technical scheme of the invention, one end of the submerged buoy main floating body is connected with the connecting piece through a shackle.
As an alternative scheme of the technical scheme of the invention, the submerged buoy main floating body is also provided with an anchor chain.
The application document also discloses a deployment method of the underwater submerged buoy fixed point deployment device, which comprises the following steps: conveying the submerged buoy main body to be distributed to a throwing point; hoisting a submerged buoy main floating body connected with a crane cable and an acoustic release system to enable the anchoring cable to be in a basically vertical state; releasing the crane cable to enable the submerged buoy main floating body to sink; the position of the submerged buoy main floating body is timely adjusted according to the deviation between the position of the submerged buoy main floating body received by the ultra-short baseline receiver and the position of the to-be-thrown point in the descending process; and when the distance between the gravity anchor and the throwing point is smaller than a preset value, releasing the submerged buoy main floating body through the acoustic release system.
As an alternative of the technical scheme of the invention, after the gravity anchor falls to the ground, the final position of the submerged buoy main floating body is recorded.
As an alternative of the technical solution of the present invention, the controller is preset with an initial position parameter of the crane shipP 0The initial position parameter is based on the position of the point to be put inM 0Setting is carried out; the main floating body of the submerged buoy slowly descends for a period of timeT 1The ultra-short baseline receiver receives the current position of the submerged buoy main floating bodyQ 1Based on the position of the main buoy of the submerged buoyQ 1And the position of the to-be-put pointM 0In thatXYDeviation on the plane adjusts the position of the vessel toP 1(ii) a The main floating body of the submerged buoy slowly descends for a period of timeT 2The ultra-short baseline receiver receives the current stationThe position of the main floating body of the submerged buoyQ 2Based on the position of the main buoy of the submerged buoyQ 2And the position of the to-be-put pointM 0In thatXYDeviation on the plane adjusts the position of the vessel toP 2(ii) a And continuously releasing the submerged buoy main floating body, and adjusting the position of the crane ship for multiple times according to a preset time interval until the submerged buoy main floating body is released.
As an alternative of the technical scheme of the invention, the main submerged buoy is also provided with a depth gauge,T 1in time, the depth gauge measures the depth of the main floating body of the submerged buoyZ 1Feeding back to the controller;T 1during time, the controller receives the current position of the submerged buoy main floating body according to the ultra-short baseline receiverQ 1Calculating the depth of the main floating body of the subsurface buoy at the timeZ 1Depth of depth `Z 1Based on the initial speed of soundV c0Calculating; based onZ 1In systems with very short baselinesV c0Is modified intoV c1；T 2In time, the depth gauge measures the depth of the main floating body of the submerged buoyZ 2Feeding back to the controller;T 2during time, the controller receives the current position of the submerged buoy main floating body according to the ultra-short baseline receiverQ 2Calculating the depth of the main floating body of the subsurface buoy at the timeZ 2Depth of depth `Z 2Based on the initial speed of soundV c1Calculating; based onZ 2In systems with very short baselinesV c1Is modified intoV c2(ii) a And continuously releasing the submerged buoy main floating body, and correcting the sound velocity in the ultra-short baseline system for multiple times according to a preset time interval until the submerged buoy main floating body is released.
As an alternative of the technical scheme of the invention, the main submerged buoy is also provided with a depth meter, and the controller is internally preset with initial position parameters of the crane shipP 0The initial position parameter is based on the position of the point to be put inM 0Setting is carried out;T 1time of day, said depthThe depth of the submerged buoy main floating body is measured by a meterZ 1Feeding back to the controller;T 1during time, the controller receives the current position of the submerged buoy main floating body according to the ultra-short baseline receiverQ 1Calculating the depth of the main floating body of the subsurface buoy at the timeZ 1Depth of depth `Z 1Based on the initial speed of soundV c0Calculating; based onZ 1In systems with very short baselinesV c0Is modified intoV c1(ii) a Based on the correctedV c1Recalculating the submerged buoy main floating body atT 1Corrected position of time pointQ 1Based on the corrected positionQ 1' with the position of the point to be putM 0In thatXYDeviation on the plane adjusts the position of the vessel toP 1；T 2In time, the depth gauge measures the depth of the main floating body of the submerged buoyZ 2Feeding back to the controller;T 2during time, the controller receives the current position of the submerged buoy main floating body according to the ultra-short baseline receiverQ 2Calculating the depth of the main floating body of the subsurface buoy at the timeZ 2Depth of depth `Z 2Based on the initial speed of soundV c1Calculating; based onZ 2In systems with very short baselinesV c1Is modified intoV c2(ii) a Based on the correctedV c2Recalculating the submerged buoy main floating body atT 2Corrected position of time pointQ 2Based on the corrected positionQ 2' with the position of the point to be putM 0In thatXYDeviation on the plane adjusts the position of the vessel toP 2(ii) a And continuously releasing the submerged buoy main floating body, and correcting the sound velocity in the ultra-short baseline system for multiple times according to a preset time interval until the submerged buoy main floating body is released.
The invention has the beneficial effects that:
through the mutual matching of the hanging ship hoisting system, the dynamic positioning system device, the ultra-short baseline system and the acoustic release system, after the ship hoisting position is adjusted through the ship dynamic positioning device according to the underwater position data of the submerged buoy main floating body received by the ultra-short baseline receiver arranged on the submerged buoy main floating body, the submerged buoy launching is completed by using the acoustic release system to match with the crane. By the method, the position of the main floating body of the underwater submerged buoy can be tracked in real time in the whole launching process of the submerged buoy system, and the position of the main floating body of the submerged buoy can be adjusted for multiple times before the main floating body of the submerged buoy is released, so that the position precision of launching the submerged buoy on site is improved to a meter level.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic connection diagram of a submerged buoy fixed point deployment device in one embodiment disclosed in the application.
Fig. 2 is a control schematic diagram of the underwater submersible buoy fixed point deployment device in one embodiment disclosed in the application.
FIG. 3 is a schematic diagram of the calculation of the position of the submerged main float in one embodiment of the present disclosure.
Reference numerals:
10-a submerged buoy main floating body; 11-depth gauge; 20-gravity anchor; 30-mooring cables; 40-an anchor system; 50-an acoustic release system; 60-crane cable; 70-lifting a ship; 71-tail crane; 72-a dynamic positioning device; 73-a controller; 80-ultra short baseline system; 81-an ultra-short baseline transducer; 82-ultra short baseline receiver.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the description of the embodiments, the terms "disposed," "connected," and the like are to be construed broadly unless otherwise explicitly specified or limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; either directly or through an intervening medium, or through internal communication between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
The technical scheme of the embodiment describes an underwater submerged buoy fixed point laying device, as shown in fig. 1, which comprises a submerged buoy main floating body 10 and a gravity anchor 20, wherein the gravity anchor 20 is connected with the submerged buoy main floating body 10 through an anchor mooring rope 30; the mooring cable 30 is provided with a mooring system 40 connected by a connecting piece, and one end of the mooring system 40 is connected with the submerged buoy main floating body 10 through a shackle.
The submerged buoy main floating body 10 is provided with various monitoring devices for ocean monitoring, and workers can be installed and placed according to actual needs, for example, a beacon and a flash lamp for positioning on water during system recovery can be installed, a water quality instrument for observing temperature salt and seawater turbidity, an acoustic Doppler current profiler for observing an underflow profile and the like can also be installed.
The deployment device further comprises an acoustic release system 50, wherein the acoustic release system 50 is arranged on one side of the submerged buoy main floating body 10 away from the gravity anchor 20; the other end of acoustic release system 50 is connected to crane cable 60; the laying device also comprises a crane ship 70, wherein a tail crane 71 is arranged on the crane ship, and the tail crane 71 is used for retracting the crane cable 60;
in the deployment apparatus, the position information of the submerged buoy main buoy is acquired by an ultra-short baseline system 80, and the ultra-short baseline system 80 includes an ultra-short baseline transducer 81 disposed on the submerged buoy main buoy 10 and an ultra-short baseline receiver 82 disposed at the bottom of the vessel.
Preferably, as shown in fig. 2, the crane vessel 70 is provided with a dynamic positioning device 72 and a controller 73, the controller 73 is connected with the ultra-short baseline receiver 82 in communication, and the dynamic positioning device 72 is responsive to the controller 73.
The controller 73 is previously provided with initial position parameters of the crane ship 70P 0The initial position parameter is based on the position of the point to be droppedM 0The dynamic positioning device 72 of the crane ship is controlled by the controller 73 to move to the position of the position to be launched to launch the submerged buoy.
Preferably, the submerged buoy main floating body 10 is further provided with an anchor chain, the anchor chain is made of stainless steel and is arranged on one side of the submerged buoy main floating body close to the gravity anchor 20, and the amount of the anchor chain is set so as to prevent the submerged buoy main floating body from being inverted when the submerged buoy is recovered.
The laying method of the underwater submerged buoy fixed point laying device mainly comprises the following steps,
firstly, conveying a submerged buoy body to be distributed to a throwing point;
and then, hoisting the submerged buoy main floating body connected with the crane cable and the acoustic release system to enable the anchoring cable to be in a basically vertical state, and in the actual working process, working by matching a winch with a tail crane.
And then releasing the cable of the crane to enable the main floating body of the submerged buoy to sink, and in the process, in order to ensure the throwing precision, controlling a tail crane and a winch to slow down the sinking speed of the main floating body of the submerged buoy.
After descending for a certain distance or a certain time, timely adjusting the position of the submerged buoy main floating body according to the deviation between the position of the submerged buoy main floating body received by the ultra-short baseline receiver and the position of the position to be put in; adjustment of the position of the main submersible buoy is primarily by means of the crane vessel 70.
When the distance between the gravity anchor and the release point is smaller than a preset value, releasing the submerged buoy main floating body through an acoustic release system; the process generally comprises the steps that when the position of a main floating body of the submerged buoy is stably positioned above a planned throwing point and the distance between a gravity anchor and the seabed is 5-10 meters, the acoustic release system below a tail crane hook is operated, and a release hook is opened to release the submerged buoy system to finish throwing.
Because the system position can be checked on the crane ship in real time by means of the ultra-short baseline system during unhooking, the distance between the gravity anchor and the seabed is short, and the time required for landing the gravity anchor after unhooking is very short, the position movement caused by external environment influences such as ocean currents and the like is very small in the process, and the purpose of high-precision fixed-point placement can be achieved.
And finally, recording the final position of the main floating body of the submerged buoy after the gravity anchor falls to the ground.
In this embodiment, in the process of descending the submerged buoy main floating body, the position of the submerged buoy main floating body is adjusted by the crane ship in the following manner:
the initial position parameters of the crane ship are preset in the controllerP 0The initial position parameter is based on the position of the point to be droppedM 0Arranged as shown in fig. 3; that is to say inP 0Throwing the anchor system;
the main floating body of the submerged buoy slowly descends for a period of timeT 1The position of the current submerged buoy main floating body received by the ultra-short baseline receiverQ 1I.e. the position of the main buoy of the submerged buoy at that momentQ 1And the position of the to-be-put pointM 0Position deviation occurs on an XY plane, and since the ultra-short baseline receiver is a receiving array arranged at the bottom of the crane ship, the time of receiving signals by each receiving point on the receiving array and the sound velocity in the seawaterV cThe azimuth angle in the figure can be obtainedα、β、θAnd the distance between the main buoy and the crane shipRBased onα、β、θAndRthe position of the main floating body of the submerged buoy at the moment can be analyzed by the valueQ 1Coordinates, then based on the position of the main buoy of the submerged buoyQ 1And the position of the to-be-put pointM 0In thatXYDeviation on the plane adjusts the position of the vessel toP 1；
Continuously releasing the anchoring system, and slowly descending the main floating body of the submerged buoy for a period of timeT 2The position of the current submerged buoy main floating body received by the ultra-short baseline receiverQ 2Based on submerged main floatsPosition ofQ 2And the position of the to-be-put pointM 0In thatXYDeviation on the plane adjusts the position of the vessel toP 2；
And continuously releasing the main submerged buoy floating body, and repeating the steps for multiple times according to a preset time interval to adjust the position of the crane ship until the main submerged buoy floating body is released through the acoustic release system.
Example 2
This embodiment is an improvement based on embodiment 1, in this embodiment, a depth meter 11 is further provided on the sub-buoy main floating body, and the sound velocity at different positions is mainly corrected by the deviation between the depth information obtained by the depth meter and the depth information obtained by the ultra-short baseline system.
In the present embodiment, it is preferred that,T 1in time, the depth gauge will measure the depth of the main floating body of the submerged buoyZ 1Feeding back to the controller;
meanwhile, the controller receives the position of the current submerged buoy main floating body according to the ultra-short baseline receiverQ 1Calculating the depth of the main floating body of the subsurface buoy at the timeZ 1Depth of depth `Z 1Based on the initial speed of soundV c0Calculating;
such as that shown in fig. 3Q 1While taking place
WhereinV c0Is the speed of sound as initially defined and,
t 2is the time at which the ultra-short baseline receiver acquires the signal;
t 1is the time at which the ultra-short baseline transducer emits a signal.
Based on theRValue calculation for depth of submerged buoy main floating bodyZ 1＇，
After that time, the user can use the device,based onZ 1In systems with very short baselinesV c0Is modified intoV c1；
That is, make
Can be analyzed outV c1；
T 2In time, the depth gauge will measure the depth of the main floating body of the submerged buoyZ 2Feeding back to the controller;
meanwhile, the controller receives the position of the current submerged buoy main floating body according to the ultra-short baseline receiverQ 2Calculating the depth of the main floating body of the subsurface buoy at the timeZ 2Depth of depth `Z 2Based on the initial speed of soundV c1Calculating;
that is to say that the first and second electrodes,
based onZ 2In systems with very short baselinesV c1Is modified intoV c2；
That is, in addition to
And continuously releasing the submerged buoy main floating body, and correcting the sound velocity in the ultra-short baseline system for multiple times according to a preset time interval until the submerged buoy main floating body is released.
That is, in the embodiment, the sound velocity dependent on the calculation of the position information of the submerged buoy main floating body sinking to different depths is corrected in the process of releasing the anchoring system, so that error accumulation caused by different sound velocities at different depths is avoided, and the throwing precision is further improved.
Example 3
This embodiment is an improvement based on embodiment 1, in this embodiment, the main submerged buoy is further provided with a depth gauge 11, and the controller is preset with initial position parameters of the crane shipP 0The initial position parameter is based on the point location to be releasedDevice for placingM 0Setting is carried out;
T 1in time, the depth gauge will measure the depth of the main floating body of the submerged buoyZ 1Feeding back to the controller;
meanwhile, the controller receives the position of the current submerged buoy main floating body according to the ultra-short baseline receiverQ 1Calculating the depth of the main floating body of the subsurface buoy at the timeZ 1Depth of depth `Z 1Based on the initial speed of soundV c0Calculating; based onZ 1In systems with very short baselinesV c0Is modified intoV c1；
Based on the correctedV c1Recalculate the main floating body of the submerged buoyT 1Corrected position of time pointQ 1Based on the corrected positionQ 1' AND position of to-be-put pointM 0In thatXYDeviation on the plane adjusts the position of the vessel toP 1；
T 2In time, the depth gauge will measure the depth of the main floating body of the submerged buoyZ 2Feeding back to the controller;T 2during time, the controller receives the position of the current submerged buoy main floating body according to the ultra-short baseline receiverQ 2Calculating the depth of the main floating body of the subsurface buoy at the timeZ 2Depth of depth `Z 2Based on the initial speed of soundV c1Calculating; based onZ 2In systems with very short baselinesV c1Is modified intoV c2；
Based on the correctedV c2Recalculate the main floating body of the submerged buoyT 2Corrected position of time pointQ 2Based on the corrected positionQ 2' AND position of to-be-put pointM 0In thatXYDeviation on the plane adjusts the position of the vessel toP 2(ii) a And continuously releasing the submerged buoy main floating body, and correcting the sound velocity in the ultra-short baseline system for multiple times according to a preset time interval until the submerged buoy main floating body is released.
That is, in the present embodiment, except that the re-determination is made based on the corrected sound speed parameterBesides the position of the main submerged buoy, the position of the main submerged buoy and the position of the crane ship are recalculated based on the corrected sound velocity parameterXYThe accuracy of the dispensing of the deviation on the plane was further improved as compared with example 2.
The present invention is described in detail with reference to the accompanying drawings, which are incorporated in and constitute a part of this specification. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization of those skilled in the art; where combinations of features are mutually inconsistent or impractical, such combinations should not be considered as being absent and not within the scope of the claimed invention.
Claims (10)
1. An underwater submerged buoy fixed point laying device is characterized by comprising,
a main buoy of the submerged buoy;
the gravity anchor is connected with the submerged buoy main floating body through an anchoring mooring rope;
the acoustic release system is arranged on one side of the submerged buoy main floating body away from the gravity anchor;
a hoist cable connected to the other end of the acoustic release system;
the crane comprises a crane ship, a tail crane and a control system, wherein the crane ship is provided with the tail crane, and the tail crane is used for winding and unwinding a crane cable;
the ultra-short baseline system comprises an ultra-short baseline transducer arranged on the submerged buoy main floating body and an ultra-short baseline receiver arranged at the bottom of the lifting vessel.
2. The underwater submersible buoy point deployment device of claim 1, wherein a dynamic positioning device and a controller are disposed on the crane vessel, the controller is in communication with the ultra-short baseline receiver, and the dynamic positioning device is responsive to the controller.
3. The underwater submersible buoy point deployment device of claim 1, wherein the mooring lines are provided with mooring systems connected by connecting members.
4. The underwater submerged buoy fixed point deployment device of claim 3, wherein one end of the submerged buoy main floating body is connected with the connecting piece through a shackle.
5. The underwater submerged buoy fixed point deployment device of claim 1, wherein an anchor chain is further arranged on the submerged buoy main floating body.
6. A deployment method of the underwater submerged buoy fixed point deployment device as claimed in claim 1,
conveying the submerged buoy main body to be distributed to a throwing point;
hoisting a submerged buoy main floating body connected with a crane cable and an acoustic release system to enable the anchoring cable to be in a basically vertical state;
releasing the crane cable to enable the submerged buoy main floating body to sink;
the position of the submerged buoy main floating body is timely adjusted according to the deviation between the position of the submerged buoy main floating body received by the ultra-short baseline receiver and the position of the to-be-thrown point in the descending process;
and when the distance between the gravity anchor and the throwing point is smaller than a preset value, releasing the submerged buoy main floating body through the acoustic release system.
7. The underwater submersible buoy point deployment method of claim 6, wherein: and recording the final position of the submerged buoy main floating body after the gravity anchor falls to the ground.
8. The underwater submersible buoy point deployment method of claim 6, wherein: the controller is internally preset with initial position parameters of the crane shipP 0The initial position parameter is based on the position of the point to be put inM 0Setting is carried out;
submerged buoy main buoyThe body slowly descends for a period of timeT 1The ultra-short baseline receiver receives the current position of the submerged buoy main floating bodyQ 1，
Position based on submerged buoy main floating bodyQ 1And the position of the to-be-put pointM 0In thatXYDeviation on the plane adjusts the position of the vessel toP 1；
The main floating body of the submerged buoy slowly descends for a period of timeT 2The ultra-short baseline receiver receives the current position of the submerged buoy main floating bodyQ 2，
Position based on submerged buoy main floating bodyQ 2And the position of the to-be-put pointM 0In thatXYDeviation on the plane adjusts the position of the vessel toP 2；
And continuously releasing the submerged buoy main floating body, and adjusting the position of the crane ship for multiple times according to a preset time interval until the submerged buoy main floating body is released.
9. The underwater submerged buoy fixed point laying method as claimed in claim 6, characterized in that a depth meter is further arranged on the submerged buoy main floating body,
T 1in time, the depth gauge measures the depth of the main floating body of the submerged buoyZ 1Feeding back to the controller;
T 1during time, the controller receives the current position of the submerged buoy main floating body according to the ultra-short baseline receiverQ 1Calculating the depth of the main floating body of the subsurface buoy at the timeZ 1Depth of depth `Z 1Based on the initial speed of soundV c0Calculating;
based onZ 1In systems with very short baselinesV c0Is modified intoV c1；
T 2In time, the depth gauge measures the depth of the main floating body of the submerged buoyZ 2Feeding back to the controller;
T 2during time, the controller receives the current position of the submerged buoy main floating body according to the ultra-short baseline receiverQ 2Calculating the depth of the main floating body of the subsurface buoy at the timeZ 2Depth of depth `Z 2Based on the initial speed of soundV c1Calculating;
based onZ 2In systems with very short baselinesV c1Is modified intoV c2；
And continuously releasing the submerged buoy main floating body, and correcting the sound velocity in the ultra-short baseline system for multiple times according to a preset time interval until the submerged buoy main floating body is released.
10. The underwater submerged buoy fixed point laying method as claimed in claim 6, characterized in that a depth meter is further arranged on the submerged buoy main floating body,
the controller is internally preset with initial position parameters of the crane shipP 0The initial position parameter is based on the position of the point to be put inM 0Setting is carried out;
T 1in time, the depth gauge measures the depth of the main floating body of the submerged buoyZ 1Feeding back to the controller;
T 1during time, the controller receives the current position of the submerged buoy main floating body according to the ultra-short baseline receiverQ 1Calculating the depth of the main floating body of the subsurface buoy at the timeZ 1Depth of depth `Z 1Based on the initial speed of soundV c0Calculating;
based onZ 1In systems with very short baselinesV c0Is modified intoV c1；
Based on the correctedV c1Recalculating the submerged buoy main floating body atT 1Corrected position of time pointQ 1Based on the corrected positionQ 1' with the position of the point to be putM 0In thatXYDeviation on the plane adjusts the position of the vessel toP 1；
T 2In time, the depth gauge measures the depth of the main floating body of the submerged buoyZ 2Feeding back to the controller;
T 2during time, the controller receives the current position of the submerged buoy main floating body according to the ultra-short baseline receiverQ 2Calculating the depth of the main floating body of the subsurface buoy at the timeZ 2Depth of depth `Z 2Based on the initial speed of soundV c1Calculating;
based onZ 2In systems with very short baselinesV c1Is modified intoV c2；
Based on the correctedV c2Recalculating the submerged buoy main floating body atT 2Corrected position of time pointQ 2Based on the corrected positionQ 2' with the position of the point to be putM 0In thatXYDeviation on the plane adjusts the position of the vessel toP 2；
And continuously releasing the submerged buoy main floating body, and correcting the sound velocity in the ultra-short baseline system for multiple times according to a preset time interval until the submerged buoy main floating body is released.
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