CN114413846A - Deep water jumper pipe installation and measurement method based on long baseline acoustic positioning system - Google Patents
Deep water jumper pipe installation and measurement method based on long baseline acoustic positioning system Download PDFInfo
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Abstract
The invention relates to a deep water jumper installation and measurement method based on a long baseline acoustic positioning system, which comprises the following steps: s1, arranging long-baseline acoustic positioning system beacons to perform submarine long-baseline measurement system arraying according to the designed array position, and finally obtaining the absolute coordinates and depth of the array through adjustment calculation to serve as a control network point of underwater positioning; s2, measuring the offset of the center shaft and the height difference from the top of the pressure cap to the hub surface on land; s3, mounting measuring sensors on the two structures and measuring corresponding three-dimensional offset data; and S4, preprocessing the data acquired in the step S3 in real time in the measurement process. The invention has the advantages that: 1. the method has strong pertinence and is specially used for connecting and measuring the jumper pipes of the underwater facilities; 2. the application scene is wide, and the underwater measurement device can be applied to all marine construction requirements with the operation depth of more than 30 meters and replace underwater measurement operation of divers; 3. the precision is high, and the precision is not influenced by the depth of operation water.
Description
Technical Field
The invention relates to a deep water jumper pipe installation and measurement method based on a long baseline acoustic positioning system, which is suitable for installation operation under the assistance of a deep sea ROV (remote operated vehicle) and ensures that an offshore deep water oil and gas field is successfully built and put into production.
Background
Currently, offshore oil and gas exploration and development are carried out from shallow sea to deep sea, and underwater production systems are widely applied to the development process of most deep sea oil and gas fields in the world due to obvious comprehensive economic advantages of the underwater production systems in the development of deep sea oil and gas fields. The deepwater underwater connection of the production facility is an indispensable important link in constructing a complete underwater production system, and a Jumper (Jumper) is commonly used for the connection between an underwater Christmas Tree (undersea Tree), an underwater Manifold (Manifold), an underwater basal disc (PLET/PLEM) and oil pipelines and is an important component of the deepwater underwater production facility. The jumper pipe can be divided into a hard steel pipe and a hose according to materials, and can be divided into horizontal connection and vertical connection according to the connection arrangement form. The shape of the jumper pipe is different according to different design and use purposes, the size and the quality are different, and the connection between deep water oilfield subsea facilities usually adopts rigid jumper pipes. Based on the installation precision and the consideration of the installation process, the design, construction and installation work of the jumper are in the last step of offshore installation operation, and the design of the rigid jumper is determined by the relative relation between hubs (Hub) of different submarine facilities measured on site. Subsea measurements are required before the design of rigid vertical jumpers, and Subsea Metrology is the process of obtaining accurate and traceable dimensional measurements for the design of interconnecting pipelines between facilities such as jumpers or expansion joints. The purpose of subsea metrology measurements is to accurately determine the relative horizontal and vertical distances between subsea facilities, the relative heading and attitude, and the design jumper (jumper) course depth profile relative to the adjacent seabed. The pipeline engineer then uses this information to design connections to connect the facilities together. The measurement result and the precision directly determine whether the jumper pipe can be installed in the later period, and the high-precision measurement work has important significance for saving the construction period and the construction cost and ensuring the smooth production of development engineering.
Historically, the first underwater metrologies have been divers using tape measures from flange to flange, work using divers has been used to date, and shallow water work is typically performed by divers using tension and digital tension lines. At present, offshore oil and gas development is gradually carried out close to deep sea, deep water oil field development has higher and higher requirements on higher precision and stricter construction tolerance, meanwhile, diver operation has operation depth limitation, and various alternative and higher-precision seabed metering mode methods are developed internationally for deep water Metrology, and mainly comprise Long Base Line (LBL) acoustics, photogrammetry, Inertial Navigation System (INS), synchronous positioning and mapping (SLAM) technology and laser scanning. The underwater Metrology of the domestic oil and gas field is mainly performed by focusing on a tension line applied by a shallow water diver in the early stage, the Metrology technology of the deep water oil and gas field is started later, the technology introduction is mainly used, and meanwhile, the underwater Metrology is limited by a high-end inertial navigation technology 'neck' suitable for underwater engineering operation, and the underwater engineering application of the domestic photogrammetry, an Inertial Navigation System (INS), the SLAM technology and laser scanning is not further developed. The acoustic positioning system is a mainstream underwater positioning and navigation means at present, and can be divided into a Long Baseline (LBL), a Short Baseline (SBL) and an ultra-short baseline (USBL) according to the length of the baseline. The precision of the ultra-short baseline and short baseline positioning systems is gradually reduced along with the increase of water depth, the positioning precision of the long baseline positioning system is irrelevant to the water depth, and the distance is obtained through time measurement so as to solve a system of a target position, so that the system has great advantages in deepwater jumper pipe operation.
The goal of subsea Metrology is to accurately determine the relative horizontal and vertical distances between subsea assets, as well as their relative headings and attitudes. Each technology has advantages and limitations, and is based on engineering application of a certain ultra-deep water oil field development project in south China sea with the depth of 1500 meters, a conventional acoustic long baseline measurement technology is comprehensively researched, an acoustic long baseline measurement technology is researched on the premise that an integrated long baseline beacon is first applied to metrology domestically, and engineering precision control means and operation flows are researched.
The method mainly solves the problems of measuring and controlling the deepwater distance and the precision, measuring and controlling the attitude and the heading of a single Hub, measuring and controlling the relative heading and the attitude of Hub (Hub) among different facilities, optimizing the operation flow and guaranteeing the construction.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a method for installing and measuring a deep-water jumper pipe based on a long-baseline acoustic positioning system, which is a relative relation operation method among hubs of underwater structural facilities such as an offshore oil and gas field Christmas tree, an underwater manifold, an underwater base plate and the like, has high operation efficiency and operation level and good safety, and adopts the technical scheme that:
a deep water jumper installation measurement method based on a long baseline acoustic positioning system comprises the following steps:
s1, arranging long-baseline acoustic positioning system beacons to perform submarine long-baseline measurement system arraying according to the designed array position, and finally obtaining the absolute coordinates and depth of the array through adjustment calculation to serve as a control network point of underwater positioning;
s2, measuring the offset of the center shaft and the height difference from the top of the pressure cap to the hub surface on land;
s3, mounting measuring sensors on the two structures and measuring corresponding three-dimensional offset data; the method comprises the following steps of (1) calculating the horizontal distance, the height difference and the inclination angle relation between hubs through Euler rotation matrixes, and submitting the final measurement result of the jumper pipe; the method comprises the following steps of tracking the position and the posture of a structure by sequentially applying an ultra-short baseline of an ultra-short baseline acoustic positioning system and a long baseline of a long baseline acoustic positioning system in the lowering process of the structure; after the device is installed on the seabed, a long-baseline acoustic positioning system is used for acquiring the final position of a structure, and a measuring sensor is used for acquiring the heading and attitude information of the structure;
and S4, preprocessing the data acquired in the step S3 in real time in the measurement process, and timely performing additional measurement and retesting to ensure the reliability of the data when gross error or overrun occurs.
The step S1 specifically includes: after the long-baseline acoustic positioning system is arranged, acquiring absolute coordinates of an underwater array through single-point absolute position calibration and baseline calibration of a standard calibration program, wherein the single-point absolute position calibration is used for locking the absolute position of the array, and the baseline calibration is used for calculating the relative distance of a long-baseline beacon in the array; and finally obtaining the absolute coordinates and the depth of the matrix through adjustment calculation to be used as a control network point for underwater positioning, and meeting the requirements of structure installation positioning and jumper tube measurement relative positioning when the absolute accuracy of the point position after the matrix calibration is better than 0.5m and the relative accuracy is better than 0.02 m.
The step S2 specifically includes:
when the middle axle offset is measured, the method specifically comprises the following steps: the center shaft is hollow, so that a plurality of point data of the periphery of the center shaft are measured, and Bestfit software is used for fitting and reducing to the center of a circle;
when the height difference from the top of the pressure cap to the hub surface is measured: three-dimensional coordinates (X) of the top of the pressure cap and the hub surface were measured using a total stationtop,Ytop,Ztop) And (X)hub,Yhub,Zhub) Finally through Ztop-ZhubCalculating to obtain the height difference of the two components; the long baseline jumper measurement tool offset is calculated in advance.
The step S3 specifically includes:
s3-1, collecting the pitch between the hubs of the two structures:
mounting the measuring sensors on the hubs through the unmanned remote control underwater robot, wherein the surfaces A of the two measuring sensors are respectively the north of the structures of the two structures, the surfaces B of the two measuring sensors are the east of the structures of the two structures, the surfaces C of the two measuring sensors are the south of the structures of the two structures, and the surfaces D of the two measuring sensors are the west of the structures of the two structures, and then collecting the slant distances between the hubs of the two structures in the four directions of A-A, B-B, C-C and D-D; exchanging the positions of the two measuring sensors, and respectively acquiring the slant distances among the measuring sensors on the four surfaces again;
s3-2, measuring the vertical inclination angle and the inclination direction of the hubs of the two structures:
mounting the measuring sensors on the hub through the underwater robot, wherein the surfaces A of the two measuring sensors are respectively the north directions of the two structures, respectively collecting heading, trim and heeling on the four surfaces A, B, C, D, calculating the collected data, and finally determining the inclination angle and the inclination direction of the hub interface surfaces of the two structures;
s3-3, measuring the height difference between the two structure hubs:
measuring the depth of the hub surface: the accurate depth of the hub surface is calculated by accurately measuring the atmospheric pressure values of the sea surface and the submarine hub surface. The calculation formula is as follows:
in the formula: d is a depth value in m, PHThe pressure value of the Hub surface is expressed in Pa; pSIs the pressure value of sea surface with the unit of Pa; g is the gravity acceleration with the unit of m/s 2, rho is the average density of the seawater with the unit of kg/m3；
S3-4, measuring a routing depth profile between two structure hubs:
the reference station is fixed on a hub, and a water depth value is measured every 3m by the underwater robot, and the operation needs to be measured in a flat tide section in consideration of the influence of tide and seawater density and is completed within 30-75 minutes to ensure the measurement accuracy.
S3-5, resolving the relative relation between the two structure hubs:
the data obtained by measuring the sensor are indirect data, and can not be directly applied to construction, the wheel hub inclination posture and the relative relation of the wheel hub surface can not be obtained through simple addition and subtraction operation, the horizontal distance, the height difference and the inclination angle relation of the wheel hub are calculated through an Euler rotation matrix in engineering application, and the final measurement result of the jumper tube is submitted, and the formula is as follows:
in the formula: h is the heading, and the unit is degree; p is trim, in °; r is horizontal inclination with the unit of degree
The step S4 specifically includes:
s4-1, analyzing the sound ray propagation distance of the work area: guiding a sound velocity profile by using a RayTrace refraction analysis tool to generate a sound wave refraction graph, analyzing the distance between two structures, and determining the optimal support height above the structures; sound ray tracing is to graphically display the sound wave path transmitted from the array long baseline acoustic positioning system beacon; because the acoustic wave bends to a low-speed area, the ray path bends due to the change of the sound velocity profile passing through the water column; when the transmission distance is between 800 and 1900 meters under the working condition environment, the array distribution requirement is met.
S4-2, long baseline acoustic positioning system array acoustic line passing analysis:
taking into account the actual topography of the seabed, performing analysis using a digital ground model obtained from a regional survey to determine a baseline line of sight and a maximum tracking range; in the analysis process, the influence of sound ray bending is fully considered, and if sound ray shielding exists, the position of the array is adjusted.
S4-3, analyzing the array control range of the long-baseline acoustic positioning system:
the more measurement baselines of any tracking point in the target working area, the more reliable the position calculation is. The maximum coverage analysis of the array is beneficial to optimizing the array design; the long-base-line beacon is arranged at the height selected after the sound ray tracking analysis is finished, and analysis shows that any point in the array range is in the 6 long-base-line beacon base-line ranges and is higher than at least 4 basic requirements;
s4-4, analyzing the array accuracy of the long-baseline acoustic positioning system:
under the set working condition, when the relative precision in the designed array is 3-5cm, the underwater engineering measurement requirement is met.
In the step S3-3, when the height difference between the hubs is measured, the influence of tide and seawater density needs to be considered, and the operation process is completed within 25 minutes to ensure that the precision meets the measurement requirement. The pressure depth sensors are respectively placed on the two hub surfaces through the underwater robot, 3 times of measurement is repeatedly carried out, and finally the average value of the measurement is taken as the height difference between the two hubs.
In the step S3-4, the depth of the seabed ground surface is checked by a digital depth finder on the underwater robot, and the actual ground surface height of the node is detected by using the long-baseline jumper pipe measurement auxiliary tool to detect the thickness of the drilling mud with the maximum inserting capability of the underwater robot.
The invention has the advantages that: the invention analyzes the factors influencing the operation precision, provides the precision control index, optimizes the operation flow, is successfully applied to practical offshore operation, and shows that the deep water jumper pipe installation and measurement method based on the long baseline acoustic positioning system under the assistance of the underwater robot is an accurate and efficient mode.
The invention has the advantages that:
1. the method has strong pertinence and is specially used for connecting and measuring the jumper pipes of the underwater facilities;
2. the application scene is wide, the underwater measurement device can be applied to all marine construction requirements with the operation depth of more than 30 meters, replaces underwater measurement operation of divers, and is particularly suitable for deep water measurement operation which can not be reached by saturated diving of more than 300 meters;
3. the precision is high and is not influenced by the depth of the operation water;
4. the efficiency is high, the operation is carried out by surveying along the pipe cable instead of transversely cutting the pipe cable, the operation efficiency is greatly improved, the operation time efficiency is improved, and the engineering cost is saved;
5. the data redundancy is high, and multiple sensors and multiple data proofreading guarantee that the data are absolutely reliable;
6. the result interface is friendly, and all relative relations required by the construction of the jumper pipe are provided, including relative distance, relative height, flange inclination angle and relative posture between flanges;
7. the operation flow is controllable, the quality control is performed in multiple links, the problem that the installation cannot be performed due to the lack of quality control measures, the construction period is delayed due to rework, and great economic loss is caused is avoided.
Detailed Description
The invention will be further described with reference to specific embodiments, and the advantages and features of the invention will become apparent as the description proceeds. These examples are illustrative only and do not limit the scope of the present invention in any way. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention, and that such changes and modifications may be made without departing from the spirit and scope of the invention.
The invention relates to a deep water jumper installation and measurement method based on a long baseline acoustic positioning system, which comprises the following steps:
s1, arranging long-baseline acoustic positioning system beacons to perform submarine long-baseline measurement system arraying according to the designed array position, and finally obtaining the absolute coordinates and depth of the array through adjustment calculation to serve as a control network point of underwater positioning;
s2, measuring the offset of the center shaft and the height difference from the top of the pressure cap to the hub surface on land;
s3, mounting measuring sensors on the two structures and measuring corresponding three-dimensional offset data; the method comprises the following steps of (1) calculating the horizontal distance, the height difference and the inclination angle relation between hubs through Euler rotation matrixes, and submitting the final measurement result of the jumper pipe; the method comprises the following steps of tracking the position and the posture of a structure by sequentially applying an ultra-short baseline of an ultra-short baseline acoustic positioning system and a long baseline of a long baseline acoustic positioning system in the lowering process of the structure; after the device is installed on the seabed, a long-baseline acoustic positioning system is used for acquiring the final position of a structure, and a measuring sensor is used for acquiring the heading and attitude information of the structure;
and S4, preprocessing the data acquired in the step S3 in real time in the measurement process, and timely performing additional measurement and retesting to ensure the reliability of the data when gross error or overrun occurs.
The step S1 specifically includes: after the long-baseline acoustic positioning system is arranged, acquiring absolute coordinates of an underwater array through single-point absolute position calibration and baseline calibration of a standard calibration program, wherein the single-point absolute position calibration is used for locking the absolute position of the array, and the baseline calibration is used for calculating the relative distance of a long-baseline beacon in the array; and finally obtaining the absolute coordinates and the depth of the matrix through adjustment calculation to be used as a control network point for underwater positioning, and meeting the requirements of structure installation positioning and jumper tube measurement relative positioning when the absolute accuracy of the point position after the matrix calibration is better than 0.5m and the relative accuracy is better than 0.02 m.
The step S2 specifically includes:
when the middle axle offset is measured, the method specifically comprises the following steps: the center shaft is hollow, so that a plurality of point data of the periphery of the center shaft are measured, and Bestfit software is used for fitting and reducing to the center of a circle;
when the height difference from the top of the pressure cap to the hub surface is measured: three-dimensional coordinates (X) of the top of the pressure cap and the hub surface were measured using a total stationtop,Ytop,Ztop) And (X)hub,Yhub,Zhub) Finally through Ztop-ZhubCalculating to obtain the height difference of the two components; the long baseline jumper measurement tool offset is calculated in advance.
The step S3 specifically includes:
s3-1, collecting the pitch between the hubs of the two structures:
mounting the measuring sensors on the hubs through the unmanned remote control underwater robot, wherein the surfaces A of the two measuring sensors are respectively the north of the structures of the two structures, the surfaces B of the two measuring sensors are the east of the structures of the two structures, the surfaces C of the two measuring sensors are the south of the structures of the two structures, and the surfaces D of the two measuring sensors are the west of the structures of the two structures, and then collecting the slant distances between the hubs of the two structures in the four directions of A-A, B-B, C-C and D-D; exchanging the positions of the two measuring sensors, and respectively acquiring the slant distances among the measuring sensors on the four surfaces again;
s3-2, measuring the vertical inclination angle and the inclination direction of the hubs of the two structures:
mounting the measuring sensors on the hub through the underwater robot, wherein the surfaces A of the two measuring sensors are respectively the north directions of the two structures, respectively collecting heading, trim and heeling on the four surfaces A, B, C, D, calculating the collected data, and finally determining the inclination angle and the inclination direction of the hub interface surfaces of the two structures;
s3-3, measurement of height difference between two structures Hub:
measuring the depth of the hub surface: the accurate depth of the hub surface is calculated by accurately measuring the atmospheric pressure values of the sea surface and the submarine hub surface. The calculation formula is as follows:
in the formula: d is a depth value in m, PHThe pressure value of the hub surface is expressed in Pa; pSIs the pressure value of sea surface with the unit of Pa; g is the gravity acceleration with the unit of m/s 2, rho is the average density of the seawater with the unit of kg/m3；
S3-4, measuring a routing depth profile between two structure hubs:
the reference station is fixed on a hub, and a water depth value is measured every 3m by the underwater robot, and the operation needs to be measured in a flat tide section in consideration of the influence of tide and seawater density and is completed within 30-75 minutes to ensure the measurement accuracy.
S3-5, resolving the relative relation between the two structure hubs:
the data obtained by measuring the sensor are indirect data, and can not be directly applied to construction, the wheel hub inclination posture and the relative relation of the wheel hub surface can not be obtained through simple addition and subtraction operation, the horizontal distance, the height difference and the inclination angle relation of the wheel hub are calculated through an Euler rotation matrix in engineering application, and the final measurement result of the jumper tube is submitted, and the formula is as follows:
in the formula: h is the heading, and the unit is degree; p is trim, in °; r is horizontal inclination with the unit of degree
The step S4 specifically includes:
s4-1, analyzing the sound ray propagation distance of the work area: guiding a sound velocity profile by using a RayTrace refraction analysis tool to generate a sound wave refraction graph, analyzing the distance between two structures, and determining the optimal support height above the structures; sound ray tracing is to graphically display the sound wave path transmitted from the array long baseline acoustic positioning system beacon; because the acoustic wave bends to a low-speed area, the ray path bends due to the change of the sound velocity profile passing through the water column; when the transmission distance is between 800 and 1900 meters under the working condition environment, the array distribution requirement is met.
S4-2, long baseline acoustic positioning system array acoustic line passing analysis:
taking into account the actual topography of the seabed, performing analysis using a digital ground model obtained from a regional survey to determine a baseline line of sight and a maximum tracking range; in the analysis process, the influence of sound ray bending is fully considered, and if sound ray shielding exists, the position of the array is adjusted.
S4-3, analyzing the array control range of the long-baseline acoustic positioning system:
the more measurement baselines of any tracking point in the target working area, the more reliable the position calculation is. The maximum coverage analysis of the array is beneficial to optimizing the array design; the long-base-line beacon is arranged at the height selected after the sound ray tracking analysis is finished, and analysis shows that any point in the array range is in the 6 long-base-line beacon base-line ranges and is higher than at least 4 basic requirements;
s4-4, analyzing the array accuracy of the long-baseline acoustic positioning system:
under the set working condition, when the relative precision in the designed array is 3-5cm, the underwater engineering measurement requirement is met.
In the step S3-3, when the height difference between the hubs is measured, the influence of tide and seawater density needs to be considered, and the operation process is completed within 25 minutes to ensure that the precision meets the measurement requirement. The pressure depth sensors are respectively placed on the two hub surfaces through the underwater robot, 3 times of measurement is repeatedly carried out, and finally the average value of the measurement is taken as the height difference between the two hubs.
In the step S3-4, the depth of the seabed ground surface is checked by a digital depth finder on the underwater robot, and the actual ground surface height of the node is detected by using the long-baseline jumper pipe measurement auxiliary tool to detect the thickness of the drilling mud with the maximum inserting capability of the underwater robot.
According to the design, construction and installation requirements of the jumper pipe, the factors required to be obtained by deepwater measurement are as follows: a horizontal distance; depth difference; the hub attitude; a seabed gap; the relative included angle between the hubs, etc. The underwater operation environment is complex, different from the relative relation of water surface facilities, the relative relation between underwater hubs is directly measured through optical equipment, and the relative relation between underwater hubs must be obtained through comprehensive application of different instruments and equipment and indirectly through strict calculation.
In the engineering construction implementation process, a pressure protection cap is usually arranged on a hub surface and used for mounting a measuring instrument and preventing a hub interface from being damaged, the relative relation between hubs cannot be directly obtained, the relative relation is indirectly obtained through calculation after data is obtained through a sensor, and the sensor and a special auxiliary tool thereof carry out accurate structure control measurement before measurement. The method comprises the following steps of respectively placing beacons of a long-baseline acoustic positioning system on pressure caps of hubs at two ends of a jumper pipe to be installed, applying acoustic measurement, accurately measuring transmission time of signals between two measurement sensors, collecting real-time sound velocity of a depth layer through sound velocity measurement equipment, and finally determining the slant distance between the two measurement sensors; the transverse inclination value and the longitudinal inclination value of the hub surface are accurately measured through a measuring sensor, and the inclination angle and the direction of the surface are calculated.
Because the deepwater measurement environment is complex, the underwater distance measurement adopts an acoustic measurement mode, and real-time changes of parameters such as seawater temperature, salinity, density and the like can influence the sound velocity, thereby influencing the measurement precision of the distance. Because the jumper pipe has higher measurement precision requirement, the error can be reduced through the following three aspects:
1) measuring in multiple directions, and averaging;
2) the sound velocity of the water depth profile can be regarded as constant in a short time, and the measurement speed is increased to achieve the purpose of improving the precision;
3) the depth of the water depth layer is collected before each measurement, and the latest sound velocity is ensured during each baseline distance collection.
For hub height difference and routing depth measurements, the effect of the tide on its accuracy is crucial, and measurement errors can be reduced from three aspects:
1) predicting the tide of the operation point position in advance, and selecting a flat tide time period for measurement;
2) performing weighted adjustment according to the measured time interval, and calculating the closure difference caused by the tide influence to each measuring station;
3) ROV operating personnel are trained in advance to be familiar with the operation process, the measurement speed is improved, and the tide influence is reduced.
The deep water jumper pipe LBL Metrology is the comprehensive application of multidisciplinary multi-equipment, and the precision requirement is high, and the error of any link will cause the unreliable of measurement result, directly leads to the unable installation of later stage or installation back stress too big to life can reduce greatly. Therefore, the whole operation link needs strict QC quality control, and the operation flow is optimized by combining the construction of a certain deepwater oil-gas field.
After data acquisition is finished, data processing is particularly critical, data with poor quality needs to be removed in the processing process, the distance between hubs is ensured to meet the tolerance by 8 times of measurement (measurement of four surfaces twice and measurement of eight times in total), and the average value is taken as the final slope distance; the height difference between the hubs is the average value of three measurement results, the hubs of the reference station are influenced by tides, and the average depth value of single measurement is used for eliminating the influences of the tides, so that the height difference between the two hubs is accurately determined, and tide correction needs to be considered if the acquisition time is too long; the method comprises the following steps that route depth measurement between hubs often causes closing difference overrun due to long time consumption and tide influence, a tide section is selected to be measured through tide prediction, and closing difference values are distributed to each measuring station according to time interval weighting differences during data processing; and (3) calculating the inclination angle and direction between the hubs in the horizontal length between the hubs by using an Euler matrix, and calculating measurement results including the horizontal length between the hubs, the height difference, the routing water depth and the inclination angle and inclination direction of the hub surface.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. A deep water jumper installation measurement method based on a long baseline acoustic positioning system is characterized by comprising the following steps:
s1, arranging long-baseline acoustic positioning system beacons to perform submarine long-baseline measurement system arraying according to the designed array position, and finally obtaining the absolute coordinates and depth of the array through adjustment calculation to serve as a control network point of underwater positioning;
s2, measuring the offset of the center shaft and the height difference from the top of the pressure cap to the hub surface on land;
s3, mounting measuring sensors on the two structures and measuring corresponding three-dimensional offset data; the method comprises the following steps of (1) calculating the horizontal distance, the height difference and the inclination angle relation between hubs through Euler rotation matrixes, and submitting the final measurement result of the jumper pipe; the method comprises the following steps of tracking the position and the posture of a structure by sequentially applying an ultra-short baseline of an ultra-short baseline acoustic positioning system and a long baseline of a long baseline acoustic positioning system in the lowering process of the structure; after the device is installed on the seabed, a long-baseline acoustic positioning system is applied to acquire the final position of a structure;
and S4, preprocessing the data acquired in the step S3 in real time in the measurement process, and timely performing additional measurement and retesting to ensure the reliability of the data when gross error or overrun occurs.
2. The deep water jumper installation measuring method based on the long baseline acoustic positioning system as claimed in claim 1, wherein the step S1 is specifically as follows: after the long-baseline acoustic positioning system is arranged, acquiring absolute coordinates of an underwater array through single-point absolute position calibration and baseline calibration of a standard calibration program, wherein the single-point absolute position calibration is used for locking the absolute position of the array, and the baseline calibration is used for calculating the relative distance of a long-baseline beacon in the array; and finally obtaining the absolute coordinates and the depth of the matrix through adjustment calculation to be used as a control network point for underwater positioning, and meeting the requirements of structure installation positioning and jumper tube measurement relative positioning when the absolute accuracy of the point position after the matrix calibration is better than 0.5m and the relative accuracy is better than 0.02 m.
3. The deep water jumper installation measuring method based on the long baseline acoustic positioning system as claimed in claim 1, wherein the step S2 is specifically as follows:
when the middle axle offset is measured, the method specifically comprises the following steps: the center shaft is hollow, so that a plurality of point data of the periphery of the center shaft are measured, and Bestfit software is used for fitting and reducing to the center of a circle;
when the height difference from the top of the pressure cap to the hub surface is measured: three-dimensional coordinates (X) of the top of the pressure cap and the hub surface were measured using a total stationtop,Ytop,Ztop) And (X)hub,Yhub,Zhub) Finally through Ztop-ZhubCalculating to obtain the height difference of the two components; the long baseline jumper measurement tool offset is calculated in advance.
4. The deep water jumper installation measuring method based on the long baseline acoustic positioning system as claimed in claim 1, wherein the step S3 is specifically as follows:
s3-1, collecting the pitch between the hubs of the two structures:
mounting the measuring sensors on the hubs through the unmanned remote control underwater robot, wherein the surfaces A of the two measuring sensors are respectively the north of the structures of the two structures, the surfaces B of the two measuring sensors are the east of the structures of the two structures, the surfaces C of the two measuring sensors are the south of the structures of the two structures, and the surfaces D of the two measuring sensors are the west of the structures of the two structures, and then collecting the slant distances between the hubs of the two structures in the four directions of A-A, B-B, C-C and D-D; exchanging the positions of the two measuring sensors, and respectively acquiring the slant distances among the measuring sensors on the four surfaces again;
s3-2, measuring the vertical inclination angle and the inclination direction of the hubs of the two structures:
mounting the measuring sensors on the hub through the underwater robot, wherein the surfaces A of the two measuring sensors are respectively the north directions of the two structures, respectively collecting heading, trim and heeling on the four surfaces A, B, C, D, calculating the collected data, and finally determining the inclination angle and the inclination direction of the hub interface surfaces of the two structures;
s3-3, measuring the height difference between the two structure hubs:
measuring the depth of the hub surface: and calculating the accurate depth of the Hub surface by accurately measuring the atmospheric pressure values of the sea surface and the seabed Hub surface. The calculation formula is as follows:
in the formula: d is a depth value in m, PHThe pressure value of the Hub surface is expressed in Pa; pSIs the pressure value of sea surface with the unit of Pa; g is the gravity acceleration with the unit of m/s 2, rho is the average density of the seawater with the unit of kg/m3；
S3-4, measuring a routing depth profile between two structure hubs:
the reference station is fixed on a hub, and a water depth value is measured every 3m by the underwater robot, and the operation needs to be measured in a flat tide section in consideration of the influence of tide and seawater density and is completed within 30-75 minutes to ensure the measurement accuracy.
S3-5, resolving the relative relation between the two structure hubs:
the data obtained by measuring the sensor are indirect data, and can not be directly applied to construction, the wheel hub inclination posture and the relative relation of the wheel hub surface can not be obtained through simple addition and subtraction operation, the horizontal distance, the height difference and the inclination angle relation of the hub are calculated through an Euler rotation matrix in engineering application, and the final jumper tube measurement result is submitted, and the formula is as follows:
in the formula: h is the heading, and the unit is degree; p is trim, in °; r is horizontal inclination in units.
5. The deep water jumper installation measuring method based on the long baseline acoustic positioning system as claimed in claim 1, wherein the step S4 is specifically as follows:
s4-1, analyzing the sound ray propagation distance of the work area: guiding a sound velocity profile by using a RayTrace refraction analysis tool to generate a sound wave refraction graph, analyzing the distance between two structures, and determining the optimal support height above the structures; sound ray tracing is to graphically display the sound wave path transmitted from the array long baseline acoustic positioning system beacon; because the acoustic wave bends to a low-speed area, the ray path bends due to the change of the sound velocity profile passing through the water column; when the transmission distance is between 800 and 1900 meters under the working condition environment, the array distribution requirement is met.
S4-2, long baseline acoustic positioning system array acoustic line passing analysis:
taking into account the actual topography of the seabed, performing analysis using a digital ground model obtained from a regional survey to determine a baseline line of sight and a maximum tracking range; in the analysis process, the influence of sound ray bending is fully considered, and if sound ray shielding exists, the position of the array is adjusted.
S4-3, analyzing the array control range of the long-baseline acoustic positioning system:
the more measurement baselines of any tracking point in the target working area, the more reliable the position calculation is. The maximum coverage analysis of the array is beneficial to optimizing the array design; the long-base-line beacon is arranged at the height selected after the sound ray tracking analysis is finished, and analysis shows that any point in the array range is in the 6 long-base-line beacon base-line ranges and is higher than at least 4 basic requirements;
s4-4, analyzing the array accuracy of the long-baseline acoustic positioning system:
under the set working condition, when the relative precision in the designed array is 3-5cm, the underwater engineering measurement requirement is met.
6. The deep water jumper installation measuring method based on the long baseline acoustic positioning system as claimed in claim 4, wherein in the step S3-3, when the height difference between hubs is measured, the influence of tide and sea water density is considered, and the operation process is completed within 25 minutes, so as to ensure that the accuracy meets the measurement requirement. The pressure depth sensors are respectively placed on the two hub surfaces through the underwater robot, 3 times of measurement is repeatedly carried out, and finally the average value of the measurement is taken as the height difference between the two hubs.
7. The deep water jumper installation measuring method based on the long baseline acoustic positioning system as claimed in claim 4, wherein in the step S3-4, the digital depth finder on the underwater robot is used for checking the sea bed surface depth, and then the long baseline jumper measurement auxiliary tool is used for detecting the actual surface height of the drilling mud thickness detection node with the maximum inserting capability of the underwater robot.
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