CN213658956U - Marine floating platform acoustic positioning monitoring system - Google Patents
Marine floating platform acoustic positioning monitoring system Download PDFInfo
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- CN213658956U CN213658956U CN202022088660.3U CN202022088660U CN213658956U CN 213658956 U CN213658956 U CN 213658956U CN 202022088660 U CN202022088660 U CN 202022088660U CN 213658956 U CN213658956 U CN 213658956U
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Abstract
The application discloses a maritime work floating platform acoustic positioning monitoring system, which comprises a platform, a seabed acoustic base station, an attitude measurement sensor, a plurality of sea surface height acoustic measurers, a plurality of acoustic receivers and a controller, wherein the platform is used for receiving a plurality of sea surface height acoustic signals; the seabed acoustic base station is arranged on the seabed corresponding to the platform position and used for transmitting seabed acoustic signals; the attitude measurement sensor is arranged on the platform and used for measuring attitude data of the platform; a plurality of surface height acoustic measurers are mounted on the platform and used for measuring surface state data; the plurality of acoustic receivers are respectively used for receiving the seabed acoustic signals; the controller is installed on the platform and is electrically connected with the attitude measurement sensor, the plurality of sea surface height acoustic measurers and the plurality of acoustic receivers respectively, and the problem that the existing marine floating platform is low in positioning accuracy and cannot be combined with the real-time wave change condition of the sea surface is solved.
Description
Technical Field
The application relates to the field of floating platform positioning, in particular to a maritime work floating platform acoustic positioning monitoring system.
Background
The marine floating platform is a structure applied to offshore operation, comprises a barge, a semi-submersible platform, a mooring platform and the like, and has higher requirements on positioning accuracy; current position monitoring of marine floating platforms comes primarily from satellite positioning systems such as the GPS system. Because of the particularity and complexity of the marine working environment, the floating platform is always in a floating state, and the positioning accuracy of the GPS is limited: the GPS positioning is divided into code positioning and carrier positioning, the code positioning speed is high, and under an ideal condition, the precision is generally 3m for civil use and 0.3m for military use; the carrier positioning speed is low, the carrier positioning speed is not divided into civil and military, the precision single-point positioning time is more than half an hour, and the precision can reach mm level if the observation time is long enough. The positioning of the floating platform requires positioning precision and positioning speed, the positioning precision and the positioning speed of the GPS cannot meet the requirement of accurate response at the same time, and the influence of weakening a GPS positioning signal exists under complex sea conditions, so that the precision and the safety of operation are influenced. At the present stage, people start to introduce a Beidou system for positioning or adopt the Beidou system and a GPS system for double positioning, but the problems of low positioning precision, easy environmental influence, short-time signal loss and failure of linking with the real-time wave change condition of the sea surface exist.
SUMMERY OF THE UTILITY MODEL
In view of this, the present application provides an acoustic positioning monitoring system for a marine floating platform, which can realize accurate positioning and motion state monitoring of the floating platform in combination with sea conditions, thereby ensuring safety and accuracy of the floating platform during operation.
In order to achieve the technical purpose, the application provides an acoustic positioning and monitoring system for a maritime work floating platform, which comprises a platform, a seabed acoustic base station, an attitude measurement sensor, a plurality of sea surface height acoustic measurers, a plurality of acoustic receivers and a controller;
the seabed acoustic base station is arranged on the seabed corresponding to the platform position and used for transmitting seabed acoustic signals;
the attitude measurement sensor is arranged on the platform and used for measuring attitude data of the platform;
a plurality of surface height acoustic measurers are mounted on the platform and used for measuring surface state data;
the plurality of acoustic receivers are respectively used for receiving the seabed acoustic signals;
the controller is installed on the platform and is electrically connected with the attitude measurement sensor, the plurality of sea surface height acoustic measurers and the plurality of acoustic receivers respectively.
Preferably, the seabed acoustic base station comprises a sinking platform base and a seabed acoustic transmitter;
the sinking platform base is an iron base;
the seafloor acoustic transmitter is electrically connected with the controller.
Preferably, the seabed acoustic base station further comprises an acoustic response fuse and a buoy;
the sinking platform base, the acoustic response fuse, the seabed acoustic transmitter and the buoy are sequentially connected from bottom to top;
the acoustic response fuse is electrically connected to the controller.
Preferably, the seabed acoustic base station further comprises a power supply device;
the power supply is disposed between the acoustic response fuse and the seabed acoustic transmitter.
Preferably, the acoustic receiver further comprises a support frame for mounting the acoustic receivers in a one-to-one correspondence.
Preferably, the support frame comprises a horizontal expansion frame and a vertical expansion frame;
the horizontal telescopic frame is arranged on the platform, and a telescopic end of the horizontal telescopic frame is connected with the vertical telescopic frame and used for driving the vertical telescopic frame to movably extend out of the platform;
and the acoustic receivers are respectively arranged at the lower end parts of the vertical telescopic frames.
Preferably, a plurality of surface height acoustic measurers are respectively mounted at the upper end of each vertical expansion bracket.
Preferably, the number of the acoustic receivers is three, and the three acoustic receivers are distributed in an isosceles triangle.
Preferably, the number of seabed acoustic transmitters is three in particular;
the three seabed acoustic transmitters are distributed around the center of the seabed acoustic base station in an equilateral triangle or a right-angled triangle.
Preferably, a gyroscope is arranged in the seabed acoustic transmitter and used for measuring and correcting the pose.
According to the technical scheme, the absolute attitude data of the floating platform is obtained by measuring the attitude measurement sensor, the sea surface height acoustic measurer is arranged to obtain the sea surface state data by measuring, and the acoustic receiver is matched with the sea bed acoustic base station to obtain the coordinate data of the floating platform by measuring.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic view of one embodiment of a marine floating platform acoustic positioning monitoring system provided in the present application;
FIG. 2 is a schematic diagram of another embodiment of a marine floating platform acoustic positioning monitoring system provided in the present application;
in the figure: 1. a sinking platform base; 2. an acoustic response fuse; 3. a power supply device; 4. a seabed acoustic transmitter; 5. a float; 6. an acoustic receiver; 7. a support frame; 8. a sea surface height acoustic measurer; 9. a controller; 10. an attitude measurement sensor; 11. a positioning device; 12. a platform.
Detailed Description
The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
The embodiment of the application discloses a maritime work floating platform acoustic positioning monitoring system.
Referring to fig. 1, an embodiment of a marine floating platform acoustic positioning monitoring system provided in the embodiments of the present application: a maritime work floating platform acoustic positioning monitoring system comprises a platform 12, a seabed acoustic base station, an attitude measurement sensor 10, a plurality of sea level height acoustic measurers 8, a plurality of acoustic receivers 6 and a controller 9; the seabed acoustic base station is arranged on the seabed corresponding to the platform 12 and used for transmitting seabed acoustic signals; the attitude measurement sensor 10 is mounted on the platform 12 and is used for measuring attitude data of the platform 12; a plurality of surface height acoustic measurers 8 are mounted on the platform 12 and used for measuring surface state data; the plurality of acoustic receivers 6 are respectively used for receiving seabed acoustic signals; the controller 9 is mounted on the platform 12 and electrically connected to the attitude measurement sensor 10, the plurality of surface height acoustic measurers 8, and the plurality of acoustic receivers 6, respectively.
Specifically, the controller 9 may refer to a control module of a control system built in the floating platform 12, or may be an additional control module, for example, a control system installed on the floating platform, on the land, or the like; the controller 9 may be electrically connected to other devices by wire or wirelessly.
The attitude measurement sensor 10 includes motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and an electronic compass, and measures the motion attitude by a sensor data algorithm based on quaternions. Measuring attitude data of the platform comprises a coordinate system of the platform 12 relative to the earth, which is correspondingly determined when the platform 12 is designed or built, and combining the attitude data measured by the attitude measurement sensor 10 with the coordinate system of the platform 12 to obtain a fitting plane of the platform 12 and the attitude of the fitting plane in the platform coordinate system; the absolute attitude data of the platform 1 is used, and the self balance and the gravity center of the platform 12 can be adjusted according to the first plane data. In the operation process of the marine floating platform acoustic positioning monitoring system, the self balance degree and the gravity center of the platform 12 are constantly changed due to sea waves, sea winds and self load conditions, and the controller 9 timely adjusts the platform 12 according to changes of attitude data of the platform, so that the safety of the platform is ensured, and overturning is prevented.
Obtaining a platform fitting plane of the platform 12 by the controller 9 according to the attitude data of the platform based on a least square method; specifically, the method may also be performed by polynomial fitting or using a polyfit fitting in Matlab, and the like, which is not particularly limited.
The sea surface state data can comprise the flatness of the sea surface, the height of sea waves, the direction and the fluctuation degree of the sea waves, can be used for providing compensation pre-control quantity for the platform motion system and the heave compensation system, and can more accurately judge the sea surface state data and correct the fluctuation error of the platform 12 caused by the factors such as the sea waves by combining the measurement data of the attitude measurement sensor 10 and the sea surface height acoustic measurer 8. The specific combination application may be, for example, that a sea surface fitting plane is fitted according to a result obtained by measurement by the sea surface height acoustic measurer 8, and then compared with the platform fitting plane obtained by the fitting to obtain a state of the platform 12 relative to the sea surface, and when the upper end surface of the platform 12 is flush with the sea surface, sea surface state data can be directly obtained through height data obtained by measurement; when the platform 12 is judged to have the inclined posture through the absolute posture data, the sea surface state data is obtained through indirect calculation by combining the absolute posture data and the size settlement corrected height data of the platform.
The combination application of the coordinate data, the sea surface state data and the absolute attitude data can be as follows, for example, a measured coordinate data is determined as a reference coordinate data, when a preset deviation range between the coordinate data and the reference coordinate data is monitored in real time, the deviation of the position of the floating platform caused by what reason can be analyzed and judged through the obtained sea surface state data and the absolute attitude data, so that the positioning data after analysis and calculation can be fed back to the controller, the correction and positioning control can be realized, and the accuracy of positioning control can be improved.
The above is the first embodiment provided in the present application, and the following is the second embodiment provided in the present application, please refer to fig. 1 specifically.
A maritime work floating platform acoustic positioning monitoring system comprises a platform 12, a seabed acoustic base station, an attitude measurement sensor 10, a plurality of sea level height acoustic measurers 8, a plurality of acoustic receivers 6 and a controller 9; the seabed acoustic base station is arranged on the seabed corresponding to the platform 12 and used for transmitting seabed acoustic signals; the attitude measurement sensor 10 is mounted on the platform 12 and is used for measuring attitude data of the platform 12; a plurality of surface height acoustic measurers 8 are mounted on the platform 12 and used for measuring surface state data; the plurality of acoustic receivers 6 are respectively used for receiving seabed acoustic signals; the controller 9 is mounted on the platform 12 and electrically connected to the attitude measurement sensor 10, the plurality of surface height acoustic measurers 8, and the plurality of acoustic receivers 6, respectively.
Further, the seabed acoustic base station comprises a sinking platform base 1 and a seabed acoustic transmitter 4; the sinking platform base 1 is an iron base; the seabed acoustic transmitter 4 is electrically connected with the controller.
Particularly, the sinking platform base can be an iron base which naturally corrodes along with time after sinking to the seabed, or can be a stone base and other natural materials, and the materials which are suitable for processing and do not pollute the environment are selected according to actual conditions;
further, the seabed acoustic base station also comprises an acoustic response fuse 2, a power supply device 3 and a buoy 5; the sinking platform base 1, the acoustic response fuse 2, the power supply device 3, the seabed acoustic transmitter 4 and the buoy are sequentially connected from bottom to top; the acoustic response fuse 2 is electrically connected with the controller 9, when the positioning monitoring is completed, the acoustic response fuse 2 is controlled to be fused, and the buoy 5 drives the seabed acoustic transmitter 4 and the power supply device 3 to float upwards to the sea surface for recovery.
Further, a support frame 7 for mounting the acoustic receivers 6 in a one-to-one correspondence is also included.
Further, the support frame 7 comprises a horizontal telescopic frame and a vertical telescopic frame; the horizontal telescopic frame is arranged on the platform 12, and the telescopic end of the horizontal telescopic frame is connected with the vertical telescopic frame and used for driving the vertical telescopic frame to movably extend out of the platform 12; the acoustic receivers 6 are respectively mounted at the lower end portions of the vertical telescopic frames.
Further, a plurality of sea level height acoustic measurers 8 are respectively mounted on the upper end portions of the vertical telescopic frames.
Further, the number of the acoustic receivers 6 is three, and the three acoustic receivers are distributed in an isosceles triangle.
Specifically, taking the acoustic receivers 6 as isosceles triangles for example, the support frame 7 can be set to be an isosceles triangle structure, the acoustic receivers 6 are set at the angular point positions of the support frame 7, so that the three acoustic receivers 6 form a plane, the overall calculation of the acoustic receivers 6 is realized through the controller 9, the position coordinate information of the current whole floating platform from the seabed acoustic base station can be obtained, and after confirming that certain position coordinate information is standard position information, the position change difference generated by other real-time measurement is the change value of the positioning information, so that accurate real-time positioning is realized; in order to make the overall positioning data of the platform more accurate, the number of the acoustic receivers 6 and the arrangement mode thereof can be increased in practical application, but the consumption of computing resources is correspondingly increased, and the optimal setting is three
Further, three seabed acoustic transmitters 4 are provided and distributed in an equilateral triangle around the center of the seabed acoustic base station;
specifically, based on the ultra-short baseline measurement principle, the seabed acoustic base station comprises 3 seabed acoustic transmitters 4 which are distributed in an equilateral triangle or a right triangle; the preferred equilateral triangle distribution that adopts, the more accurate effective positioning data of measuring the platform.
Further, a gyroscope is arranged in the seabed acoustic transmitter 4 and used for measuring and correcting the self pose.
The embodiment that the seabed acoustic base station is a throwing type is a wireless type and is suitable for deep sea areas with the seawater depth exceeding five hundred meters; in shallow sea areas with water depths less than five hundred meters, cable-type devices can be used, see fig. 2: the seabed acoustic base station comprises a sinking platform base 1, a power supply device 3 and a seabed acoustic transmitter 4; and the seabed acoustic transmitter 4 is connected with the platform 12 through a cable, can be directly controlled to release and recover through a winch and the cable, and is convenient, quick and high in reliability.
The method and the device are combined with an attitude measurement sensor 10, a sea surface height acoustic measurer 8, a seabed acoustic transmitter 4 and an acoustic receiver 6 to realize measurement and calculation of the absolute attitude and the relative attitude of the platform, monitor the motion characteristic of an operation object in real time and realize the monitoring requirement of the real-time change of the attitude and the position of the floating platform relative to the sea surface.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present application, and not intended to limit the present invention, and although the present application has been described in detail with reference to the examples, it will be apparent to those skilled in the art that modifications can be made to the technical solutions described in the foregoing examples, or equivalent substitutions of some technical features can be made, any modifications, equivalents, improvements, etc. within the spirit and principle of the present application shall be included in the scope of the present application.
Claims (10)
1. A maritime work floating platform acoustic positioning monitoring system is characterized by comprising a platform, a seabed acoustic base station, an attitude measurement sensor, a plurality of sea surface height acoustic measurers, a plurality of acoustic receivers and a controller;
the seabed acoustic base station is arranged on the seabed corresponding to the platform position and used for transmitting seabed acoustic signals;
the attitude measurement sensor is arranged on the platform and used for measuring attitude data of the platform;
a plurality of surface height acoustic measurers are mounted on the platform and used for measuring surface state data;
the plurality of acoustic receivers are respectively used for receiving the seabed acoustic signals;
the controller is installed on the platform and is electrically connected with the attitude measurement sensor, the plurality of sea surface height acoustic measurers and the plurality of acoustic receivers respectively.
2. The marine vessel acoustic positioning monitoring system of claim 1, wherein the seabed acoustic base station comprises a sinker jack and a seabed acoustic transmitter;
the seabed acoustic transmitter is electrically connected with the controller;
the sinking platform base is an iron base.
3. The marine vessel acoustic positioning monitoring system of claim 2, wherein the seabed acoustic base station further comprises an acoustic response fuse and a buoy;
the sinking platform base, the acoustic response fuse, the seabed acoustic transmitter and the buoy are sequentially connected from bottom to top;
the acoustic response fuse is electrically connected to the controller.
4. The marine vessel acoustic positioning monitoring system of claim 3, wherein the seabed acoustic base station further comprises a power supply;
the power supply is disposed between the acoustic response fuse and the seabed acoustic transmitter.
5. The marine vessel acoustic positioning monitoring system of claim 1, further comprising a support frame for mounting the acoustic receivers in a one-to-one correspondence.
6. The marine floating platform acoustic positioning monitoring system of claim 5, wherein the support frame comprises a horizontal telescoping frame and a vertical telescoping frame;
the horizontal telescopic frame is arranged on the platform, and a telescopic end of the horizontal telescopic frame is connected with the vertical telescopic frame and used for driving the vertical telescopic frame to movably extend out of the platform;
the telescopic end of the telescopic frame is connected with an acoustic array mounting frame;
the acoustic receivers are respectively mounted at the lower end parts of the acoustic array mounting frames.
7. The marine vessel acoustic positioning monitoring system of claim 6, wherein a plurality of said surface height acoustic gauges are mounted to an upper end of each of said acoustic array mounts.
8. The marine vessel acoustic positioning monitoring system of claim 1, wherein the acoustic receivers are specifically three;
the three acoustic receivers are distributed around the center of the platform in an isosceles triangle shape.
9. The marine vessel acoustic positioning monitoring system of claim 2, wherein the number of seabed acoustic transmitters is specifically three;
the three seabed acoustic transmitters are distributed around the center of the seabed acoustic base station in an equilateral triangle or a right-angled triangle.
10. The marine floating platform acoustic positioning monitoring system of claim 2, wherein a gyroscope is disposed within the sea bed acoustic transmitter for pose measurement and correction.
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| CN202022088660.3U CN213658956U (en) | 2020-09-22 | 2020-09-22 | Marine floating platform acoustic positioning monitoring system |
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| CN202022088660.3U CN213658956U (en) | 2020-09-22 | 2020-09-22 | Marine floating platform acoustic positioning monitoring system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112162288A (en) * | 2020-09-22 | 2021-01-01 | 广东工业大学 | Acoustic monitoring method for operation state of ultra-large floating platform |
| CN112162290B (en) * | 2020-09-22 | 2023-07-25 | 广东工业大学 | Acoustic positioning monitoring method for marine floating platform |
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2020
- 2020-09-22 CN CN202022088660.3U patent/CN213658956U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112162288A (en) * | 2020-09-22 | 2021-01-01 | 广东工业大学 | Acoustic monitoring method for operation state of ultra-large floating platform |
| CN112162288B (en) * | 2020-09-22 | 2023-07-25 | 广东工业大学 | Acoustic monitoring method for operation state of ultra-large floating platform |
| CN112162290B (en) * | 2020-09-22 | 2023-07-25 | 广东工业大学 | Acoustic positioning monitoring method for marine floating platform |
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