CN203149118U - Deepwater underwater positioning system - Google Patents
Deepwater underwater positioning system Download PDFInfo
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- CN203149118U CN203149118U CN 201320085081 CN201320085081U CN203149118U CN 203149118 U CN203149118 U CN 203149118U CN 201320085081 CN201320085081 CN 201320085081 CN 201320085081 U CN201320085081 U CN 201320085081U CN 203149118 U CN203149118 U CN 203149118U
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Abstract
The utility model discloses a deepwater underwater positioning system. The deepwater underwater positioning system can comprise a underwater platform measuring and position indicating subsystem (2) capable of setting a master/slave relationship and an overwater platform controlling and tracking subsystem (1) corresponding to the underwater platform measuring and position indicating subsystem (2). The underwater platform measuring and position indicating subsystem (2) comprises a hemisphere pointing, measuring and position indicating transducer unit (9) capable of receiving and transmitting a sound signal and a measuring, position indicating and managing unit (10) of distinguishing a position indicating work mode or a measuring work mode in the sound signal and processing the sound signal. The overwater platform controlling and tracking subsystem (1) comprises a multi-element acoustic measurement array used for receiving and transmitting the sound signal and a controlling, tracking and managing unit (4) used for processing the sound signal. The deepwater underwater positioning system of the utility model has various work modes, has the flexibility and accuracy simultaneously, and is wide in work service application range.
Description
Technical field
The utility model relates to hydrolocation sonar field, relates in particular to a kind of for the Monitoring and Positioning service being provided in the engineering construction of deep water marine oil and gas, measuring the deep water underwater positioning system that positioning service, reference location service and track and localization are served.
Background technology
A large amount of high-quality petroleum resources are being contained in the ocean, become the important source of the human energy in the new century.Thereby be all kinds of oceanographic engineering operating technique fast development of purpose with marine oil and gas development of resources exploitation in recent years, to satisfy human growing resource requirement.Along with deep water is moved towards in marine oil and gas exploitation exploitation gradually, adopted a large amount of basal discs, underwater structures such as manifold, petroleum pipeline, multiple pipeline such as jumper pipe, ROV(Remote Operated Vehicle, be underwater robot), AUV(Autonomous Under Vehicle, i.e. autonomous robot under water) multiple underwater hiding-machine such as, replace manually finishing necessary engineer operation, wherein be usually directed to the installation sinking of underwater structure, the measurement of length of pipeline, pipeline docks with interface, several typical operations such as the track navigation of underwater hiding-machine, all need hydrolocation equipment provide definitely/relatively, on a large scale/part, high/low precision, vertical/horizontal, locating information such as multiple goal are auxiliary to be finished, so has the tight demand to hydrolocation equipment in the marine oil and gas engineering construction.The problem that present ultra-short baseline or long baseline positioning system are applied to separately to exist in the marine oil and gas engineering that work pattern is single, adaptive surface is narrow, precision and convenient flexibility ratio are difficult to coexist can not adapt to the actual job needs preferably.Based on this background, the disclosed deep water underwater positioning system of the utility model designs at the characteristics of marine oil and gas construction typical operation, remedies the deficiency of general acoustic positioning system, satisfies the related needs in the marine oil and gas engineer operation.
The utility model content
The technical problems to be solved in the utility model is, the defective single at prior art positioning system work pattern, that adaptive surface is narrow, precision and convenient flexibility ratio are difficult to coexist, the deep water underwater positioning system that provide that a kind of work pattern is various, degree of accuracy and flexibility ratio has both.
The technical scheme that its technical matters that solves the utility model adopts is: this system comprises that above water platform is controlled tracing subsystem and the seat system is shown in the underwater platform measurement; Wherein,
Described above water platform control tracing subsystem comprises:
Be used for sending and show that bit instruction and/or measurement instruction and reception measure the many primitives acoustic measurement basic matrix that shows an acoustical signal and/or range data that shows the seat system from described underwater platform, described measurement instruction comprises master and slave configuration and indicates;
Be connected with described many primitives acoustic measurement basic matrix, be used for a described acoustical signal and/or the range data shown handled to obtain described underwater platform measurement and shown the positional information of seat system and/or the control tracing management unit of range information;
Described underwater platform measures and shows that the seat system comprises:
Hemisphere points to measure and shows a transducer, and it receives from the described of described above water platform control tracing subsystem and shows bit instruction and/or measure instruction;
Point to measure with described hemisphere and show that the measurement that a transducer is connected shows an administrative unit; Wherein,
When receiving when showing bit instruction, described measurement shows that an administrative unit controls described hemisphere and point to measure and show that a transducer sends and show an acoustical signal;
When receiving the measurement instruction, described measurement is shown that an administrative unit is pointed to measure according to the described hemisphere of described master/slave configuration indication control and is shown that a transducer sending/receiving measures an acoustical signal, and draw range data according to described measurement acoustical signal, and control described hemisphere and point to measure and show that a transducer sends described range data.
Further, described underwater platform measures and shows that the seat system comprises that the top is open, the watertight case of bottom sealing, described measurement shows that an administrative unit is arranged in the described watertight case, described hemisphere points to measure and shows that a transducer is arranged at the top of watertight case, the capping of described watertight case afterbody is provided with releasing mechanism, described watertight case is provided with communication and sensor interface, and the inside of described watertight case, measurement show that an administrative unit below also is provided with energy bag.
Further, described measurement is shown that an administrative unit comprises pointing to measure with described hemisphere and is shown that the single channel that a transducer is connected clamps down on shaping stage, clamp down on the single channel conversion stage that shaping stage is connected with described single channel, the single channel that is connected with described single channel conversion stage is combined the control resolution stage, combines mutual level that the control resolution stage is connected, broadcasts level and discharge to drive and detect level with described single channel;
Described mutual level also is connected with communication interface and the sensor interface of described watertight case bottom, and the described level of broadcasting also shows that with the hemisphere sensing measurement on described watertight case top a transducer is connected.
Further, described underwater platform measures and shows that the seat system comprises sonic sensor, attitude sensor and pressure transducer, and described sonic sensor, attitude sensor and pressure transducer show that with described measurement an administrative unit is connected by communication and sensor interface.
Further, described above water platform control tracing subsystem comprises that the system that links to each other with described control tracing management unit respectively controls observation platform, GPS equipment and MRU equipment and links to each other, and controls the SVP equipment that observation platform links to each other with described system.
Further, described many primitives acoustic measurement basic matrix is nine primitive acoustic measurement basic matrixs, and nine primitive acoustic measurement basic matrixs comprise eight channel presetting gain stages, eight reception primitives and an emission primitive, and described eight channel presetting gain stages are connected in eight and receive primitives.
Further, described control tracing management unit comprises shell, the eight passage variable-gains that are arranged in the shell filter level, filter the eight passage conversion stages that level is connected with described eight passage variable-gains, the comprehensive control of eight passages that are connected with eight passage conversion stages resolution stage is combined mutual grade and the broadcasting level that is connected with the comprehensive control of eight passages resolution stage that the control resolution stage is connected with eight passages;
Described eight passage variable-gains filter eight channel presetting gain stages in grade nine primitive acoustic measurement basic matrixs that are connected in housing exterior, the system that described mutual level is connected in housing exterior controls observation platform, and the emission primitive in the nine primitive acoustic measurement basic matrixs of described broadcasting level and housing exterior is connected.
Further, described underwater platform measures and shows that the seat system is a plurality of, and these a plurality of underwater platforms measure at least one that show in the system of seat and are installed on the device that needs locate, and remaining stationary arrangement constitutes basic matrix in the bottom.
Further, described underwater platform measures and shows that the seat system is at least two portions, and these at least two underwater platforms measure and show that the seat system is fixed on the device of needs measurement.
Further, described underwater platform measures and shows that the seat system is at least one one, and this at least one underwater platform measures and show that the seat system is installed on the tracking thing of required tracking.
The beneficial effects of the utility model are: the utility model arranges the underwater platform measurement under water and shows the seat system, underwater platform measures and shows that the seat system has two kinds of mode of operations can measure relative distance or sign self-position, the relative distance that measures and/or the position of self can be sent and control by above water platform tracing subsystem receives and processing by acoustical signal, measure according to underwater platform and to show that the relative distance of seat system or marker location can finish accurate location, solved the problem that precision and convenient flexibility ratio are difficult to coexist.
In addition, this system ties Monitoring and Positioning service, measurement positioning service, reference location service and track and localization service get up mutually, has solved the problem that work pattern is single, adaptive surface is narrow.
Description of drawings
The utility model is described in further detail below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is the composition frame chart of the deep water underwater positioning system of the utility model one embodiment;
Fig. 2 is the structural representation according to control tracing management unit in the above water platform control tracing subsystem of the deep water underwater positioning system of the utility model one embodiment;
Fig. 3 shows according to the underwater platform measurement of the deep water underwater positioning system of the utility model one embodiment to measure the structural representation that shows an administrative unit in the system of seat;
Fig. 4 is the synoptic diagram that first kind of embodiment of the utility model is applied to the deep water underwater positioning system of the Monitoring and Positioning service operation that the underwater structure sinking installs;
Fig. 5 is the synoptic diagram of the deep water underwater positioning system of second kind of embodiment of the utility model measurement location service operation of being applied to jumper pipe linear measure longimetry operation;
Fig. 6 is that the third embodiment of the utility model is applied to pipeline docks the reference location service operation of operation with interface the synoptic diagram of deep water underwater positioning system.
Embodiment
Understand for technical characterictic of the present utility model, purpose and effect being had more clearly, now contrast accompanying drawing and describe embodiment of the present utility model in detail.
Fig. 1 shows the deep water underwater positioning system among the utility model embodiment, and this system is used for providing positioning service under water, this system to comprise that above water platform is controlled tracing subsystem 1 and seat system 2 is shown in the underwater platform measurement.This above water platform control tracing subsystem 1 can be installed on that floating platform, semi-submersible rig, column drilling platform etc. are dark, on shallow water petroleum drilling production platform and the marine oil and gas operation water surface engineering ship, described underwater platform measure show that seat system 2 can be installed on the underwater structure, pipeline interface place, ROV(Remote Operated Vehicle, be underwater robot), AUV(Autonomous Under Vehicle, i.e. autonomous robot under water) etc. under water on the unmanned operation platform or be anchored to the seabed.
This above water platform control tracing subsystem 1 comprises nine primitive acoustic measurement basic matrixs 3, control tracing management unit 4, system controls observation platform 5, GPS equipment 6, MRU(Motion Reference Unit, be motion reference units) equipment 7 and SVP(Sound Velocity Probe, i.e. speed of sound probe) equipment 8.This nine primitives acoustic measurement basic matrix 3 is installed to the bottom of above water platform by installation elements, green end equipment for above water platform control tracing subsystem, intelligible, this nine primitives acoustic measurement basic matrix 3 also can be other many primitives acoustic measurement basic matrix in some other embodiment.Be deep in the water by installation elements in the operation, be used for receiving underwater platform and measure an acoustical signal of showing of showing 2 emissions of seat system, and measure to underwater platform and to show seat system 2 emission acoustics telecommands, this installation elements is mounting rod in the present embodiment, intelligible, in some other embodiment, also can be some other installation elements with this identical function.
This nine primitives acoustic measurement basic matrix 3 links to each other with control tracing management unit 4 on the above water platform by cable, this control tracing management machine unit 4 is the dried chamber device of above water platform control tracing subsystem 1, the mode of operation and the parameter state that are used for control deep water underwater positioning system are resolved and are shown that an acoustical signal and underwater platform measure and show the measurement that the seat system uploads; Observation platform 5, GPS equipment 6 and MRU(Motion Reference Unit, i.e. motion reference units are controlled by serial ports and system in control tracing management unit 4) equipment 7 is continuous.
System controls observation platform 5 and is the dried chamber device of above water platform control tracing subsystem 1, be used for the result that shows control and management cabinet 4 directly perceived, and pass users' operation and steering order information to control and management cabinet 4 times, this system controls observation platform 5 and also connects SVP(Sound Velocity Probe, i.e. speed of sound probe) equipment 8.
This GPS equipment 6 is used for determining the terrestrial coordinate of water surface operation ship, MRU(Motion Reference Unit, being motion reference units) equipment 7 is used for determining the attitude of water surface operation ship, SVP(Sound Velocity Probe, i.e. speed of sound probe) equipment 8 is used for determining the environmental information in operation waters.GPS equipment 6, MRU(Motion Reference Unit, be motion reference units) equipment 7 and SVP(Sound Velocity Probe, being the speed of sound probe) equipment 8 is described coordinate, attitude and environmental information are transported in the control tracing management unit 4 and with GPS equipment 6, MRU(Motion Reference Unit, be motion reference units) equipment 7 and SVP(Sound Velocity Probe, i.e. speed of sound probe) equipment 8 output data aggregate observation information calculate underwater platform and measure the position that shows seat system 2, in time compensate the attitude error of ship and the measuring accuracy that improves system.
This underwater platform measures and shows that seat system 2 comprises that the top is open, the watertight case 12 of bottom sealing, and hemisphere points to measure and shows a transducer 9, measures and shows an administrative unit 10, energy bag 11, releasing mechanism 13.This hemisphere points to measure and shows that a transducer 9 is installed on the top of watertight case 12, is used for finishing the acoustic-electric conversion that receives acoustical signal, and the electroacoustic conversion of emission acoustical signal.
12 environment that a kind of relative sealing mainly is provided of this watertight case connect releasing mechanism 13 in these watertight case 12 afterbody cappings, and this releasing mechanism 13 can be finished the mechanical actuating mechanism that discharges the action of breaking off relations; Being provided with of releasing mechanism 13 1 sides communicated by letter and sensor interface 14 in watertight case 12 afterbody cappings, intelligible, in some other embodiment, also be arranged on other positions, this structure be set show the mutual of seat system 2 and external data for finishing the underwater platform measurement.
The inside of watertight case 12, hemisphere point to measure show a transducer 9 below be provided with to measure and show that an administrative unit 10, this measurement show that an administrative unit 10 is mainly used in finishing that to received signal processing is resolved and underwater platform measured the holistic management that shows seat system 2; Its below is provided with energy bag 11, and this energy bag 11 is used for energy supply.
Underwater platform measures and to show that seat system 2 can work in and show the position and measure two kinds of patterns during operation: show that underwater platform measures under the bit pattern and show that seat system 2 triggers according to electricity or an acoustical signal is shown in the vocal command transmission of above water platform control tracing subsystem 1 emission, this shows that an acoustical signal is the known acoustical signal of a kind of waveform.Above water platform control tracing subsystem 1 receives behind this signal and to amplify by filtering and relevantly wait signal processing means to obtain the underwater platform measurement to show the range-azimuth of seat system 2, thereby calculates its position coordinates.Underwater platform measures and shows that seat system 2 shows the position with this acoustics of finishing self.Above water platform control tracing subsystem 1 receives and resolves this signal, can locate this underwater platform measurement of tracking and show seat system 2; Control the acoustics telecommand of tracing subsystem 1 under the measurement pattern by above water platform, dispose many underwater platforms and measure the master slave relation of showing seat system 2, adopt answer-mode under this measurement pattern, show seat system 2 emission measurement signals by a underwater platform measurement, reply after another reception, thus need stipulate which only emission (being main) where receive only (for from).Underwater platform measures and to show that seat system 2 disposes relative distance between the auto-measuring principal and subordinate according to the principal and subordinate, specifically be measured as " from " underwater platform measures and to show that seat system 2 receives " master " underwater platforms and measures behind the signal that shows 2 emissions of seat system and to amplify by filtering and signal processing means such as relevant obtains the time delay that seat system 2 is shown in the underwater platform measurement, changes distance into by the velocity of sound.Measurement result can measure by sound chain route master underwater platform shows that seat system 2 uploads above water platform control tracing subsystem 1.
In operation process, nine primitive acoustic measurement basic matrixs 3 be used for sending show bit instruction and/or measure instruction and receive from underwater platform measure show seat system 2 show an acoustical signal and/or range data, this measurements instruction comprises master and slave configuration and indicates; Control tracing management unit 4 is used for showing that an acoustical signal and/or range data handle to obtain underwater platform and measure positional information and/or the range information that shows seat system 2.
Hemisphere points to measure and shows that a transducer 9 receives showing bit instruction and/or measuring instruction from described above water platform control tracing subsystem 1.And when receiving when showing bit instruction, measure and show that an administrative unit 10 control hemisphere point to measure and show that a transducer 9 sends and show an acoustical signal; When receiving the measurement instruction, measurement is shown that an administrative unit 10 is pointed to measure according to master/slave configuration indication control hemisphere and is shown that a transducer 9 sending/receivings measure acoustical signal, and draw range data according to measuring acoustical signal, and control hemisphere points to measure and shows a transducer 9 transmission range data.
As shown in Figure 2, control tracing management unit 4 comprises shell 15, eight passage variable-gains filter level 16, eight passage conversion stages 17, eight passages are combined control resolution stage 18, mutual level 19 and broadcast level 20, inside at shell 15, eight passage variable-gains filter level 16 and are connected with eight passage conversion stages 17, the comprehensive control of eight passages resolution stage 18 successively, this eight passages conversion stage 17 is also combined control resolution stage 18 with eight passages and is linked to each other, and eight passages are combined control resolution stage 18 and also are connected in mutual level 19 and broadcast level 20.
Eight passage variable-gains filter level 16 for input signal being carried out amplitude amplification and filter shape and the signal after gain-adjusted, the noise reduction process being sent into eight passage conversion stages 17; The signals sampling quantification treatment is finished in the control that this eight passages conversion stage 17 is combined control resolution stage 18 by eight passages, the data that eight passage conversion stages 17 are gathered are sent into eight passages and are combined in the control resolution stage 18, eight circuit-switched data are carried out peak choosing judgement and parameter and are resolved after being correlated with through the filtering of the comprehensive control of eight passages resolution stage 18; This eight passage is combined control resolution stage 18, and responsible generation system synchronization, ride gain signals collecting and emission, processing are resolved and gathered signal, resolve the target location.
Eight passage variable-gains filter level 16 and also connect eight channel presetting gain stages in the nine primitive acoustic measurement basic matrixs 3 to shell 15 outsides, mutual level 19 is also controlled observation platform 5 to shell 15 outside connected systems, and eight passages are combined the data of controlling resolution stage 18 are controlled observation platform 5, GPS equipment 6, conversion from MRU7 serial data to system.Broadcast level 20 also to the shell 15 outside emission primitives that connect in the nine primitive acoustic measurement basic matrixs 3, broadcast level 20 and be subjected to eight passages to combine the control of control resolution stage 18, finish the power amplification of command signal.
This control tracing management unit 4 is the basic model of modern digital sonar instrument, and eight passages that adopt in this control tracing management unit 4 are used for handling respectively 3 eight reception signals that receive primitive of nine primitive acoustic measurement basic matrixs.Distinguishable underwater platform measures the orientation that shows seat system 2 accordingly.Eight passages are handled the detectability that helps to improve signal simultaneously.Intelligible, in some other embodiment, also can adopt four primitives, five primitives, six primitives, seven primitives or more primitive acoustic measurement basic matrixs to substitute nine primitive acoustic measurement basic matrixs, correspondingly the quantity of passage also can change.
Eight passage variable-gains filter level 16 and are used for input signal is carried out amplitude amplification and filter shape.In the present embodiment, this level has eight passages, and gain and the phase equalization of strictness between each passage of strict guarantee.In the present embodiment, eight passage variable-gains filter level 16 and at first utilize AD616 high-precision meter amplifier to carry out the fixed gain amplification of signal, carry out the front-end filtering noise reduction of signal subsequently by ADA4841, sending into the controllable gain module further amplifies, gain-adjusted scope 0 ~ 60dB, after driving through the integrated Butterworth linear phase of LTC1562 bandpass filtering, light-coupled isolation and output, the signal after gain-adjusted, the noise reduction process is sent into eight passage conversion stages 17.
In some other embodiment, also can be regarded as some other chip or module that identical function is arranged, be not limited to above-mentioned model.
In the present embodiment, eight passage conversion stages 17 are made of the bipolarity analog-digital chip IDS8568 of 8 passages, combine the control of control resolution stage 18 by eight passages and finish the signals sampling quantification treatment.In the present embodiment, the comprehensive control of eight passages resolution stage 18 is made up of a slice ALTERA EP2C8Q168C8N FPGA and three TI TMS2766416 DSP, and responsible generation system synchronization, ride gain signals collecting and emission, processing parsing are gathered signal, resolved the target location.In the present embodiment, the data that eight passage conversion stages 17 are gathered are sent among the FPGA, after eight circuit-switched data are correlated with through the filtering of FPGA, result is sent into and is carried out peak choosing judgement and parameter parsing among two waveform DSP, eight passage analysis results gather carry out to the data DSP comprehensive, coupling system work pattern calculated target positions or measurement.Between mutual by the EMIF bus between DSP and the FPGA, undertaken alternately by McBSP between the DSP.FPGA participates in the synchronous sequence between multi-chip, and data DSP finishes transmission and the realization of steering order.In the present embodiment, the comprehensive control of eight passages resolution stage 18 is resolved the result and is controlled in the observation platform 5 by mutual grade of 19 systems of outputing to.In the present embodiment, mutual level 19 is finished eight passages by the TL16C754 chip and is combined control resolution stage 18 parallel datas are controlled observation platform 5, GPS equipment 6, conversion from MRU7 serial data to system.
In some other embodiment, also can be regarded as some other chip or module that identical function is arranged, be not limited to above-mentioned model.
In the present embodiment, broadcast level 20 and be subjected to eight passages to combine the control of data DSP in the control resolution stage 18, the power amplification of finishing command signal is on overmatching is loaded into emission primitive in the nine primitive acoustic measurement basic matrixs 3.In the present embodiment, broadcast level 20 and combine the pwm signal control that control resolution stage 18 is sent by eight passages, by logic chips such as not gates signal shaping is protected, utilize MIC4418 driven MOS FET pipe to finish the D class power amplification of signal.
In some other embodiment, also can be regarded as some other chip or module that identical function is arranged, be not limited to above-mentioned model.
As shown in Figure 3, this measurement shows that an administrative unit 10 comprises that single channel clamps down on shaping stage 21, and single channel conversion stage 22, single channel are combined control resolution stage 23, and mutual level 24 is broadcast level 25, discharges to drive and detects level 26.This single channel is clamped down on shaping stage 21 and is connected with single channel conversion stage 22 and the comprehensive control of single channel resolution stage 23 successively, this single channel conversion stage 22 is combined control resolution stage 23 with single channel and is connected, and described single channel is combined control resolution stage 23 and also connected mutual level 24, broadcasts level 25 and discharge to drive and detect level 26.
Single channel is clamped down on shaping stage 21, signal is carried out gain-adjusted and filter shape, with distorted signal shaping restoring signal waveform, send into single channel conversion stage 22, the collection that signal is finished in the control that this single channel conversion stage 22 is subjected to single channel to combine control resolution stage 23 quantizes, described single channel combine control resolution stage 23 also be responsible for control signal collection emission with release movement, handle to resolve and gather signal, resolve measurement, receive the electricity triggering, read the data of external sensor.Described single channel is clamped down on hemisphere that shaping stage 21 outwards is connected watertight case 12 tops and point to be measured and to show on the transducer 9 in addition, mutual level 24 also is connected with communication and the sensor interface 14 of described watertight case 12 bottoms, and this mutual level utilizes this communication and sensor interface 14 to be connected with host computer and interaction data.The described level 25 of broadcasting also shows that with the hemisphere sensing measurement on described watertight case 12 tops a transducer 9 is connected, and this broadcasting level 25 mainly is the power emission signal with the comprehensive control signal driving of controlling resolution stage 18 of eight passages.Described release drives and detects level 26 and also be connected with releasing mechanism 13 in the described watertight case 12 afterbody cappings, and this releases drives and detects level 26 for releasing mechanism provides drive current, and realization is to the monitoring of controlling of release movement.
Measure in the present embodiment and show that an administrative unit 10 adopts the single channel original paper, intelligible, in some other embodiment, also can be hyperchannel.
The single channel waveform is clamped down on 21 pairs of hemisphere sensings of shaping stage measurement and is shown that the ultra-weak electronic signal (being signal waveform) of a transducer 9 conversions carries out gain-adjusted and filter shape.In the present embodiment, this grade uses BAV99T and ADA4841 to build waveform clamper amplifying circuit, the fixed gain of 80dB is provided, and the signal after the clamper distortion is sent into single channel conversion stage 22 by 8 rank Butterworth filtering shaping circuit restoring signal waveforms of LTC1562 design.In the present embodiment, single channel conversion stage 22 is quantized by the collection that single channel AD7980 finishes signal, is subjected to single channel to combine the control of control resolution stage 23.In the present embodiment, the comprehensive control of single channel resolution stage 23 is made up of a slice TI TMS276VC5509A DSP, is responsible for control signal collection emission and release movement, handles parsing collection signal, resolves measurement, receives the data that electricity triggers, reads external sensor.DSP is connected with plug-in SDRAM chip HY57V641616 by EMIF.In the present embodiment, mutual level 24 uses TL16C754, ADM162 to finish the external sensor 14 of RS192 and 485 interfaces or being connected and interaction data of host computer with the MAX485 chip.In the present embodiment, broadcasting level 25 adopts enhancement mode field effect transistor to form D class power amplifiers, and the pwm control signal driving that DSP is controlled is the power emission signal.In the present embodiment, discharge driving detection level 26 and use N-channel MOS pipe IRLZ44NS to provide drive current as releasing mechanism 13, releasing mechanism 13 feedbacks then are added to the GPIO pin of DSP by bleeder circuit, realize the monitoring of controlling to release movement.
In some other embodiment, also can be regarded as some other chip or module that identical function is arranged, be not limited to above-mentioned model.
Described underwater platform measures and shows that seat system 2 also can connect sonic sensor, attitude sensor and pressure transducer by communication and sensor interface 14, be used for to survey the described velocity of sound, attitude and pressure data, be used under certain mode of operation the measurement to the degree of depth, attitude etc.
This deep water underwater positioning system can be used for the Terminal for pipe end basal disc PLET(Pipeline End) manifold basal disc PLEM(Pipeline End Manifold) etc. large-scale underwater structure sinking the Monitoring and Positioning service that provides is installed, can be jumper pipe (Jumper/Spool) linear measure longimetry operation the measurement positioning service is provided, can be pipeline and provide the reference location service with docking of X-tree (Well) or underwater structure, can be ROV(Remote Operated Vehicle, be underwater robot), AUV(Autonomous Under Vehicle, i.e. autonomous robot under water) etc. under water the unmanned operation platform track and localization service is provided.Below some are the work pattern of typical this system applies and the embodiment of flow process.
Be illustrated in figure 4 as the Monitoring and Positioning service operation flow process that first kind of embodiment underwater structure sinking installed, above water platform control tracing subsystem 1 is loaded on the water surface installation vessel, the seabed lays four to five underwater platforms measurements and shows seat system 2, can be regarded as at least three ones among some other embodiment, these four to five underwater platforms measure and show that system 2 four to five one side in seat can provide enough redundant measurement information, can improve at least three effective probability of while on the other hand, improve operating efficiency.Treat that four jiaos of underwater structures that sinking installs install four underwater platforms respectively and measure and show seat system 2, this arranges the redundant measurement information that can provide enough, be convenient to observe the sinking works rotation, motion such as wave.In some other embodiment, also can be the multi-section of other quantity.At first four to five underwater platforms are measured before the sinking operation and show that seat system 2 is laid on the seabed and forms the seabed with reference to basic matrix, base length is about one kilometer, and this base length can improve the seabed and measure the precision of showing 2 position measurements of seat system with reference to each underwater platform in the basic matrix.Obtain the seabed by absolute relative measurement and measure the geodetic position that shows seat system 2 with reference to each underwater platform in the basic matrix.Water surface ship begins to transfer underwater structure in the precalculated position by crane subsequently, in this process, the seabed basic matrix works in the measurement pattern and as from the unit, four underwater platforms on the underwater structure measure and show that seat system 2 works in and show bit pattern, above water platform control tracing subsystem 1 monitoring underwater platform in real time measures the position that shows seat system 2, and obtain by the sound link and to be installed at underwater platform and to measure the data show attitude sensor in the seat system 2, sinking operation with the control underwater structure, install attitude sensor additional and measure attitude accuracy height in the sinking process of underwater structure, the Refresh Data rate is fast.When underwater structure during near the seabed, above water platform control tracing subsystem 1 measures by four underwater platforms on the acoustics remote control underwater structure and shows that seat system 2 works in the measurement pattern and as main measurement unit, alternately measure self and seabed with reference to the distance of basic matrix, and upload measurement result by the sound link, above water platform control tracing subsystem 1 resolves the submerged structure object location by uploading distance value, adjust the position that submerged structure is laid accordingly, fulfil assignment until reaching engine request.
Be illustrated in figure 5 as the measurement location service operation flow process of second kind of embodiment jumper pipe linear measure longimetry operation, above water platform control tracing subsystem 1 is loaded into the water surface and measures on the ship, and underwater platform measures and shows that seat system 2 installs attitude, the velocity of sound, pressure transducer additional.ROV carries two underwater platforms measurements and shows 2 entry of seat system, and two underwater platforms measurements are shown that seat system 2 is placed in jumper pipe two interfaces to be connected respectively.Two underwater platforms of above water platform control tracing subsystem 1 acoustics remote control measure and show that seat system 2 works in the measurement pattern, and specify the principal and subordinate to measure relation, and underwater platform measures and shows that seat system 2 is according to disposing the distance that repeatedly measures between the principal and subordinate.Change master slave relation, duplicate measurements.Two underwater platforms measure and show that system 2 links in seat upload range data and the corresponding velocity of sound, attitude, the pressure sensor data of measurement, and above water platform control tracing subsystem 1 resolution data also resolves jumper pipe length, pipe end interface attitude and difference in height information.
Be illustrated in figure 6 as the third pipeline docks operation with interface reference location service operation flow process, above water platform control tracing subsystem 1 is loaded on the water surface production vessel, the seabed lays four to five underwater platforms and measures and show that seat system 2 forms the seabed basic matrixs, end of line to be docked with dock the well head place and two underwater platforms measurements are installed respectively show seat system 2.The underwater platform of end of line measures and show that seat system 2 can install before the pipeline entry, and well head place underwater platform measures and shows that seat system 2 installed by water under the ROV.The seabed basic matrix lay that to relate to flow process in installing consistent with demarcating flow process and underwater structure sinking.Set the underwater platform measurement of well head place in the butt joint operation and show that seat system 2 is in the measurement pattern, measure self and seabed with reference to the distance of basic matrix, and upload measurement result by the sound link, above water platform control tracing subsystem 1 resolves pithead position by uploading distance value., near the process the well head, set underwater platform on the pipeline and measure and show that seat system 2 is in and show bit pattern that above water platform control tracing subsystem 1 is monitored the submarine line position accordingly in real time, with the operation of transferring of monitoring pipeline in the pipeline entry.Pipeline arrives the precalculated position and when docking, underwater platform on the pipeline measures and shows that seat system 2 is in the measurement pattern, measure with well head place underwater platform and to show that seat system 2 alternately measures the distance of self and seabed basic matrix, upload back above water platform control tracing subsystem 1 and can resolve end of line and pithead position respectively, as reference and in the auxiliary butt joint of finishing pipeline down of ROV.
For some other embodiment, track and localization service operation flow process as the unmanned operation platform: above water platform control tracing subsystem 1 is loaded into the water surface and follows the tracks of on the ship, and underwater platform measures and shows that seat system 2 is installed under water on the unmanned operation platform and is in and show under the bit pattern.If the unmanned operation platform has only cable to be connected with water surface ocean-range vessel, above water platform control tracing subsystem 1 can show that seat system 2 launches by the measurement of cycle electricity trigger pip control underwater platform and show a signal; Above water platform control tracing subsystem 1 must measure by cycle acoustics instruction control underwater platform and show that system 2 emissions in seat show a signal when no cable connected.Above water platform control tracing subsystem 1 receives the range-azimuth of signal resolution unmanned operation platform, finishes the location of its position is followed the tracks of.
The above only is preferred implementation of the present utility model, and protection domain of the present utility model also not only is confined to above-described embodiment, and all technical schemes that belongs under the utility model thinking all belong to protection domain of the present utility model.Should be pointed out that for those skilled in the art in several improvements and modifications that do not break away under the utility model principle prerequisite, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (10)
1. a deep water underwater positioning system is characterized in that, comprises that above water platform is controlled tracing subsystem (1) and seat system (2) is shown in the underwater platform measurement; Wherein,
Described above water platform control tracing subsystem (1) comprising:
Be used for sending and show that bit instruction and/or measurement instruction and reception measure the many primitives acoustic measurement basic matrix that shows an acoustical signal and/or range data that shows seat system (2) from described underwater platform, described measurement instruction comprises master and slave configuration and indicates;
Be connected with described many primitives acoustic measurement basic matrix, be used for a described acoustical signal and/or the range data shown handled to obtain described underwater platform measurement and shown the positional information of seat system (2) and/or the control tracing management unit (4) of range information;
Described underwater platform measures and shows that seat system (2) comprising:
Hemisphere points to measure and shows a transducer (9), and it receives from the described of described above water platform control tracing subsystem (1) and shows bit instruction and/or measure instruction;
Point to measure with described hemisphere and show that the measurement that a transducer (9) is connected shows an administrative unit (10); Wherein,
When receiving when showing bit instruction, described measurement is shown that the described hemisphere of an administrative unit (10) control points to measure and is shown that a transducer (9) sends and show an acoustical signal;
When receiving the measurement instruction, described measurement is shown that an administrative unit (10) is pointed to measure according to the described hemisphere of described master/slave configuration indication control and is shown that a transducer (9) sending/receiving measures acoustical signal, and draw range data according to described measurement acoustical signal, and control described hemisphere and point to measure and show that a transducer (9) sends described range data.
2. deep water underwater positioning system according to claim 1, it is characterized in that, described underwater platform measures and shows that seat system (2) comprises that the top is open, the watertight case (12) of bottom sealing, described measurement shows that an administrative unit (10) is arranged in the described watertight case (12), described hemisphere points to measure and shows that a transducer (9) is arranged at the top of watertight case (12), described watertight case (12) afterbody capping is provided with releasing mechanism (13), described watertight case (12) is provided with communication and sensor interface (14), (12) inside of described watertight case, measurement shows that an administrative unit (10) below also is provided with energy bag (11).
3. deep water underwater positioning system according to claim 2, it is characterized in that, described measurement is shown that an administrative unit (10) comprises pointing to measure with described hemisphere and is shown that the single channel that a transducer (9) is connected clamps down on shaping stage (21), clamp down on the single channel conversion stage (22) that shaping stage (21) is connected with described single channel, the comprehensive control of the single channel that is connected with described single channel conversion stage (22) resolution stage (23) is combined mutual grade (24), the broadcasting level (25) of controlling resolution stage (23) and being connected and is discharged driving detection grade (26) with described single channel;
Described mutual level (24) is connected with communication and the sensor interface (14) of described watertight case (12) bottom, and the described level (25) of broadcasting also shows that with the hemisphere sensing measurement on described watertight case (12) top a transducer (9) is connected.
4. deep water underwater positioning system according to claim 3, it is characterized in that, described underwater platform measures and shows that seat system (2) comprises sonic sensor, attitude sensor and pressure transducer, and described sonic sensor, attitude sensor and pressure transducer show that with described measurement an administrative unit (10) is connected by communication and sensor interface (14).
5. deep water underwater positioning system according to claim 4, it is characterized in that, described above water platform control tracing subsystem (1) comprises that the system that links to each other with described control tracing management unit (4) respectively controls observation platform (5), GPS equipment (6) and MRU equipment (7), and controls the SVP equipment (8) that observation platform (5) links to each other with described system.
6. deep water underwater positioning system according to claim 5, it is characterized in that, described many primitives acoustic measurement basic matrix is nine primitive acoustic measurement basic matrixs (3), described nine primitive acoustic measurement basic matrixs (3) comprise eight channel presetting gain stages, eight reception primitives and an emission primitive, and described eight channel presetting gain stages are connected in eight and receive primitives.
7. deep water underwater positioning system according to claim 6, it is characterized in that, described control tracing management unit (4) comprises shell (15), the eight passage variable-gains that are arranged in the shell (15) filter level (16), filter the eight passage conversion stages (17) that level (16) is connected with described eight passage variable-gains, the comprehensive control of eight passages that are connected with eight passage conversion stages (17) resolution stage (18) is combined mutual grade (19) and the broadcasting level (20) that is connected with eight passages comprehensive control resolution stage (18) that control resolution stage (18) are connected with eight passages;
Described eight passage variable-gains filtration levels (16) are connected in eight channel presetting gain stages in the nine outside primitive acoustic measurement basic matrixs (3) of shell (15), described mutual level (19) is connected in the outside system of shell (15) and controls observation platform (5), and the emission primitive in the described nine primitive acoustic measurement basic matrixs (3) of broadcasting level (20) and shell (15) outside is connected.
8. deep water underwater positioning system according to claim 7, it is characterized in that, described underwater platform measures and shows that seat system (2) is for a plurality of, these a plurality of underwater platforms measure at least one that show in the seat system (2) and are installed on the device that needs locate, and remaining stationary arrangement constitutes basic matrix in the bottom.
9. deep water underwater positioning system according to claim 7 is characterized in that, described underwater platform measures and shows that seat system (2) is at least two portions, and these at least two underwater platforms measure and show that seat system (2) is fixed on the device of needs measurement.
10. deep water underwater positioning system according to claim 7 is characterized in that, described underwater platform measures and shows that seat system (2) is at least one one, and this at least one underwater platform measures and show that seat system (2) is installed on the tracking thing of required tracking.
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| CN 201320085081 CN203149118U (en) | 2013-02-25 | 2013-02-25 | Deepwater underwater positioning system |
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| CN 201320085081 CN203149118U (en) | 2013-02-25 | 2013-02-25 | Deepwater underwater positioning system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103149565A (en) * | 2013-02-25 | 2013-06-12 | 中国海洋石油总公司 | Deepwater underwater positioning system |
| CN104267643A (en) * | 2014-09-27 | 2015-01-07 | 江苏华宏实业集团有限公司 | Target positioning recognition system of underwater robot |
-
2013
- 2013-02-25 CN CN 201320085081 patent/CN203149118U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103149565A (en) * | 2013-02-25 | 2013-06-12 | 中国海洋石油总公司 | Deepwater underwater positioning system |
| CN103149565B (en) * | 2013-02-25 | 2014-11-12 | 中国海洋石油总公司 | Deepwater underwater positioning system |
| CN104267643A (en) * | 2014-09-27 | 2015-01-07 | 江苏华宏实业集团有限公司 | Target positioning recognition system of underwater robot |
| CN104267643B (en) * | 2014-09-27 | 2016-08-31 | 江苏华宏实业集团有限公司 | Underwater robot target positioning identification system |
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Address after: 100010 Beijing, Chaoyangmen, North Street, No. 25, No. Co-patentee after: CNOOC DEEPWATER DEVELOPMENT Ltd. Patentee after: CHINA NATIONAL OFFSHORE OIL Corp. Co-patentee after: OFFSHORE OIL ENGINEERING Co.,Ltd. Co-patentee after: HARBIN ENGINEERING University Address before: Chinese CNOOC Building No. 25 Beijing 100010 Dongcheng District Chaoyangmen North Street Co-patentee before: CNOOC DEEPWATER DEVELOPMENT Ltd. Patentee before: CHINA NATIONAL OFFSHORE OIL Corp. Co-patentee before: OFFSHORE OIL ENGINEERING Co.,Ltd. Co-patentee before: HARBIN ENGINEERING University |
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Granted publication date: 20130821 |