CN204676554U - A kind of immersed tube subaqueous construction navigation system - Google Patents
A kind of immersed tube subaqueous construction navigation system Download PDFInfo
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- CN204676554U CN204676554U CN201520234275.1U CN201520234275U CN204676554U CN 204676554 U CN204676554 U CN 204676554U CN 201520234275 U CN201520234275 U CN 201520234275U CN 204676554 U CN204676554 U CN 204676554U
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- immersed tube
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Abstract
The utility model discloses a kind of immersed tube subaqueous construction navigation system, it comprises boat-carrying GPS, boat-carrying attitude transducer, Short baseline Underwater Acoustic Positioning System and Underwater Range navigation system; Boat-carrying GPS and boat-carrying attitude transducer are placed on towboat; Short baseline Underwater Acoustic Positioning System comprises the 4 yuan of basic matrixs and 4 responders be installed in above immersed tube to be positioned that are installed in towboat side of a ship side-lower, and 4 yuan of basic matrixs comprise 1 transmitting-receiving conjunction and put transducer and 3 receiving transducers; Underwater Range navigation system comprises the range sensor being installed in and locating distance tablet on immersed tube and be installed on immersed tube to be positioned; Data are passed to the primary processor on towboat by range sensor, boat-carrying attitude transducer, boat-carrying GPS.The utility model can carry out high-precision real-time location to pipeline section to be positioned under water, effectively instructs the work of pipeline section underwater mating, improves efficiency of construction, reduces construction risk.
Description
Technical field
The utility model relates to a kind of immersed tube subaqueous construction navigation system, and this navigation system is applicable to the ocean engineering fields such as seabed immersed tube tunnel docking construction.
Background technology
In Large Underwater construction of tunnel, sinking location and the underwater mating of tunnel pipeline section are the key technologies during immersed tube tunnel is constructed, because Pipe Sinking docking is carried out all under water, position and the attitude data thereof of pipeline section must be provided continuously by measuring system, to understand the pipeline section to be positioned deviation relative to design attitude at any time, therefore Pipe Sinking is a typical undersea location construction problem.
The real-time locating measurement method of existing domestic and international immersed tube tunnel tube coupling sinking mainly can be divided into total powerstation method, RTK-GPS mensuration, sonar method and Mechanical Method four kinds.Total powerstation method location survey is the three-dimensional coordinate utilizing the principle of Coordinate Conversion to measure the coordinate transformation characteristic point of tube coupling measurement top of tower prism in real time, need before location survey to set up tube coupling local coordinate system, tube coupling is prefabricated complete after tube coupling head and the tail install and measure tower, measure top of tower prism coordinate, and in local coordinate system Accurate Calibration prism and tube coupling relative position relation.Carry out the real-time location survey of tube coupling sinking with total powerstation, data testing accuracy is high, good stability.But when tube coupling offshore is far away, make measuring distance comparatively far away, total powerstation cannot aim at measurement target, and certainty of measurement declines rapidly.RTK-GPS mensuration far measuring distance, precision is high, and it is high that this measuring method has operating efficiency, and data locate the advantages such as the restrictive condition such as error free accumulation and climate, visibility, optics intervisibility is little.But total powerstation method and RTK-GPS mensuration location survey technology are all realized by Coordinate Conversion, are indirect measuring technology.The impact of tower distortion on location survey is measured in order to reduce under deepwater environment, need the locating measurement method of a kind of direct measurement tube coupling characteristic point coordinate under water, there is sonar method thus, asdic method is a kind of relative positioning measuring method, what it was measured is the relative position treating that immersed tube joint save with immersed tube, and certainty of measurement affects by the positional precision that immersed tube has saved.The ultrasonic signal being arranged on the transmitting transducer transmitting on tube coupling to be positioned when sonar method is by measuring tube coupling sinking arrives the propagation time of having located receiving transducer on tube coupling, calculate the distance between transmitting transducer and each receiving transducer, according to measured distance, calculate treat immersed tube joint and immersed tube save between the information such as distance, the discrepancy in elevation, skew.Due to the impact of sound velocity in seawater and water temperature, hydrostatic pressure and seawater salinity etc., Accurate Measurement sound velocity in seawater difficulty is comparatively large, thus directly affects the result of asdic method location survey.Mechanical Method positioning measurment system is made up of range sensor, tablet, bracing wire unit and various accessory, the tube coupling sinking initial stage, measure relative oblique distance between tube coupling and azimuthal trigonometric function relation according to bracing wire unit, calculate treat immersed tube joint and immersed tube save between relative position relation; Because bracing wire cell distance measure error is comparatively large, adopt when tube coupling distance is less than 40cm range sensor to replace bracing wire unit, accurately measure the distance between tube coupling, calculate the relative position relation between tube coupling.Mechanical Method is the same with asdic method, can only be used for the accurate location of tube coupling butt end, can not enter location to tube coupling afterbody of growing up.
The limitation of above-mentioned four kinds of measurement and positioning methods is as follows: the measurement tower that total powerstation method uses adopts steel truss structure usually, its distortion is by temperature, wind, the impact such as wave and current, measure tower upper end and wave and vibrate and can not overcome, orientation distance is far away, certainty of measurement declines obviously, therefore total powerstation fado is used for hydrologic condition better, the inland river (less because measuring tower distortion, lower on certainty of measurement impact) that tunnel distance is shorter; RTK-GPS method is measured higher to the requirement of satellitosis, during measurement, the satellite of cut-off angles more than 15 degree must not be less than 5, PDOP value must not be greater than 6, cause RTK-GPS method to be measured and can not carry out all weather operations in some areas, particularly owing to limitting by plant and instrument systematic error, when tunnel distance is shorter, the certainty of measurement of RTK-GPS method is by step-down; Asdic method measuring system is positioned under water on fixed support, its certainty of measurement is wind-engaging, wave and water currents not, but during with asdic method location survey, in order to increase measuring distance, need reduce hyperacoustic frequency, and the reduction of ultrasonic frequency directly causes certainty of measurement to reduce.Mechanical Method location survey does not affect by extraneous meteorological model condition, but its certainty of measurement is determined by the certainty of measurement of Distance geometry angle, distance adopts range sensor to measure, certainty of measurement is high, the precision of Mechanical Method location survey depends primarily on the certainty of measurement of angle, because the measurement of angle is forbidden, therefore affect whole certainty of measurement.
Utility model content
The purpose of this utility model is to provide a kind of immersed tube subaqueous construction navigation system, this immersed tube subaqueous construction navigation system utilizes GPS locating information simultaneously, underwater positioning system and range sensor carry out high-precision real-time location to pipeline section to be positioned under water, effectively instruct the work of pipeline section underwater mating, improve the efficiency of construction, reduce the risk of construction.
The utility model is achieved in that
A kind of immersed tube subaqueous construction navigation system, it comprises geodetic coordinates navigation system, attitude measurement system, Short baseline Underwater Acoustic Positioning System and Underwater Range navigation system;
Described geodetic coordinates navigation system comprises boat-carrying GPS, and described attitude measurement system comprises boat-carrying attitude transducer, and described boat-carrying GPS and boat-carrying attitude transducer are placed in be responsible for discharging on the towboat of immersed tube;
Described Short baseline Underwater Acoustic Positioning System comprises 4 yuan of basic matrixs and 4 responders, described 4 yuan of basic matrixs comprise 1 transmitting-receiving conjunction and put transducer and 3 receiving transducers, transducer is put in described transmitting-receiving conjunction and receiving transducer is installed in towboat side of a ship side-lower, and described 4 responders are installed in above immersed tube to be positioned;
Described Underwater Range navigation system comprises distance tablet and range sensor, and described distance tablet is installed in locates on the interface of immersed tube, and described range sensor is installed on the interface of immersed tube to be positioned;
Data are passed to the primary processor on towboat by described range sensor, boat-carrying attitude transducer, boat-carrying GPS; Data to be passed to the primary processor on towboat by described 4 yuan of basic matrixs and 4 responders by Transmit-Receive Unit.
By such scheme, transducer is put in described transmitting-receiving conjunction and receiving transducer is installed in towboat side of a ship side-lower by rigid rod, and the hull bottom 2-6 centimetre apart putting transducer and receiving transducer and towboat is closed in described transmitting-receiving.
By such scheme, described responder is from the tube coupling face 2-6 centimetre of immersed tube to be positioned.
By such scheme, described range sensor is connected with the primary processor on towboat by cable.
The towboat being responsible for discharging immersed tube installs the boat-carrying GPS of geodetic coordinates navigation system and the attitude transducer of attitude measurement system, in conjunction with Short baseline Underwater Acoustic Positioning System, provides the local coordinate system of the short-baseline system under earth coordinates.Short baseline Underwater Acoustic Positioning System is made up of 4 yuan of basic matrixs and 4 responders, and the array element of 4 yuan of basic matrixs is fixedly mounted on towboat topside respectively, and the relative position between array element is known, and 4 responders are arranged on characteristic coordinates point place, 4, immersed tube tube coupling face to be positioned respectively.Short baseline Underwater Acoustic Positioning System utilizes the propagation time of sound wave between array element and responder to calculate distance between array element and responder, based on the sphere positioning principle that crosses, transponder location is positioned, then obtained position and the attitude information of pipeline section to be positioned by Coordinate Conversion scheduling algorithm.Due to the impact by marine environment and alignment error, Short baseline Underwater Acoustic Positioning System precision general control can only below 5%, when accurately docking immersed tube undetermined, this precision is inadequate, therefore also on immersed tube undetermined, 4 range sensors need be installed, accurate measurement pipeline section to be positioned and the distance of having located between pipeline section, because range sensor certainty of measurement is very high, and pipeline section attitude calculates by above-mentioned Short baseline Underwater Acoustic Positioning System, and higher than general attitude transducer certainty of measurement, therefore the relative position relation between run of designing, precision can reach 2.5cm.
The utility model is avoided adopting and is measured tower, is applicable to remote, deep water construction, less demanding to construction environment.The utility model carries out just location in conjunction with GPS navigation system to immersed tube position to be positioned by Short baseline Underwater Acoustic Positioning System, when docking immersed tube and being less than 40cm apart, accurately located by range sensor, finally complete the work of immersed tube pipeline section underwater mating.
The utility model can carry out high-precision real-time location to pipeline section to be positioned under water, effectively instructs the work of pipeline section underwater mating, improves efficiency of construction, reduces construction risk.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model immersed tube subaqueous construction navigation system.
In figure: 1, locate immersed tube, 2, immersed tube to be positioned, 3, towboat, 4, boat-carrying GPS, 5, boat-carrying attitude transducer, 6, transmitting-receiving conjunction puts transducer, 7, receiving transducer, 8, responder; 9, range sensor, 10, distance tablet.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described further.
See Fig. 1, a kind of immersed tube subaqueous construction navigation system, it comprises the geodetic coordinates navigation system, attitude measurement system, Short baseline Underwater Acoustic Positioning System and the Underwater Range navigation system that adopt GPS wide area differential GPS global positioning system;
Described geodetic coordinates navigation system comprises boat-carrying GPS4, described attitude measurement system comprises the boat-carrying attitude transducer 5 of the MRU-05 series adopting Norway Seatex company to produce, and described boat-carrying GPS4 and boat-carrying attitude transducer 5 are placed on the towboat 3 being responsible for discharging immersed tube;
Described Short baseline Underwater Acoustic Positioning System comprises 4 yuan of basic matrixs and 4 responders 8, and described 4 yuan of basic matrixs comprise 1 transmitting-receiving conjunction transmitted for launching answer signal and reception responder and put transducer 6, and 3 receiving transducers 7; Transducer 6 is put in described transmitting-receiving conjunction and receiving transducer 7 is installed in towboat side of a ship side-lower by rigid rod, and keeps certain distance with the bottom of towboat, is generally 2-6 centimetre, affects certainty of measurement to prevent interface acoustical reflection and towboat 3 self-noise; Described 4 responders are installed in above immersed tube 2 to be positioned, and have certain distance with the tube coupling face of immersed tube 2 to be positioned, are generally 2-6 centimetre, to prevent the effect of the interface certainty of measurement of immersed tube 2 to be positioned;
Described Underwater Range navigation system comprises distance tablet 10 and range sensor 9, described distance tablet 10 be installed in locate immersed tube 1 interface on, described range sensor 9 is installed on the interface of immersed tube 2 to be positioned;
Data are passed to the primary processor on towboat 3 by described range sensor 9, boat-carrying attitude transducer 5, boat-carrying GPS4; Data to be passed to the primary processor on towboat 3 by described 4 yuan of basic matrixs and 4 responders 8 by Transmit-Receive Unit, carry out calculating and storing, and show data after primary processor receives these data on the display screen of primary processor.
In order to ensure the accuracy of data transmission and the convenience of connection, described range sensor 9 is connected with the primary processor on towboat 3 by cable; Transmitting-receiving conjunction is put transducer 6 and is connected with the primary processor on towboat 3 by cable with receiving transducer 7; Described responder 8 adopts powered battery.
Transmit-Receive Unit in the utility model comprises multipath receiver, digital information processing system, high-power transmitter and underwater sound data transmission coding/decoding device; Primary processor in the utility model is the computer of band standard I-O interface.
When the utility model is in response working method, mainly realize following functions:
1, position and the attitude of immersed tube 2 to be positioned is under water shown in real time;
2, the real-time three-dimensional localization figure showing immersed tube 2 to be positioned and located relative space relation between immersed tube 1.
Concrete implementation step of the present utility model is as follows:
1, four underwater transducer arrays (transducer 6 and 3 receiving transducers 7 are put in 1 transmitting-receiving conjunction) are fixed at towboat topside rigid rod, composition quaternary Short baseline battle array, transmitting-receiving conjunction put transducer 6 and receiving transducer 7 discharge the degree of depth should lower than towboat bottom surface certain distance, to prevent the impact of interface acoustical reflection and towboat self-noise; Distance between accurate measurement four array elements; Towboat 3 is installed antenna and the attitude transducer 5 of boat-carrying GPS4, accurately measures GPS4 antenna and the distance between attitude transducer 5 and underwater transducer array; Receiving transducer 7 and transmitting-receiving are closed and are put transducer 6 and can transmit and to be located in real time four responders 8 on immersed tube 2 to be positioned by answer-mode; Transducer 6 all stube cables are put in receiving transducer 7 and transmitting-receiving conjunction, and cable connects primary processor, in order to power supply and signal transmission;
2, immersed tube 2 to be positioned is furnished with 4 responders 8,4 positions of responder 8 on immersed tube 2 to be positioned should accurately be fixed, during installation, responder 8 need have with a certain distance from the tube coupling face of immersed tube 2 to be positioned, to prevent the impact in tube coupling face, position between responder 8 also needs accurate measurement, and responder 8 adopts underwater battery to power;
3, according to Short baseline hydrolocation principle, closed by transmitting-receiving and put transducer 6, underwater sound signal between receiving transducer 7 and responder 8 and to cross in conjunction with sphere the coordinate of responder 8 on principle solving immersed tube 2 to be positioned, and gone out position and the attitude information of immersed tube 2 to be positioned by Coordinate Conversion scheduling algorithm real-time resolving;
4, locate immersed tube 1 interface install four distance tablets 10, the interface of immersed tube 2 to be positioned arranges four range sensors 9, when locating immersed tube 1 and being less than 40cm with immersed tube 2 distance to be positioned, applications distances sensor 9 is accurately located two pipeline sections, Distance-sensing, 9 are connected with the primary processor on towboat 3 by cable, and provide power supply and transmission data by cable;
5, towboat 3 is furnished with Transmit-Receive Unit and primary processor, primary processor for the treatment of real time data, and can show the relative position and attitude information of having located immersed tube 1 and immersed tube to be positioned 2, can show its geodetic coordinates, instructs immersed tube pipeline section to construct and locates.
In the utility model, Short baseline Underwater Acoustic Positioning System utilizes the propagation time of sound wave between array element and responder to calculate distance between array element and responder, based on the sphere positioning principle that crosses, transponder location is positioned, then position and the attitude information of immersed tube to be positioned is obtained by Coordinate Conversion scheduling algorithm, when docking immersed tube and being less than 40cm apart, accurately located by range sensor, finally complete the work of tube coupling underwater mating.
Claims (4)
1. an immersed tube subaqueous construction navigation system, is characterized in that: it comprises geodetic coordinates navigation system, attitude measurement system, Short baseline Underwater Acoustic Positioning System and Underwater Range navigation system;
Described geodetic coordinates navigation system comprises boat-carrying GPS, and described attitude measurement system comprises boat-carrying attitude transducer, and described boat-carrying GPS and boat-carrying attitude transducer are placed in be responsible for discharging on the towboat of immersed tube;
Described Short baseline Underwater Acoustic Positioning System comprises 4 yuan of basic matrixs and 4 responders, described 4 yuan of basic matrixs comprise 1 transmitting-receiving conjunction and put transducer and 3 receiving transducers, transducer is put in described transmitting-receiving conjunction and receiving transducer is installed in towboat side of a ship side-lower, and described 4 responders are installed in above immersed tube to be positioned;
Described Underwater Range navigation system comprises distance tablet and range sensor, and described distance tablet is installed in locates on the interface of immersed tube, and described range sensor is installed on the interface of immersed tube to be positioned;
Data are passed to the primary processor on towboat by described range sensor, boat-carrying attitude transducer, boat-carrying GPS; Data to be passed to the primary processor on towboat by described 4 yuan of basic matrixs and 4 responders by Transmit-Receive Unit.
2. immersed tube subaqueous construction navigation system as claimed in claim 1, it is characterized in that: transducer is put in described transmitting-receiving conjunction and receiving transducer is installed in towboat side of a ship side-lower by rigid rod, and the hull bottom 2-6 centimetre apart putting transducer and receiving transducer and towboat is closed in described transmitting-receiving.
3. immersed tube subaqueous construction navigation system as claimed in claim 1, is characterized in that: described responder is from the tube coupling face 2-6 centimetre of immersed tube to be positioned.
4. immersed tube subaqueous construction navigation system as claimed in claim 1, is characterized in that: described range sensor is connected with the primary processor on towboat by cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201520234275.1U CN204676554U (en) | 2015-04-17 | 2015-04-17 | A kind of immersed tube subaqueous construction navigation system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520234275.1U CN204676554U (en) | 2015-04-17 | 2015-04-17 | A kind of immersed tube subaqueous construction navigation system |
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| CN204676554U true CN204676554U (en) | 2015-09-30 |
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| CN201520234275.1U Expired - Fee Related CN204676554U (en) | 2015-04-17 | 2015-04-17 | A kind of immersed tube subaqueous construction navigation system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105588582A (en) * | 2015-12-31 | 2016-05-18 | 中交第一航务工程局有限公司 | Position calibration method and system for measurement and control positioning devices |
| CN105625484A (en) * | 2015-12-31 | 2016-06-01 | 中交第一航务工程局有限公司 | Deep-water measurement and control system and method for large-size objects |
| CN107436436A (en) * | 2017-08-31 | 2017-12-05 | 中交航局第二工程有限公司 | A kind of early warning system and method for the installation of immersed tube tunnel final joint |
| CN107621259A (en) * | 2017-09-01 | 2018-01-23 | 中交第航务工程局有限公司 | A kind of floading condition calibration system and method for immersed tube tunnel final joint |
| CN112000069A (en) * | 2020-07-24 | 2020-11-27 | 中交第一航务工程局有限公司 | Integrated measurement and control system for floating transportation and installation of open sea immersed tube and measurement and control method thereof |
| CN113390348A (en) * | 2021-06-11 | 2021-09-14 | 上海交大海科检测技术有限公司 | Underwater intelligent butt joint monitoring test device and method for immersed tunnel |
| CN113960632A (en) * | 2021-09-18 | 2022-01-21 | 浙江舟山海洋输电研究院有限公司 | Submarine pipe cable embedded underwater positioning system and working method thereof |
| CN115077487A (en) * | 2022-05-13 | 2022-09-20 | 深圳大学 | Immersed tube butt joint measurement method and system for stay wire assisted photogrammetry |
| CN115162390A (en) * | 2022-06-30 | 2022-10-11 | 中海石油(中国)有限公司 | Oil-gas production wet caisson butt joint installation method under seabed mud surface |
| CN115949094A (en) * | 2022-12-26 | 2023-04-11 | 深圳大学 | Immersed tube tunnel installation measurement and control system |
| CN116625240A (en) * | 2023-07-20 | 2023-08-22 | 中交第一航务工程局有限公司 | Calibration method of combined underwater positioning equipment |
| CN117452413A (en) * | 2023-12-22 | 2024-01-26 | 深圳大学 | Method and system for positioning pipe joint installation sonar of immersed tunnel |
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2015
- 2015-04-17 CN CN201520234275.1U patent/CN204676554U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105625484A (en) * | 2015-12-31 | 2016-06-01 | 中交第一航务工程局有限公司 | Deep-water measurement and control system and method for large-size objects |
| CN105588582B (en) * | 2015-12-31 | 2018-09-07 | 中交第一航务工程局有限公司 | A kind of position calibration method and system of observing and controlling positioning device |
| CN105588582A (en) * | 2015-12-31 | 2016-05-18 | 中交第一航务工程局有限公司 | Position calibration method and system for measurement and control positioning devices |
| CN107436436A (en) * | 2017-08-31 | 2017-12-05 | 中交航局第二工程有限公司 | A kind of early warning system and method for the installation of immersed tube tunnel final joint |
| CN107621259A (en) * | 2017-09-01 | 2018-01-23 | 中交第航务工程局有限公司 | A kind of floading condition calibration system and method for immersed tube tunnel final joint |
| CN112000069A (en) * | 2020-07-24 | 2020-11-27 | 中交第一航务工程局有限公司 | Integrated measurement and control system for floating transportation and installation of open sea immersed tube and measurement and control method thereof |
| CN113390348B (en) * | 2021-06-11 | 2024-03-22 | 上海交通大学 | Immersed tube tunnel underwater intelligent butt joint monitoring test device and method thereof |
| CN113390348A (en) * | 2021-06-11 | 2021-09-14 | 上海交大海科检测技术有限公司 | Underwater intelligent butt joint monitoring test device and method for immersed tunnel |
| CN113960632A (en) * | 2021-09-18 | 2022-01-21 | 浙江舟山海洋输电研究院有限公司 | Submarine pipe cable embedded underwater positioning system and working method thereof |
| CN115077487A (en) * | 2022-05-13 | 2022-09-20 | 深圳大学 | Immersed tube butt joint measurement method and system for stay wire assisted photogrammetry |
| CN115162390A (en) * | 2022-06-30 | 2022-10-11 | 中海石油(中国)有限公司 | Oil-gas production wet caisson butt joint installation method under seabed mud surface |
| CN115949094A (en) * | 2022-12-26 | 2023-04-11 | 深圳大学 | Immersed tube tunnel installation measurement and control system |
| CN115949094B (en) * | 2022-12-26 | 2023-11-10 | 深圳大学 | Immersed tube tunnel installation measurement and control system |
| CN116625240A (en) * | 2023-07-20 | 2023-08-22 | 中交第一航务工程局有限公司 | Calibration method of combined underwater positioning equipment |
| CN116625240B (en) * | 2023-07-20 | 2023-09-19 | 中交第一航务工程局有限公司 | Calibration method of combined underwater positioning equipment |
| CN117452413A (en) * | 2023-12-22 | 2024-01-26 | 深圳大学 | Method and system for positioning pipe joint installation sonar of immersed tunnel |
| CN117452413B (en) * | 2023-12-22 | 2024-03-26 | 深圳大学 | Method and system for positioning pipe joint installation sonar of immersed tunnel |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150930 Termination date: 20160417 |