CN114964146A - Floating-in-place installation 3D motion monitoring method based on total station - Google Patents
Floating-in-place installation 3D motion monitoring method based on total station Download PDFInfo
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Abstract
The invention relates to a method for monitoring float-over installation 3D movement based on a total station, which comprises the following steps: (1) installing and calibrating a motion monitoring system when the wharf is loaded; (2) and monitoring the field motion after the floating support ship arrives at the installation site. The invention has the advantages that: by using the total station laser measurement technology, the man-made interference factors can be effectively reduced, the real-time height difference measurement precision of the inserting tip to the LMU is greatly improved, and data can be provided by continuous measurement. The method has the advantages of high precision, good continuity and stable and reliable data quality, and simultaneously, the 3D graph and the histogram are displayed more visually.
Description
Technical Field
The invention relates to a method for monitoring 3D movement of float-over installation based on a total station, which is used for solving the problem of the height difference of key points in the float-over installation movement monitoring.
Background
The offshore oilfield ultra-large platform floating technology is one of the main technologies for offshore oil installation in recent years, the technology not only promotes the revolution of offshore installation technology, but also brings a series of technological and management changes of integral design, integral land construction and integral offshore debugging into a brand-new era, and the technology is conceptual innovation and breakthrough of the integral technology.
The technology utilizes the tidal principle, when the tide rises, the barge drags the ten-thousand-ton platform into the slot of the jacket, and when the tide falls, the barge slowly increases the draught to slowly and stably drop the ten-thousand-ton platform on the leg of the jacket. And after the operation is finished, the barge is withdrawn from the jacket, the constructor welds the platform and the jacket legs, and the whole installation process is finished. This technique includes 6 key actions, namely clearance acquisition, positioning guidance, active addressing, butt-joint closure, load transfer, and safe separation. Engineers creatively utilize ocean tide force and load adjustment technology, independently develop key equipment, attack the accurate butt joint technology of ten-thousand-ton-level platforms at sea, establish an offshore oil field ultra-large platform floating support technology system, create the technical advantages of 'four whole one zero' of integral design, integral shipment, integral transportation, integral installation and offshore zero debugging, establish a floating support fleet and a large platform construction site for 5000 plus 35000-ton platform installation, realize the crossing of China ocean engineering construction from kiloton-level hoisting to ten-thousand-ton-level floating support, and successfully break the foreign technologies and equipment monopoly.
The large-scale structure offshore floating support is divided into a low-position floating support and a high-position floating support. When the barge is in position, the center of gravity of the block is generally higher, the barge is ballasted and the center of gravity of the block is lowered after being in position, pile legs of the block are connected with the jacket, the load is transferred and the barge is retreated, the transportation stability of the block is poor, but the requirements on the performance of the ship and the working sea condition are higher; the low-order floats to hold in the palm then the opposite, and the chunk focus is lower, and the chunk transportation stability is good, nevertheless need can satisfy the installation requirement after machinery promotes the chunk when floating the on-the-spot installation. At present, the marine floating installation method of the domestic large-scale structure is basically a high-position floating installation method.
Motion monitoring is an important link of the offshore floating and supporting installation process, and decision data support and safety guarantee can be provided for the installation process, so that the research on the offshore platform floating and supporting installation motion monitoring method is very necessary.
In the prior floating installation process, the real-time height difference between the block insertion tip and the jacket LMU is basically judged by a video camera arranged near the insertion tip through human eye observation, and because the accurate height difference data between the block insertion tip and the jacket LMU in the block descending process is difficult to accurately judge due to the observation angle limitation and the influence of human factors, only one data can be estimated approximately, and great confusion is brought to installation commanders.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a method for monitoring 3D movement of float-over installation based on a total station, and the technical scheme of the invention is as follows:
a method for monitoring 3D movement of floating installation based on a total station comprises the following steps:
(1) installing and calibrating a motion monitoring system when the wharf is loaded;
(2) and monitoring the field motion after the floating support ship arrives at the installation site.
The step (1) is specifically as follows: the attitude sensor calibration is carried out when the wharf block is loaded on a ship, the attitude sensor calibration comprises yaw calibration, pitch calibration and roll calibration, the calibration is carried out by adopting an RTK method, and the specific calibration method comprises the following steps: erecting an RTK base station on a wharf, and then erecting an RTK mobile station on a support ship; the RTK mobile station data and the attitude sensor data are both accessed into motion monitoring software, and the position of an antenna of the RTK mobile station, the elevation of the antenna of the RTK mobile station and the yaw, pitch and roll data of the attitude sensor are synchronously recorded.
The specific operation method for yaw calibration comprises the following steps:
(1-1) erecting two RTK mobile station antennas at equal height positions on the central axis of the bow and the stern,
(1-2) the positions and elevations resolved by RTK receivers at the bow and the stern are accessed into a monitoring system in an NMEA GGA format;
(1-3) accessing the data of the motion sensor into a motion monitoring system;
(1-4) recording the positions, elevations and yawing, pitching and rolling data of the bow antenna and the stern antenna by the monitoring system, wherein the recording time is 20 minutes, and the time interval is 10 seconds;
(1-5) correspondingly inputting the recorded antenna positions and heading values of the bow and the stern into a table;
(1-6) calculating the heading of the ship by utilizing the coordinate and comparing with heading data synchronously recorded by the motion sensor to obtain a correction value of the heading direction, wherein the specific calculation formula is as follows:
dH-ATAN 2(Nb-Ns), (Eb-Es) -O, where the meaning of the letters in the formula is as follows, dH: heading correction value of attitude sensor, ATAN 2: an arctangent function, Nb, NS, Eb, Es and O, wherein Nb is the ordinate of the bow antenna, Ns is the ordinate of the stern antenna, Eb is the abscissa of the bow antenna, Es is the abscissa of the stern antenna, and O is a heading observation value of the attitude sensor; after data are recorded, filling the data into a table according to the formula in the step (1-6) to obtain a calibration result;
(1-7) inputting the correction value of the yaw direction of the attitude sensor to the monitoring system.
The specific operation method for the pitch calibration comprises the following steps:
(2-1) erecting two RTK mobile station antennas at equal height positions on the central axis of the bow and the stern;
(2-2) the positions and elevations resolved by the RTK receivers at the bow and the stern are accessed to a monitoring system in an NMEA GGA format;
(2-3) accessing the data of the motion sensor into a motion monitoring system;
(2-4) recording the positions, elevations and yawing, pitching and rolling data of the bow antenna and the stern antenna by the motion monitoring system, wherein the recording time is 20 minutes, and the time interval is 10 seconds;
(2-5) correspondingly counting the recorded positions, elevations and pitching values of the bow antenna and the stern antenna with time;
(2-6) calculating the pitch value of the ship by using the coordinates and the elevation, comparing the pitch value with pitch data synchronously observed and recorded by a motion sensor to obtain a correction value of the pitch direction, and calculating a formula: (vi) dP ═ ATAN ((Zb-Zs)/SQRT ((Eb-Es) ^2+ (Nb-Ns) ^2)) -O, where the meaning of the letter in the formula is as follows, dP: octans pitch correction, ATAN: an arctangent function Nb, NS, Eb, Es, Zb, Zs and O, wherein the ordinate of the bow antenna, the ordinate of the stern antenna, the abscissa of the bow antenna, the abscissa of the stern antenna, the elevation of the bow antenna, the elevation of the stern antenna and the pitching observation value of the attitude sensor are respectively calculated; after data are recorded, filling the data into the table according to the formula in the step (2-6) to obtain a calibration result;
(2-7) inputting the correction value of the pitch direction of the attitude sensor to the monitoring system.
The specific operation method of the roll calibration specifically comprises the following steps:
(3-1) erecting two RTK mobile station antennas at equal heights on a left side and a right side on a vertical line of a central axis of a bow and a stern;
(3-2) accessing the positions and elevations resolved by the RTK receivers on the left side and the right side into a monitoring system in an NMEA GGA format;
(3-3) accessing the data of the motion sensor into a motion monitoring system;
(3-4) recording the position, elevation, heading, pitching and rolling data of the left and right board antennas by the motion monitoring system, wherein the recording time is 20 minutes, and the time interval is 10 seconds;
(3-5) correspondingly counting the recorded positions, elevations and rolling values of the left and right side antennas with time;
(3-6) calculating a rolling value of the ship by using the coordinates and the elevation, comparing the rolling value with rolling data recorded by the synchronous observation of the motion sensor to obtain a rolling direction correction value, and calculating a formula: ATAN ((ZL-Zr)/SQRT ((El-Er). Lambda 2+ (Nl-Nr). Lambda 2)) -O, the meaning of the letters in the formula is as follows, dR: octans roll correction value, ATAN: the method comprises the following steps of performing inverse tangent function, wherein Nl is the ordinate of a ship port antenna, Nr is the ordinate of a ship starboard antenna, El is the abscissa of the ship port antenna, Er is the abscissa of the ship starboard antenna, ZL is the elevation of the ship port antenna, Zr is the elevation of the ship starboard antenna, and O is the roll observation value of an attitude sensor; after data are recorded, filling the data into the table according to the formula in the step (2-6) to obtain a calibration result;
and (3-7) inputting the correction value of the rolling direction of the attitude sensor into the monitoring system.
The step (2) comprises the operation of calibrating the installation error of the total station, when the floating operation site is monitored, the total station is arranged on a main deck of a floating installation supporting ship, the correction values of the pitching and rolling directions of the total station relative to the main deck surface are calculated by a DC control measurement and calibration method, and the correction values are applied to a monitoring system, and the specific operation method of calibrating the installation error of the total station is as follows:
(4-1) arranging the total station at any position convenient to observe of a main deck of a floating support supporting ship;
(4-2) zero setting in alignment with the bow direction;
(4-3) turning off the automatic compensation of the total station;
(4-4) measuring coordinates and elevations of three equal-altitude observation targets 1, 2 and 3 on the main deck surface by using a total station;
(4-5) calculating the positioning error of the total station in the pitching direction by using the observation coordinates and the elevation, and calculating a formula: p ═ ATAN ((Z1-Z2)/SQRT ((E1-E2) ^2+ (N1-N2) ^2)), where the meaning of the letter is as follows, P: total station pitch correction, ATAN: arctan function, N1: ordinate of point 1, N2: ordinate of point 2, E1: abscissa of point 1, E2: abscissa of point 2, Z1: elevation of point 1, and Z2: elevation of point 2; after data are recorded, filling the data into a table according to the formula in the step (4-5) to obtain a calibration result;
(4-6) calculating the arrangement error of the total station in the roll direction by using the observation coordinates and the elevation, and calculating a formula: r ═ ATAN ((Z3-Z2)/SQRT ((E3-E2) ^2+ (N3-N2) ^2)), where the letters have the following meanings, R: total station roll correction, ATAN: arctan function, N3: ordinate of point 3, N2: ordinate of point 2, E3: abscissa of point 3, E2: abscissa of point 2, Z3: elevation of point 3, and Z2: elevation of point 2; after data are recorded, filling the data into the table according to the formula in the step (4-6) to obtain a calibration result;
and (4-7) inputting the pitching and rolling arrangement errors of the total station into the motion monitoring system.
The step (2) further comprises the following steps:
(5-1) measuring the top position of the LMU in real time by using a total station on a floating installation site;
(5-2) reversely calculating the position and height of the station site of the main deck surface total station relative to the top of the LMU to obtain a 3D coordinate, wherein the calculation process is automatically calculated by a motion monitoring system;
(5-3) transmitting the position and height data of the total station frame station to each inserting point position of the chunk by using the attitude sensor data of the ship, wherein the position and height data transmission process is calculated by a monitoring system;
(5-4) automatically calculating the real-time height difference of each inserting tip to the corresponding LMU by using a monitoring system;
(5-5) displaying the real-time height difference of the insertion tip to the corresponding LMU on a monitoring screen in real time in the form of data and bar graphs;
(5-6) the posture data of the ship is simultaneously displayed on the screen in a digital form and a bull's eye form;
(5-7) real-time elevation differences of the insertion tips to the corresponding LMUs are displayed on a screen in a 3D real-time animation. The invention has the advantages that: by using the total station laser measurement technology, the man-made interference factors can be effectively reduced, the real-time height difference measurement precision of the inserting tip to the LMU is greatly improved, and data can be provided by continuous measurement. The method has the advantages of high precision, good continuity and stable and reliable data quality, and meanwhile, the 3D graph and the histogram are displayed more visually.
Drawings
FIG. 1 is a flow chart of the calibration of the motion sensor of the Octans III of the present invention.
FIG. 2 is a schematic diagram of the installation of an RTK rover position supporting ship yaw and pitch calibration in accordance with the present invention.
FIG. 3 is a schematic diagram of the position of an RTK rover station for mounting and supporting ship roll calibration in accordance with the present invention.
Fig. 4 is a schematic diagram of a total station installation error correction of the present invention.
Fig. 5 is a flow chart of the float-over installation movement monitoring of the present invention.
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.
Referring to fig. 1 to 5, the invention relates to a floating installation 3D motion monitoring method based on a total station, comprising the following steps:
(1) installing and calibrating a motion monitoring system when the wharf is loaded;
(2) and monitoring the field motion after the floating support ship arrives at the installation site.
The step (1) is specifically as follows: the attitude sensor calibration is carried out when the wharf block is loaded on a ship, the attitude sensor calibration comprises yaw calibration, pitch calibration and roll calibration, the calibration is carried out by adopting an RTK method, and the specific calibration method comprises the following steps: erecting an RTK base station on a wharf, and then erecting an RTK mobile station on a support ship; the RTK mobile station data and the attitude sensor data are both accessed into motion monitoring software, and the position of an antenna of the RTK mobile station, the elevation of the antenna of the RTK mobile station and the yaw, pitch and roll data of the attitude sensor are synchronously recorded.
The specific operation method of the yawing calibration comprises the following steps:
(1-1) erecting two RTK mobile station antennas at equal height positions on the central axis of the bow and the stern,
(1-2) the positions and elevations resolved by RTK receivers at the bow and the stern are accessed into a monitoring system in an NMEA GGA format;
(1-3) accessing the data of the motion sensor into a motion monitoring system;
(1-4) recording the position, elevation, yawing, pitching and rolling data of the bow antenna and the stern antenna by the monitoring system, wherein the recording time is 20 minutes, and the time interval is 10 seconds;
(1-5) correspondingly inputting the recorded antenna positions and heading values of the bow and the stern into a table;
(1-6) calculating the heading of the ship by utilizing the coordinate and comparing with heading data synchronously recorded by the motion sensor to obtain a correction value of the heading direction, wherein the specific calculation formula is as follows:
dH-ATAN 2((Nb-Ns), (Eb-Es)) -O, wherein the letters in the formula have the following meaning, dH: heading correction value of attitude sensor, ATAN 2: an arctan function, Nb, Ns, Eb, Es, O, and Nb, wherein the ordinate of the bow antenna, the ordinate of the stern antenna, Eb, Es, the abscissa of the bow antenna, and O, respectively, are respectively a heading observation value of the attitude sensor; after data are recorded, filling the data into a table according to the formula in the step (1-6) to obtain a calibration result;
(1-7) inputting the correction value of the yaw direction of the attitude sensor to the monitoring system.
The specific operation method for the pitch calibration comprises the following steps:
(2-1) erecting two RTK mobile station antennas at equal height positions on the central axis of the bow and the stern;
(2-2) the positions and elevations resolved by the RTK receivers at the bow and the stern are accessed into the monitoring system in an NMEAGGA format;
(2-3) accessing the data of the motion sensor into a motion monitoring system;
(2-4) recording the positions, elevations and yawing, pitching and rolling data of the bow antenna and the stern antenna by the motion monitoring system, wherein the recording time is 20 minutes, and the time interval is 10 seconds;
(2-5) correspondingly counting the recorded positions, elevations and pitching values of the bow antenna and the stern antenna with time;
(2-6) calculating the pitch value of the ship by using the coordinates and the elevation, comparing the pitch value with pitch data synchronously observed and recorded by a motion sensor to obtain a correction value of the pitch direction, and calculating a formula: (vi) dP ═ ATAN ((Zb-Zs)/SQRT ((Eb-Es) ^2+ (Nb-Ns) ^2)) -O, where the meaning of the letter in the formula is as follows, dP: octans pitch correction, ATAN: an arctangent function Nb, NS, Eb, Es, Zb, Zs and O, wherein the ordinate of the bow antenna, the ordinate of the stern antenna, the abscissa of the bow antenna, the abscissa of the stern antenna, the elevation of the bow antenna, the elevation of the stern antenna and the pitching observation value of the attitude sensor are respectively calculated; after data are recorded, filling the data into the table according to the formula in the step (2-6) to obtain a calibration result;
(2-7) inputting the correction value of the pitch direction of the attitude sensor to the monitoring system.
The specific operation method of the rolling calibration specifically comprises the following steps:
(3-1) erecting two RTK mobile station antennas at equal heights on a left side and a right side on a vertical line of a central axis of a bow and a stern;
(3-2) accessing the positions and elevations resolved by the RTK receivers on the left side and the right side into a monitoring system in an NMEA GGA format;
(3-3) accessing the data of the motion sensor into a motion monitoring system;
(3-4) recording the position, elevation, heading, pitching and rolling data of the left and right board antennas by the motion monitoring system, wherein the recording time is 20 minutes, and the time interval is 10 seconds;
(3-5) correspondingly counting the recorded positions, elevations and rolling values of the left and right side antennas with time;
(3-6) calculating a rolling value of the ship by using the coordinates and the elevation, comparing the rolling value with rolling data recorded by the synchronous observation of the motion sensor to obtain a rolling direction correction value, and calculating a formula: dR ═ ATAN ((ZL-Zr)/SQRT ((El-Er) ^2+ (Nl-Nr) ^2)) -O, the meaning of the letter in the formula is as follows, dR: octans roll correction value, ATAN: the method comprises the following steps of performing an arctangent function, wherein Nl is the longitudinal coordinate of a ship port antenna, Nr is the longitudinal coordinate of a ship starboard antenna, El is the horizontal coordinate of the ship port antenna, Er is the horizontal coordinate of the ship starboard antenna, ZL is the elevation of the ship port antenna, Zr is the elevation of the ship starboard antenna, and O is the rolling observation value of an attitude sensor; after data are recorded, filling the data into the table according to the formula in the step (2-6) to obtain a calibration result;
and (3-7) inputting the correction value of the rolling direction of the attitude sensor into the monitoring system.
The step (2) comprises the operation of the total station instrument setting error, when the floating support operation site is monitored, the total station instrument is arranged on a main deck of a floating support installation supporting ship, the correction values of the pitching and rolling directions of the total station instrument relative to the main deck surface are calculated by a DC control measurement and calibration method, and the correction values are applied to a monitoring system, and the specific operation method of the total station instrument setting error calibration comprises the following steps:
(4-1) arranging the total station at any position convenient to observe of a main deck of a floating support supporting ship;
(4-2) zero setting in alignment with the bow direction;
(4-3) turning off the automatic compensation of the total station;
(4-4) measuring the coordinates and the elevations of three equal-altitude observation targets 1, 2 and 3 on the main deck surface by using the total station;
(4-5) calculating the positioning error of the total station in the pitching direction by using the observation coordinates and the elevation, and calculating a formula: p ═ ATAN ((Z1-Z2)/SQRT ((E1-E2) ^2+ (N1-N2) ^2)), where the meaning of the letter is as follows, P: total station pitch correction, ATAN: an arctangent function, N1, N2, N3932, E1, E2, Z1, Z2 and N2; after data are recorded, filling the data into a table according to the formula in the step (4-5) to obtain a calibration result;
(4-6) calculating the arrangement error of the total station in the roll direction by using the observation coordinates and the elevation, and calculating a formula: r ═ ATAN ((Z3-Z2)/SQRT ((E3-E2) ^2+ (N3-N2) ^2)), where the letters have the following meanings, R: total station roll correction, ATAN: arctan function, N3: ordinate of point 3, N2: ordinate of point 2, E3: abscissa of point 3, E2: abscissa of point 2, Z3: elevation of point 3, and Z2: elevation of point 2; after data are recorded, filling the data into the table according to the formula in the step (4-6) to obtain a calibration result;
and (4-7) inputting the pitching and rolling arrangement errors of the total station into the motion monitoring system.
The step (2) further comprises the following steps:
(5-1) measuring the top position of the LMU in real time by using a total station on a floating installation site;
(5-2) reversely calculating the position and height of the station site of the main deck surface total station relative to the top of the LMU to obtain a 3D coordinate, wherein the calculation process is automatically calculated by a motion monitoring system;
(5-3) transmitting the position and height data of the total station frame station to each inserting tip position of the chunk by using the attitude sensor data of the ship, wherein the transmission process of the position and height data is calculated by a monitoring system;
(5-4) automatically calculating the real-time height difference of each inserting tip to the corresponding LMU by using a monitoring system; (5-5) displaying the real-time height difference of the insertion tip to the corresponding LMU on a monitoring screen in real time in the form of data and a bar graph;
(5-6) the posture data of the ship is simultaneously displayed on the screen in a digital form and a bull's eye form;
(5-7) real-time elevation differences of the insertion tips to the corresponding LMUs are displayed on a screen in a 3D real-time animation.
The total station is a high-precision total station, and the Sokkia FX101 total station is an advanced measuring instrument in Sooka series products. They use advanced laser and electronic technology, making it more lightweight, durable and efficient in measurement. The instrument is characterized in that: two liquid crystal display screens can be used for conveniently checking data in measurement; the multifunctional keyboard can simplify the operation; the coordinates of the known points can be directly input, and the data format of the SDR33 can also be directly output. In addition, the special telescope design ensures the rapidness and the accuracy of measurement, and can directly receive the signals reflected by the prism and the signals reflected by the reflector plate. Observation without cooperative targets can also be performed. The main precision indexes are as follows: angle measurement accuracy 1', distance measurement accuracy (2mm +2ppm x D) mm.
The three-dimensional attitude sensor is a high-precision three-dimensional attitude sensor, and the Octans III water surface plate is a measuring instrument comprising an optical fiber measuring compass and a motion attitude reference unit. The Octans III water surface plate can provide true north orientation, pitch, roll, yaw, pitch, yaw, heave, and roll information, and can also provide rotational speed and acceleration information in highly unstable environments. Octans III meets International Maritime Organization (IMO) compass certification requirements. Technical parameters of compass part: the dynamic precision is +/-0.2 degrees of secant latitude under any sea condition, the fixed point error is +/-0.1 degrees of secant latitude, the static stabilization time is 1 minute, the offshore stabilization time is 3 minutes, the repeatability is +/-0.025 degrees of secant latitude, and the resolution is 0.01 degrees. Motion sensor part technical parameters: the accuracy of surging, swaying and heaving is 5cm, the resolution is 1cm, the range of the period of the heaving motion is 0.03-40 seconds, the accuracy of surging, swaying and yawing is 0.01 degrees, and the maximum tracking speed is 500 degrees/second.
The system calibration equipment is Trimble SPS855, which is a modularized GNSS receiver and can be used for high-precision RTK measurement, and the main technical parameters are as follows: the horizontal direction accuracy of the RTK within 30 kilometers is 8mm +1ppm RMS, the vertical direction accuracy is 15mm +1ppm RMS, a single base station or a plurality of base stations are supported, the typical RTK initialization time is less than 10 seconds, and the initialization reliability is more than 99.9%.
The motion monitoring software is an ocean mapping software platform with Starfix NG as a Huizhou group, and the software platform is mainly characterized in that: constructing around a database, taking a task as guidance, and tightly integrating with a Fugro program; the method utilizes mature network technology, namely plug and play, utilizes better computer hardware and software operating system, takes an Electronic Navigation Chart (ENC) as a standard, and utilizes a 3D view for simulation.
The method comprises the following steps of: the real-time height difference data histogram and the 3D real-time monitoring are combined with the technical parameters of equipment and the field data analysis by using the method, and the real-time monitoring precision is as follows:
octans III pitch accuracy: 0.01 degree; octans III roll accuracy: 0.01 degree;
octans III heading accuracy: 0.01 degree; trimble SPS855 RTK accuracy: 2 cm;
sokkia FX101 total station angle measurement precision: 1 "; sokkia FX101 Total station ranging precision:
2mm +2ppm x D; heading calibration accuracy: 0.03 degrees; attitude calibration accuracy: 0.03 degrees;
height difference estimation accuracy: 10 cm; horizontal displacement estimation accuracy: 10 cm.
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 method for monitoring 3D movement of float-over installation based on a total station is characterized by comprising the following steps:
(1) installing and calibrating a motion monitoring system when the wharf is loaded;
(2) and monitoring the field motion after the floating support ship arrives at the installation site.
2. The total station-based 3D motion monitoring method for float-over installation according to claim 1, wherein the step (1) is specifically: the method comprises the following steps of calibrating an attitude sensor when a wharf block is loaded on a ship, wherein the attitude sensor calibration comprises yaw calibration, pitch calibration and roll calibration, the calibration is carried out by adopting an RTK method, and the specific calibration method comprises the following steps: erecting an RTK base station on a wharf, and then erecting an RTK mobile station on a support ship; the RTK mobile station data and the attitude sensor data are both accessed into motion monitoring software, and the position of an antenna of the RTK mobile station, the elevation of the antenna of the RTK mobile station and the yaw, pitch and roll data of the attitude sensor are synchronously recorded.
3. The total station based 3D motion monitoring method for float installation according to claim 2, characterized in that said yaw calibration is a specific operation method:
(1-1) erecting two RTK mobile station antennas at equal height positions on the central axis of the bow and the stern,
(1-2) the positions and elevations resolved by RTK receivers at the bow and the stern are accessed into a monitoring system in an NMEA GGA format;
(1-3) accessing the data of the motion sensor into a motion monitoring system;
(1-4) recording the position, elevation, yawing, pitching and rolling data of the bow antenna and the stern antenna by the monitoring system, wherein the recording time is 20 minutes, and the time interval is 10 seconds;
(1-5) correspondingly inputting the recorded antenna positions of the bow and the stern, the heading values and the time into a table;
(1-6) calculating the heading of the ship by utilizing the coordinate and comparing with heading data synchronously recorded by the motion sensor to obtain a correction value of the heading direction, wherein the specific calculation formula is as follows:
dH-ATAN 2((Nb-Ns), (Eb-Es)) -O, wherein the letters in the formula have the following meaning, dH: heading correction value of attitude sensor, ATAN 2: an arctangent function, Nb, NS, Eb, Es and O, wherein Nb is the ordinate of the bow antenna, Ns is the ordinate of the stern antenna, Eb is the abscissa of the bow antenna, Es is the abscissa of the stern antenna, and O is a heading observation value of the attitude sensor; after data are recorded, filling the data into a table according to the formula in the step (1-6) to obtain a calibration result;
(1-7) inputting the correction value of the yaw direction of the attitude sensor to the monitoring system.
4. The total station based 3D motion monitoring method for float-over installation according to claim 2, characterized in that said specific operation method for pitch calibration comprises the following steps:
(2-1) erecting two RTK mobile station antennas at equal height positions on the central axis of the bow and the stern;
(2-2) the positions and elevations resolved by the RTK receivers at the bow and the stern are accessed into the monitoring system in an NMEAGGA format;
(2-3) accessing the data of the motion sensor into a motion monitoring system;
(2-4) recording the positions, elevations and yawing, pitching and rolling data of the bow antenna and the stern antenna by the motion monitoring system, wherein the recording time is 20 minutes, and the time interval is 10 seconds;
(2-5) correspondingly counting the recorded positions, elevations and pitching values of the bow antenna and the stern antenna with time;
(2-6) calculating the pitch value of the ship by using the coordinates and the elevation, comparing the pitch value with pitch data synchronously observed and recorded by a motion sensor to obtain a correction value of the pitch direction, and calculating a formula: (vi) dP ═ ATAN ((Zb-Zs)/SQRT ((Eb-Es) ^2+ (Nb-Ns) ^2)) -O, where the meaning of the letter in the formula is as follows, dP: octans pitch correction, ATAN: an arctangent function Nb, NS, Eb, Es, Zb, Zs and O, wherein the ordinate of the bow antenna, the ordinate of the stern antenna, the abscissa of the bow antenna, the abscissa of the stern antenna, the elevation of the bow antenna, the elevation of the stern antenna and the pitching observation value of the attitude sensor are respectively calculated; after data are recorded, filling the data into the table according to the formula in the step (2-6) to obtain a calibration result;
(2-7) inputting the correction value of the pitch direction of the attitude sensor to the monitoring system.
5. The total station-based 3D motion monitoring method for float-over installation according to claim 2, wherein the roll calibration is specifically performed by:
(3-1) erecting two RTK mobile station antennas at equal heights on a left side and a right side on a vertical line of a central axis of a bow and a stern;
(3-2) accessing the positions and elevations calculated by the RTK receivers on the left side and the right side into a monitoring system in an NMEA GGA format;
(3-3) accessing the data of the motion sensor into a motion monitoring system;
(3-4) recording the position, elevation, heading, pitching and rolling data of the left and right board antennas by the motion monitoring system, wherein the recording time is 20 minutes, and the time interval is 10 seconds;
(3-5) correspondingly counting the recorded positions, elevations and rolling values of the left and right side antennas with time;
(3-6) calculating a rolling value of the ship by using the coordinates and the elevation, comparing the rolling value with rolling data recorded by the synchronous observation of the motion sensor to obtain a rolling direction correction value, and calculating a formula: ATAN ((ZL-Zr)/SQRT ((El-Er). Lambda 2+ (Nl-Nr). Lambda 2)) -O, the meaning of the letters in the formula is as follows, dR: octans roll correction value, ATAN: the method comprises the following steps of performing an arctangent function, wherein Nl is the longitudinal coordinate of a ship port antenna, Nr is the longitudinal coordinate of a ship starboard antenna, El is the horizontal coordinate of the ship port antenna, Er is the horizontal coordinate of the ship starboard antenna, ZL is the elevation of the ship port antenna, Zr is the elevation of the ship starboard antenna, and O is the rolling observation value of an attitude sensor; after data are recorded, filling the data into the table according to the formula in the step (2-6) to obtain a calibration result;
and (3-7) inputting the correction value of the rolling direction of the attitude sensor into the monitoring system.
6. The method for 3D motion monitoring based on total station installation, as claimed in claim 2, wherein said step (2) includes an operation of calibrating installation error of the total station, the total station is installed on the main deck of the vessel for supporting installation of the floating platform during on-site monitoring of the floating platform operation, the correction value of the pitching and rolling directions of the total station relative to the main deck surface is calculated by means of DC control survey calibration, and the correction value is applied to the monitoring system, and the specific operation method of calibrating installation error of the total station is as follows:
(4-1) arranging the total station at any position convenient to observe of a main deck of a floating support supporting ship;
(4-2) zero setting in alignment with the bow direction;
(4-3) turning off the automatic compensation of the total station;
(4-4) measuring the coordinates and the elevations of three equal-altitude observation targets 1, 2 and 3 on the main deck surface by using the total station;
(4-5) calculating a setting error of the total station in the pitching direction by using the observation coordinates and the elevation, wherein a calculation formula is as follows: p ═ ATAN ((Z1-Z2)/SQRT ((E1-E2) ^2+ (N1-N2) ^2)), the meaning of the letter in the formula is as follows, P: total station pitch correction, ATAN: arctan function, N1: ordinate of point 1, N2: ordinate of point 2, E1: abscissa of point 1, E2: abscissa of point 2, Z1: elevation of point 1, and Z2: elevation of point 2; after data are recorded, filling the data into a table according to the formula in the step (4-5) to obtain a calibration result;
(4-6) calculating the arrangement error of the total station in the roll direction by using the observation coordinates and the elevation, and calculating a formula: r ═ ATAN ((Z3-Z2)/SQRT ((E3-E2) ^2+ (N3-N2) ^2)), where the letters have the following meanings, R: total station roll correction, ATAN: arctan function, N3: ordinate of point 3, N2: ordinate of point 2, E3: abscissa of point 3, E2: abscissa of point 2, Z3: elevation of point 3, and Z2: elevation of point 2; after data are recorded, filling the data into the table according to the formula in the step (4-6) to obtain a calibration result;
and (4-7) inputting the pitching and rolling arrangement errors of the total station into the motion monitoring system.
7. The total station based 3D motion monitoring method for float-over installation according to claim 5, wherein said step (2) further comprises:
(5-1) measuring the top position of the LMU in real time by using a total station on a floating installation site;
(5-2) reversely calculating the position and height of the station site of the main deck surface total station relative to the top of the LMU to obtain a 3D coordinate, wherein the calculation process is automatically calculated by a motion monitoring system;
(5-3) transmitting the position and height data of the total station frame station to each inserting point position of the chunk by using the attitude sensor data of the ship, wherein the position and height data transmission process is calculated by a monitoring system;
(5-4) automatically calculating the real-time height difference of each inserting tip to the corresponding LMU by using a monitoring system;
(5-5) displaying the real-time height difference of the insertion tip to the corresponding LMU on a monitoring screen in real time in the form of data and a bar graph;
(5-6) the posture data of the ship is simultaneously displayed on the screen in a digital form and a bull's eye form;
(5-7) real-time elevation differences of the insertion tips to the corresponding LMUs are displayed on a screen in a 3D real-time animation.
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