CN115983046B - Underwater accurate docking method for predicting movement track of prefabricated structure - Google Patents
Underwater accurate docking method for predicting movement track of prefabricated structure Download PDFInfo
- Publication number
- CN115983046B CN115983046B CN202310166176.3A CN202310166176A CN115983046B CN 115983046 B CN115983046 B CN 115983046B CN 202310166176 A CN202310166176 A CN 202310166176A CN 115983046 B CN115983046 B CN 115983046B
- Authority
- CN
- China
- Prior art keywords
- prefabricated structure
- installation
- coordinate system
- prefabricated
- docking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003032 molecular docking Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000009434 installation Methods 0.000 claims abstract description 71
- 238000012544 monitoring process Methods 0.000 claims abstract description 32
- 210000001503 joint Anatomy 0.000 claims abstract description 27
- 230000009466 transformation Effects 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 18
- 230000000737 periodic effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 239000013535 sea water Substances 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 abstract 3
- 238000005259 measurement Methods 0.000 description 8
- 238000007667 floating Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009417 prefabrication Methods 0.000 description 1
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an underwater accurate docking method for predicting a motion trail of a prefabricated structure, which comprises the steps of firstly establishing a mechanical model of a ship-structure docking stage, wherein the model comprises an installed structure and the prefabricated structure to be installed, establishing an installation coordinate system, establishing a mass center coordinate system of the prefabricated structure, and establishing a monitoring point coordinate system; then deducing a motion differential equation of a ship-prefabricated structure installation system during docking, establishing a motion track equation of the prefabricated structure, and obtaining an attitude equation of a mass center of the prefabricated structure under an installation coordinate system through coordinate transformation according to the transverse oscillation, longitudinal oscillation and heave oscillation attitude data of the prefabricated structure measured by an attitude instrument of a monitoring point; and finally, obtaining a motion trail equation of the monitoring points of the prefabricated structure, and determining installation butt joint conditions by combining the installation accuracy requirements of the prefabricated structure.
Description
Technical Field
The invention belongs to the field of underwater docking installation of prefabricated structures, and particularly relates to an underwater accurate docking method for predicting a motion track of a prefabricated structure.
Background
The prefabricated structure underwater docking installation adopts positioning devices such as GPS, RTK and the like at present, the attitude is measured through a measuring tower which is arranged on the prefabricated structure and exposes out of the water surface, then the real-time data of the spatial absolute coordinates of any point of the prefabricated structure is calculated through coordinate transformation, the space coordinates of the ship-structure are compared with the installed structure coordinates, and then the prefabricated structure is sunk to realize docking. After the underwater butt joint is finished, the underwater preliminary measurement of the installation error is carried out by a diver, and after the requirements are met, the final installation error is determined through the through measurement axis deviation. In addition, underwater laser positioning, underwater acoustic technique positioning and the like are adopted to perform underwater butt joint measurement of the prefabricated structure, namely, a target (or a receiving sensor) is installed on the butt joint surface of the installed structure, a signal transmitter is installed on the butt joint surface of the prefabricated structure, the relative position relation of the two structures is obtained, the relative position relation of any point of the prefabricated structure and any point of the installed structure is obtained through coordinate transformation, and underwater accurate butt joint of the prefabricated structure is realized by comparing the relative position relation of the two structures.
The two methods are common underwater butt joint methods of prefabricated structures, the former is realized through an absolute space coordinate relation, and the latter is realized through a relative position relation, but the two methods have the defects of limited applicability, large installation error and the like. The installation butt joint equation of the GPS and the RTK+measuring tower can meet the butt joint of shallow water or deep water structures, but has more error influence factors, and the method is concretely as follows: (1) before floating, the prefabricated structure needs to be calibrated, and certain error exists; (2) because floating is a dynamic process, the RTK and GPS have larger measurement errors on the dynamic space positions of ships and structures, so that the initial accumulated errors are larger when the structures are submerged and butted; (3) after the structure is in butt joint, the underwater measurement is carried out by the diver, and the underwater measurement error is large and the working procedure is complicated. The underwater laser positioning and underwater acoustic technology is convenient to apply, is currently applied to shallow water sinking butt joint measurement of a prefabricated structure, but has the following defects: (1) the requirements on water quality and water depth are high, and when the water quality is poor or the deep water is large, the measurement cannot be implemented or the error is large; (2) because the prefabricated structure has a longer period from prefabrication to floating transportation, the targets or receiving sensors on the installed structure are easily damaged, and in addition, the signal transmitting device on the pre-installed structure is easily damaged by the surface cable system in the floating transportation process.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an underwater accurate butt joint method for predicting a movement track of a prefabricated structure.
The invention is realized by the following technical scheme:
an underwater accurate docking method for predicting a motion trail of a prefabricated structure comprises the following steps:
step one: a gesture instrument is arranged on the prefabricated structure to monitor the data of the sway, the slosh, the heave, the roll, the pitching and the bow of the prefabricated structure in the process of docking with the installed structure;
step two: establishing a mechanical model of a ship-structure docking stage, wherein the model comprises an installed structure and a prefabricated structure to be installed, and an installation coordinate system O-XYZ, and the coordinate system takes the center of a docking surface of the installed structure as an origin; establishing a prefabricated structure centroid coordinate system O '-X' Y 'Z', wherein the coordinate system takes the prefabricated structure centroid as an origin; establishing a monitoring point coordinate system O '-X' Y 'Z', wherein the coordinate system takes the center of the attitude instrument as an origin;
step three: deriving a differential equation of motion of the ship-prefabricated structure installation system during docking;
wherein: m is m s Is the mass of the ship; m is m p The mass of the prefabricated structure is that of the prefabricated structure;Lthe rope length of the connecting mooring rope for the ship and the prefabricated structure; phi is the pitch angle of the prefabricated structure; θ is the prefabricated structural roll angle; f (F) x The X-direction cable force component of the ship traction cable under the installation coordinate system O-XYZ; f (F) y Y-direction cable force components of the ship traction cable under an installation coordinate system O-XYZ; p (P) x0 An initial momentum in the X direction of the installation system under an installation coordinate system O-XYZ; p (P) y0 Initial momentum in the Y direction under an installation coordinate system for the installation system;tthe docking installation time is;
step four: establishing a motion trail equation of the prefabricated structure;
after integral arrangement in the formula (1), obtaining a motion trail of the ship under an installation coordinate system O-XYZ:
the trajectory of the prefabricated structure in the installation coordinate system O-XYZ is as follows:
bringing formula (2) into formula (3) to obtain
From equation (4), the trajectory equation of the centroid of the preformed structure in the XOY plane is as follows,
the preformed structure is pitched to a periodic variation,
the flat tide period is selected when the prefabricated structure is sunk, the initial momentum is ignored, and P x0 =0，P y0 =0；
Simplifying the motion trail equation of the mass center of the prefabricated structure into:
wherein the parameter omega φ For the pitch frequency of the prefabricated structure, phi A For the pitch amplitude of the pre-fabricated structure,
，
；
step five: and obtaining the attitude equation of the mass center of the prefabricated structure under the installation coordinate system O-XYZ through coordinate transformation of the turbulence, heave and heave attitude data of the prefabricated structure measured by an attitude instrument of the monitoring point:
wherein: (X Y Z) T The coordinates of the mass center of the prefabricated structure in the installation coordinate system O-XYZ; (X ' Y ' Z ') T The coordinates of the monitoring point in a prefabricated structure centroid coordinate system O '-X' Y 'Z'; (X "Y" Z') T The coordinates in a monitoring point coordinate system O '-X' Y 'Z' are obtained by monitoring by an attitude instrument;B 0 is a deformation matrix; theta, phi and phi are roll angle, pitch angle and bow angle, and are obtained by monitoring by an attitude instrument; r is R x (θ), ry (φ), and Rz (Φ) are transformation matrices, wherein:
the formula (9) to formula (12) are carried into formula (8) and are as follows
Step six: and (3) carrying out the formula (13) obtained in the step (five) into the formula (7) obtained in the step (four) to obtain a motion track equation of the monitoring point of the prefabricated structure, and determining the installation butt joint condition by combining the installation precision requirement of the prefabricated structure.
In the above technical solution, in the third step, a motion trajectory equation of the prefabricated structure is established under the assumption that: (1) after the prefabricated structure is sunk to the docking point, until the docking installation is completed, the mooring rope between the ship and the prefabricated structure is always in a tension state; (2) the included angle between the cables is ignored; (3) the mooring rope is always vertical to the upper surface of the prefabricated structure; (4) the underwater butt joint is carried out by selecting a tide-leveling window of the wind wave, and the effect of water flow on the prefabricated structure is ignored; (5) the seawater density in the construction water area is constant and does not change with depth.
In the technical scheme, the installation accuracy requirement of the prefabricated structure is required to meet the error
The following formula is satisfied:
wherein D is the distance from the mass center of the prefabricated structure to the butt end, delta y Is the longitudinal error, delta z Is vertical error, delta x Is a lateral error.
In the technical proposal, when the monitoring point is swayed to meet the following conditions for installation so as to realize accurate butt joint,
the invention has the advantages and beneficial effects that:
(1) the docking range is controllable, the precision is high, the optimal docking opportunity is selected according to the motion trail of the structure, and the high-precision controllability of the docking range is realized; (2) the invention is not only suitable for shallow water engineering, but also suitable for docking deep water structures, and has no requirement on other factors such as water quality and the like; (3) the invention does not need to install targets or receiving sensors on the butt joint surface of the installed structure, and avoids the risk of instrument damage caused by long construction period.
Drawings
FIG. 1 is a schematic diagram of a motion model of a ship-structure docking phase established by the invention.
Other relevant drawings may be made by those of ordinary skill in the art from the above figures without undue burden.
Detailed Description
In order to make the person skilled in the art better understand the solution of the present invention, the following describes the solution of the present invention with reference to specific embodiments.
An underwater accurate docking method for predicting a motion trail of a prefabricated structure comprises the following steps:
step one: a gesture meter 6 is arranged on the prefabricated structure for monitoring the sway, slosh, heave, roll, pitch and yaw of the prefabricated structure during docking with the installed structure.
Step two: establishing a mechanical model of a ship-structure docking stage, wherein the model comprises an installed structure 1 and a prefabricated structure 3 to be installed, and an installation coordinate system O-XYZ 2, and the coordinate system takes the center of a docking surface of the installed structure as an origin; establishing a prefabricated structure centroid coordinate system O '-X' Y 'Z'4, wherein the coordinate system takes the prefabricated structure centroid as an origin; a monitoring point coordinate system O "-X" Y "Z"7 is established, which takes the center of the attitude instrument 6 as the origin.
Step three: under certain assumption, a differential equation of motion of a ship-prefabricated structure installation system (simply referred to as an installation system) during docking is deduced. The specific implementation is as follows:
assume the condition: (1) after the prefabricated structure is sunk to the docking point, until the docking installation is completed, the cable 5 between the ship and the prefabricated structure is always in a tension state; (2) the included angle between the cables is small and can be ignored; (3) the mooring rope is always vertical to the upper surface of the prefabricated structure; (4) the underwater docking is carried out by selecting a tide-flattening window with smaller wind wave, and when the prefabricated structure is lowered to a certain depth, the water flow has negligible effect on the tide-flattening window; (5) the seawater density in the construction water area is constant and does not change with depth.
The prefabricated structure to be installed is sunk to an installation designated place, the ship is at a position where the ship is at rest, and after the prefabricated structure is stable, the momentum conservation in the horizontal direction of the system exists in the period from the contact of the prefabricated structure with a foundation bed, so that the horizontal direction motion equation exists:
wherein: m is m s The weight of the ship is kg; m is m p The mass of the prefabricated structure is kg;Lthe length of a rope of the mooring rope is connected with the prefabricated structure for the ship, and m; phi is the pitch angle of the prefabricated structure; θ is the prefabricated structural roll angle, °; f (F) x The X-direction cable force component and N of the ship traction cable under the installation coordinate system O-XYZ; f (F) y The Y-direction cable force component and N of the ship traction cable under the installation coordinate system O-XYZ are calculated; p (P) x0 Kg.m/s for the initial momentum of the installation system in the X direction under the installation coordinate system O-XYZ; p (P) y0 The initial momentum of the installation system in the Y direction under the installation coordinate system is kg.m/s;tthe time for butt-joint installation is set.
Step four: and establishing a motion trail equation of the prefabricated structure. The specific implementation is as follows:
after integral arrangement in the formula (1), the motion trail of the ship under the installation coordinate system O-XYZ can be obtained:
the trajectory of the prefabricated structure in the installation coordinate system O-XYZ is as follows:
bringing formula (2) into formula (3) to obtain
From equation (4), the trajectory equation of the centroid of the preformed structure in the XOY plane is as follows,
the preliminary structure is set in a flat tide period with negligible initial momentum, namely P x0 =0、P y0 =0。
The prefabricated structure being generally longitudinally displaced in a periodic manner, i.e. having
The prefabricated structure mass center motion trajectory equation can be simplified as:
wherein the parameter omega φ For the pitch frequency of the prefabricated structure, phi A For the pitch amplitude of the pre-fabricated structure,
，
。
step five: and obtaining the attitude equation of the mass center of the prefabricated structure under the installation coordinate system O-XYZ through coordinate transformation of the turbulence, heave and heave attitude data of the prefabricated structure measured by an attitude instrument of the monitoring point:
wherein: (X Y Z) T The coordinates of the mass center of the prefabricated structure in the installation coordinate system O-XYZ; (X ' Y ' Z ') T The coordinates of the monitoring point in a prefabricated structure centroid coordinate system O '-X' Y 'Z'; (X "Y" Z') T The coordinates in a monitoring point coordinate system O '-X' Y 'Z' are obtained by monitoring by an attitude instrument;B 0 is a deformation matrix; theta, phi and phi are roll angle, pitch angle and bow angle, and are obtained by monitoring by an attitude instrument; r is R x (θ), ry (φ), and Rz (Φ) are transformation matrices. Wherein,,
the formula (9) to formula (12) are carried into formula (8) and are as follows
Step six: and step four and step five, establishing a motion trail equation of the monitoring points of the prefabricated structure, and determining installation butt joint conditions by combining the installation accuracy requirements. The method comprises the following steps:
and (3) carrying out the formula (13) obtained in the step (five) into the formula (7) in the step (four) to obtain a motion trail equation of the monitoring point with the prefabricated structure:
prefabricated structure installation essenceThe degree requirement needs to meet the errorI.e., the following formula should be satisfied,
wherein D is the distance from the mass center of the prefabricated structure to the butt joint end.
Longitudinal error delta y After the sinking and butt joint of the prefabricated structure are finished, the longitudinal installation of the structure is controlled through a pulling and closing device, hydraulic crimping and other processes, namely, the related water stopping requirement is met, and delta is not generally required y Specific requirements or control are made. After the prefabricated structure bottoms on the foundation bed, the vertical error delta is considered z Meets the requirements that the elevation of the top surface of the foundation bed is controlled according to the installed structure position in the leveling or dredging stage of the foundation bed, thereby meeting the requirements of vertical installation errors, but not delta in the sinking installation butt joint stage z And (5) controlling. From this, the lateral error delta to the prefabricated structure during the installation butt joint can be known x The accurate butt joint can be realized by controlling.
From the formulas (13) to (15), the accurate butt joint can be realized when the monitoring point is installed under the following condition that the monitoring point is swayed.
It is worth noting that, when the structure posture is not adjusted in the bottoming stage of the prefabricated structure,A=0，B=0, the movement trace of the monitoring point before the bottom of the prefabricated structure is a periodic movement, i.e. in one movement period T, the existence time
Satisfy formula (16), so at t 1 ~t 2 Delta can be realized in time x Error. If the sinking is not completed in one period, the sinking installation needs to be carried out in the next period. When the structure posture is adjusted in the bottoming stage of the prefabricated structure,A≠0，Bnot equal to 0, to be adjustedAfter the completion of the preparation, the preparation method,A、Bto be constant, the initial coordinates of the prefabricated structure are to be redetermined, and updatedA、BIs marked asA i 、B i （iRepresent the firstiSecondary posture adjustment) hasA i =0，B i At this time, the motion track of the monitoring point is still periodic motion, and the error control method is still applicable.
The foregoing has described exemplary embodiments of the invention, it being understood that any simple variations, modifications, or other equivalent arrangements which would not unduly obscure the invention may be made by those skilled in the art without departing from the spirit of the invention.
Claims (4)
1. An underwater accurate docking method for predicting a motion trail of a prefabricated structure is characterized by comprising the following steps:
step one: a gesture instrument is arranged on the prefabricated structure to monitor the data of the sway, the slosh, the heave, the roll, the pitching and the bow of the prefabricated structure in the process of docking with the installed structure;
step two: establishing a mechanical model of a ship-structure docking stage, wherein the model comprises an installed structure and a prefabricated structure to be installed, and an installation coordinate system O-XYZ, and the coordinate system takes the center of a docking surface of the installed structure as an origin; establishing a prefabricated structure centroid coordinate system O '-X' Y 'Z', wherein the coordinate system takes the prefabricated structure centroid as an origin; establishing a monitoring point coordinate system O '-X' Y 'Z', wherein the coordinate system takes the center of the attitude instrument as an origin;
step three: deriving a differential equation of motion of the ship-prefabricated structure installation system during docking;
wherein: m is m s Is the mass of the ship; m is m p The mass of the prefabricated structure is that of the prefabricated structure; l is the rope length of a connecting rope of the ship and the prefabricated structure;
is a prefabricated structure pitch angle; θ is the prefabricated structural roll angle; f (F) x The X-direction cable force component of the ship traction cable under the installation coordinate system O-XYZ; f (F) y Y-direction cable force components of the ship traction cable under an installation coordinate system O-XYZ; p is p x0 An initial momentum in the X direction of the installation system under an installation coordinate system O-XYZ; p is p y0 Initial momentum in the Y direction under an installation coordinate system for the installation system; t is the butt joint installation time; />
Is the first derivative of the pitch angle of the preform structure;
step four: establishing a motion trail equation of the prefabricated structure;
after integral arrangement in the formula (1), obtaining a motion trail of the ship under an installation coordinate system O-XYZ:
the trajectory of the prefabricated structure in the installation coordinate system O-XYZ is as follows:
bringing formula (2) into formula (3) to obtain
From equation (4), the trajectory equation of the centroid of the preformed structure in the XOY plane is as follows,
pitching of prefabricated structures into periodic variations，
The flat tide period is selected when the prefabricated structure is sunk, the initial momentum is ignored, and p x0 ＝0，p y0 ＝0；
Simplifying the motion trail equation of the mass center of the prefabricated structure into:
wherein the parameters are
For the pitch frequency of the prefabricated structure +.>
For the pitch amplitude of the prefabricated structure +.>
Step five: and obtaining the attitude equation of the mass center of the prefabricated structure under the installation coordinate system O-XYZ through coordinate transformation of the turbulence, heave and heave attitude data of the prefabricated structure measured by an attitude instrument of the monitoring point:
wherein: (x y z) T The coordinates of the mass center of the prefabricated structure in the installation coordinate system O-XYZ; (x ' y ' z ') T The coordinates of the monitoring point in a prefabricated structure centroid coordinate system O '-X' Y 'Z'; (x "y" z') T The coordinates in the monitoring point coordinate system O '-X' Y 'Z' are obtained by monitoring by an attitude instrument; b (B) 0 Is a deformation matrix; θ, a,
Phi is a roll angle, a pitch angle and a bow angle, and is obtained by monitoring by a gesture instrument; r is R x (θ)、/>
And R is z And (phi) is a transformation matrix, wherein:
the formula (9) to the formula (12) are carried into the formula (8) and are as follows
Step six: and (3) carrying out the formula (13) obtained in the step (five) into the formula (7) obtained in the step (four) to obtain a motion track equation of the monitoring point of the prefabricated structure, and determining the installation butt joint condition by combining the installation precision requirement of the prefabricated structure.
2. The underwater precision docking method for predicting the motion trail of the prefabricated structure according to claim 1, which is characterized in that: in the third step, a motion track equation of the prefabricated structure is established under the assumption that: (1) after the prefabricated structure is sunk to the docking point, until the docking installation is completed, the mooring rope between the ship and the prefabricated structure is always in a tension state; (2) the included angle between the cables is ignored; (3) the mooring rope is always vertical to the upper surface of the prefabricated structure; (4) the underwater butt joint is carried out by selecting a tide-leveling window of the wind wave, and the effect of water flow on the prefabricated structure is ignored; (5) the seawater density in the construction water area is constant and does not change with depth.
3. The underwater precision docking method for predicting the motion trail of the prefabricated structure according to claim 1, which is characterized in that: in the sixth step, the installation accuracy requirement of the prefabricated structure is required to meet the error delta= [ delta ] x δ y δ z ] T The following formula is satisfied:
wherein D is the distance from the mass center of the prefabricated structure to the butt end, delta y Is the longitudinal error, delta z Is vertical error, delta x Is a lateral error.
4. The underwater precision docking method for predicting the motion trail of the prefabricated structure according to claim 3, wherein the method comprises the following steps: in the sixth step, when the monitoring point is transversely swayed and meets the following conditions, the installation is carried out to realize accurate butt joint,
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310166176.3A CN115983046B (en) | 2023-02-27 | 2023-02-27 | Underwater accurate docking method for predicting movement track of prefabricated structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310166176.3A CN115983046B (en) | 2023-02-27 | 2023-02-27 | Underwater accurate docking method for predicting movement track of prefabricated structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115983046A CN115983046A (en) | 2023-04-18 |
| CN115983046B true CN115983046B (en) | 2023-07-14 |
Family
ID=85959814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310166176.3A Active CN115983046B (en) | 2023-02-27 | 2023-02-27 | Underwater accurate docking method for predicting movement track of prefabricated structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115983046B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5214618A (en) * | 1991-07-11 | 1993-05-25 | Diehl Gmbh & Co. | Method and arrangement for combating a submerged target object |
| CN103411603A (en) * | 2013-07-22 | 2013-11-27 | 中国人民解放军92537部队 | Attitude position measuring method of electric field sensors in ship electric field protection |
| CN103912012A (en) * | 2013-01-06 | 2014-07-09 | 中交第一航务工程局有限公司 | System and method for measuring and controlling underwater attitudes of pipe sections |
| GB201506846D0 (en) * | 2014-04-25 | 2015-06-03 | Furuno Electric Co | Underwater detection apparatus, underwater detection method and underwater detection program |
| CN105113508A (en) * | 2015-09-11 | 2015-12-02 | 中交公路长大桥建设国家工程研究中心有限公司 | Positioning, sinking and controlling system for large-scale bridge deepwater prefabricated foundation |
| CN109490927A (en) * | 2018-12-26 | 2019-03-19 | 天津水运工程勘察设计院 | A kind of leveling frame positioning system and its localization method under water |
| CN112904872A (en) * | 2021-01-19 | 2021-06-04 | 哈尔滨工程大学 | Benthic AUV (autonomous Underwater vehicle) fixed-time rapid trajectory tracking control method based on disturbance approximation |
| CN113722663A (en) * | 2021-10-15 | 2021-11-30 | 中交二航局第三工程有限公司 | Confined space underwater dredging and mud throwing evaluation method |
| CN113866802A (en) * | 2021-09-27 | 2021-12-31 | 中交第一航务工程局有限公司 | Counter-calibration correction method for positioning accuracy of immersed tube installation measuring tower |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108955678B (en) * | 2018-08-03 | 2019-08-20 | 国家深海基地管理中心 | A kind of deep-sea vehicle communication location navigation time service integral method and system |
-
2023
- 2023-02-27 CN CN202310166176.3A patent/CN115983046B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5214618A (en) * | 1991-07-11 | 1993-05-25 | Diehl Gmbh & Co. | Method and arrangement for combating a submerged target object |
| CN103912012A (en) * | 2013-01-06 | 2014-07-09 | 中交第一航务工程局有限公司 | System and method for measuring and controlling underwater attitudes of pipe sections |
| CN103411603A (en) * | 2013-07-22 | 2013-11-27 | 中国人民解放军92537部队 | Attitude position measuring method of electric field sensors in ship electric field protection |
| GB201506846D0 (en) * | 2014-04-25 | 2015-06-03 | Furuno Electric Co | Underwater detection apparatus, underwater detection method and underwater detection program |
| CN105113508A (en) * | 2015-09-11 | 2015-12-02 | 中交公路长大桥建设国家工程研究中心有限公司 | Positioning, sinking and controlling system for large-scale bridge deepwater prefabricated foundation |
| CN109490927A (en) * | 2018-12-26 | 2019-03-19 | 天津水运工程勘察设计院 | A kind of leveling frame positioning system and its localization method under water |
| CN112904872A (en) * | 2021-01-19 | 2021-06-04 | 哈尔滨工程大学 | Benthic AUV (autonomous Underwater vehicle) fixed-time rapid trajectory tracking control method based on disturbance approximation |
| CN113866802A (en) * | 2021-09-27 | 2021-12-31 | 中交第一航务工程局有限公司 | Counter-calibration correction method for positioning accuracy of immersed tube installation measuring tower |
| CN113722663A (en) * | 2021-10-15 | 2021-11-30 | 中交二航局第三工程有限公司 | Confined space underwater dredging and mud throwing evaluation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115983046A (en) | 2023-04-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115826606B (en) | Dynamic positioning control method for self-elevating ship platform | |
| CN111142541A (en) | Virtual anchoring navigation control algorithm for wave glider | |
| CN111309010B (en) | Control method implemented by unmanned ship seabed terrain surveying and mapping control system based on bionic robot | |
| CN111751856B (en) | Accurate positioning method for submarine ground reference point based on PPP technology | |
| CN113879472B (en) | Semi-submersible drilling platform system with pose compensation capability and control method | |
| CN110294080B (en) | Method for realizing underwater accurate operation by using ultra-short baseline | |
| CN212772503U (en) | Caisson installation double-GPS measurement positioning device | |
| CN103213657A (en) | Ship draft amount detection system and detection method thereof | |
| CN114636383A (en) | Method for measuring dynamic deformation of immersed tunnel pipe joint in construction process | |
| CN207164267U (en) | A kind of neritic area seabed High-Precision Gravimeter Survey system | |
| CN110083151B (en) | Pile driving barge positioning control method and system | |
| CN116627043A (en) | Regional power positioning control method of combined anchoring system | |
| CN115983046B (en) | Underwater accurate docking method for predicting movement track of prefabricated structure | |
| CN108919324A (en) | A kind of localization method of underwater glider | |
| CN115675900A (en) | Mobile carrier-based vertical take-off and landing unmanned aerial vehicle automatic leveling platform and leveling method | |
| CN105758405A (en) | UUV (unmanned underwater vehicle) tracking mother vessel path planning method applicable to terrible ocean environments | |
| CN213658956U (en) | Marine floating platform acoustic positioning monitoring system | |
| WO2022062158A1 (en) | Acoustic positioning monitoring method for marine engineering floating platform | |
| CN209979858U (en) | GNSS three-dimensional attitude positioning piling navigation assistance system | |
| JP2001074834A (en) | Method for measuring underwater structure | |
| CN116006412A (en) | Beidou-based offshore wind turbine safety monitoring system and method | |
| JP2004347550A (en) | Wind condition investigation method of floating body type, and device | |
| CN115753008A (en) | Simulation test method for underwater hoisting and laying of deep sea operation platform | |
| CN110435846B (en) | High-precision semi-submersible ship immersed tube base body, and prefabricating construction platform and construction method thereof | |
| Chen et al. | Comprehensive application of multi-beam sounding system and side-scan sonar in scouring detection of underwater structures in offshore wind farms |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |