WO2022062158A1

WO2022062158A1 - Acoustic positioning monitoring method for marine engineering floating platform

Info

Publication number: WO2022062158A1
Application number: PCT/CN2020/131585
Authority: WO
Inventors: 邹大鹏; 张永康; 肖体兵; 纪轩荣
Original assignee: 广东工业大学
Priority date: 2020-09-22
Filing date: 2020-11-25
Publication date: 2022-03-31
Also published as: CN112162290A; CN112162290B

Abstract

An acoustic positioning monitoring method for a marine engineering floating platform, applied to an acoustic positioning monitoring system for a marine engineering floating platform. The acoustic positioning monitoring system for a marine engineering floating platform comprises a platform (12), a seabed acoustic base station, an attitude measurement sensor (10), a plurality of sea surface height acoustic measurement devices (8), and a plurality of acoustic receivers (6). The acoustic positioning monitoring method for a marine engineering floating platform comprises the following steps: controlling, on the basis of navigation of a satellite-based positioning system, a platform (12) to sail to a preset working area; launching a seabed acoustic base station to the seabed; controlling an attitude measurement sensor (10) to measure the platform (12) to obtain absolute attitude data of the platform (12); controlling sea surface height acoustic measurement devices (8) to measure the sea surface to obtain sea surface state data; controlling a plurality of acoustic receivers (6) to receive transmitted signals of the seabed acoustic base station; performing calculation according to the received transmitted signals to obtain coordinate data of the platform (12); and obtaining positioning data of the monitoring system on the basis of the coordinate data, the absolute attitude data, and the sea surface state data. The problem that positioning for existing marine engineering floating platforms is low in precision and fails to combine a real-time sea surface wave change condition is solved.

Description

An acoustic positioning monitoring method for an offshore floating platform

technical field

The present application relates to the field of positioning of floating platforms, in particular to an acoustic positioning monitoring method for offshore floating platforms.

Background technique

An offshore floating platform is a structure used in offshore operations, including barges, semi-submersible platforms, mooring platforms, etc., and has high requirements for positioning accuracy; the current position monitoring of offshore floating platforms mainly comes from and satellite positioning systems such as GPS systems. Because of the particularity and complexity of the marine operating environment, the floating platform will always be in a floating state, and the positioning accuracy of GPS is limited: GPS positioning is divided into code positioning and carrier positioning, and the code positioning speed is fast. Ideally, the general civilian 3m accuracy , military 0.3m; carrier positioning speed is slow, regardless of civilian and military use, precise single-point positioning is more than half an hour, if the observation time is long enough, it can reach mm-level accuracy. The positioning of the floating platform requires both positioning accuracy and positioning speed, but the GPS positioning accuracy and speed cannot meet the requirements of accurate response at the same time, and under complex sea conditions, there will be a weakening of the GPS positioning signal, which will affect the accuracy and safety of operations. . At this stage, some people have begun to introduce the Beidou system for positioning, or adopt the dual positioning of the Beidou system and the GPS system, but there are also low positioning accuracy, easy to be affected by the environment, short-term signal loss, and failure to connect with the real-time changes in the sea surface waves. The problem.

SUMMARY OF THE INVENTION

In view of this, the purpose of this application is to provide an acoustic positioning monitoring method for an offshore floating platform, which can realize the precise positioning of the floating platform and the monitoring of the motion state at the same time in combination with the sea conditions, thereby ensuring the safety and accuracy of the floating platform during operation. sex.

In order to achieve the above technical purpose, the present application provides an acoustic positioning monitoring method for an offshore floating platform, which is applied to an acoustic positioning monitoring system for an offshore floating platform. The acoustic positioning monitoring system for the offshore floating platform includes: a platform, a seabed an acoustic base station, an attitude measurement sensor, a plurality of sea surface height acoustic measurers, and a plurality of acoustic receivers; and comprising the following steps:

Navigation based on the satellite positioning system controls the platform to navigate to the preset work area;

The control platform drops the seabed acoustic base station into the seabed;

Control the attitude measurement sensor measurement platform to obtain measurement attitude data;

Obtaining the platform fitting plane according to the measured attitude data;

Obtain the absolute attitude data of the platform based on the posture of the platform fitting plane in the platform coordinate system of the platform;

Control each sea surface height acoustic measuring instrument to measure the sea surface, and obtain the height data from the sea surface measurement point respectively;

Obtain the sea surface fitting plane according to each of the height data;

obtaining sea surface state data based on the comparison between the sea surface fitting plane and the platform fitting plane;

controlling a plurality of acoustic receivers to receive the transmitted signal of the seabed acoustic base station;

According to the received transmission signal, the coordinate data of the platform is obtained through calculation;

Based on the coordinate data, the absolute attitude data, and the relationship between the sea surface state data and the floating platform positioning data, the floating platform positioning data is obtained.

Preferably, the seabed acoustic base station includes a subsidence base and a seabed acoustic transmitter.

Preferably, the sinking platform base is an iron base.

Preferably, the seabed acoustic base station further comprises an acoustic response fuse and a buoy;

The sinking base, the acoustic response fuse, the seabed acoustic transmitter and the buoy are connected and arranged in sequence from bottom to top;

Also includes the following steps:

When the positioning monitoring is completed, control the acoustic response fuse to blow to recover the seabed acoustic transmitter.

Preferably, both the platform fitting plane and the sea surface fitting plane are obtained based on least squares fitting.

Preferably, the control system controls each sea surface height acoustic measurer to measure the sea surface, and obtains the height data from the sea surface measurement point respectively, which specifically includes;

The control system controls each of the sea surface height acoustic measuring instruments to transmit and receive sound waves, and measure the travel time of the sound waves;

The control system separately calculates and obtains the height data of each of the sea surface height acoustic measuring instruments from the sea surface measurement point according to the travel time of the sound waves.

Preferably, the platform is also provided with a support frame for installing the sea surface height acoustic measurer in a one-to-one correspondence;

The controlling of each of the sea surface height acoustic measuring instruments to transmit and receive sound waves further includes:

The support frame is controlled so that the sea level acoustic measurer extends horizontally out of the platform and moves vertically by a preset distance.

Preferably, the acoustic receivers are also installed on the support frame in a one-to-one correspondence.

Preferably, the number of the acoustic receivers is specifically three.

The three acoustic receivers are distributed in an isosceles triangle around the center of the platform.

Preferably, the number of the seabed acoustic transmitters is three;

The three seabed acoustic transmitters are distributed in an equilateral triangle or a right triangle around the center of the seabed acoustic base station.

It can be seen from the above technical solutions that the present application realizes coarse positioning based on the satellite positioning device, and then realizes precise positioning based on the acoustic measurement system, obtains the absolute attitude data of the platform through the measurement of the attitude measurement sensor, and obtains the sea surface state data and Combined with the platform coordinate data measured by the seabed acoustic base station and the acoustic receiver, the accurate positioning data of the platform can be obtained through calculation, so that the platform control system can effectively and accurately support the positioning data to realize the precise positioning control of the platform and solve the problem of the existing seabed. The industrial floating platform has the problems of low positioning accuracy, easy to be affected by the environment, short-term signal loss and failure to combine the real-time changes of waves on the sea surface.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic flowchart of Embodiment 1 of an acoustic positioning monitoring method for an offshore floating platform provided in the application;

2 is a schematic diagram of an embodiment of an acoustic positioning monitoring system for an offshore floating platform provided in the application;

3 is a schematic diagram of another embodiment of an acoustic positioning monitoring system for an offshore floating platform provided in the application;

4 is a schematic flowchart of Embodiment 2 of an acoustic positioning monitoring method for an offshore floating platform provided in the application;

In the figure: 1. The base of the sinking platform; 2. The acoustic response fuse; 3. The power supply device; 4. The seabed acoustic transmitter; 5. The buoy; 6. The acoustic receiver; 7. The support frame; Measuring device; 9. Controller; 10. Attitude measurement sensor; 11. Positioning device; 12. Platform.

detailed description

The technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by persons of ordinary skill in the art without creative work fall within the protection scope of the embodiments of 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" The orientation or positional relationship indicated by ” etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, It is constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of the present application. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of the embodiments of the present application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a The interchangeable connection, or the integral connection, can be a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, or an internal communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present application in specific situations.

The embodiment of the present application discloses an acoustic positioning monitoring method for an offshore floating platform.

Please refer to FIG. 1 and FIG. 2 , an acoustic positioning monitoring method for an offshore floating platform provided in the first embodiment of the present application is applied to an acoustic positioning monitoring system for an offshore floating platform, and an acoustic positioning monitoring system for an offshore floating platform It includes: a platform 12, a seabed acoustic base station, an attitude measurement sensor 10, a plurality of sea surface height acoustic measurers 8 and a plurality of acoustic receivers 6; and the following steps are included:

S1, the navigation control platform based on the satellite positioning system sails to the preset work area;

S2, the control platform 12 puts the seabed acoustic base station on the seabed;

S3, controlling the attitude measurement sensor 10 to measure the platform to obtain measurement attitude data;

S4, obtaining the platform fitting plane according to the measured attitude data;

S5, based on the posture of the platform fitting plane in the platform coordinate system of the platform, obtain the absolute posture data of the platform;

Specifically, when the platform 12 is designed or constructed, the coordinate system of the platform 12 itself is determined accordingly, that is, the coordinates of the platform 12 itself relative to the earth; the measurement attitude data obtained by the attitude measurement sensor 8 is combined with the The coordinate system can obtain the fitting plane of the platform 12 and the posture of the fitting plane in the platform coordinate system; taking it as the absolute posture data of the platform 12, the self balance and the center of gravity of the platform 12 can be adjusted according to the absolute posture data. For example, during the operation, due to sea waves, sea wind and its own load, the self-balance and center of gravity of the platform 12 are constantly changing. It is possible to judge whether the absolute attitude data exceeds the preset threshold, and if so, adjust the self-balance of the platform; if not, After the preset time, it will return to determine whether the absolute attitude data exceeds the preset threshold, so as to ensure the safety of the platform and prevent overturning.

S6, control each sea surface height acoustic measuring device 8 to measure the sea surface, and obtain the height data from the sea surface measurement point respectively;

S7, obtain the sea surface fitting plane according to the height data;

S8, obtain sea surface state data based on the comparison between the sea surface fitting plane and the platform fitting plane;

Specifically, when the upper end surface of the platform 12 is flush with the sea level, the sea surface state data can be directly obtained from the height data obtained by measurement; The height data is corrected by the size settlement, and the sea surface state data is obtained by indirect calculation; through the sea surface state data, the flatness of the sea surface and the direction and fluctuation degree of the waves can be judged, and the motion compensation of the platform 12 in the sea waves can be pre-controlled.

S9, control multiple acoustic receivers 6 to receive the transmission signal of the seabed acoustic base station;

S10, calculate and obtain the coordinate data of the platform 12 according to each received transmission signal;

S11 , based on the coordinate data, the absolute attitude data and the sea surface state data, the positioning data of the monitoring platform is obtained.

Specifically, the above steps S1 to S11 can be controlled by the controller 9 of the platform itself, or can be controlled by an additional control system, such as a control system composed of control equipment placed on the platform or on land, without limitation.

The above is the first embodiment provided by the embodiments of the present application, and the following is the second embodiment provided by the present application. For details, please refer to FIG. 1 to FIG. 2 .

An acoustic positioning monitoring method for an offshore floating platform is applied to an acoustic positioning monitoring system for the offshore floating platform. The acoustic positioning monitoring system for the offshore floating platform comprises: a platform 12, a seabed acoustic base station, an attitude measurement sensor 10, a plurality of sea surfaces A height acoustic measuring device 8 and a plurality of acoustic receivers 6; and a positioning device 11 for satellite positioning is arranged inside the acoustic positioning monitoring system of the offshore floating platform; the seabed acoustic base station is arranged below the platform 12, including bottom-to-bottom The submerged platform base 1, the acoustic response fuse 2, the power supply device 3, the seabed acoustic transmitter 4 and the buoy 5 are connected in sequence; the submerged platform base can be an iron base, which will naturally corrode over time after being submerged in the seabed, or can be It is a natural material such as a stone base, and the material that is suitable for processing and does not pollute the environment can be selected according to the actual situation; the platform 12 is also equipped with a support frame 7 for installing the sea surface height acoustic measuring device 8 and the acoustic receiver 6 in one-to-one correspondence. The support frame 7 includes a horizontal support frame and a vertical support frame, which are used to control the horizontal and vertical directions of the support frame. The straight telescopic frame movably extends out of the platform 12; the sea surface height acoustic measuring device 8 is arranged on the upper end of the vertical telescopic frame; the controller is also electrically connected to the horizontal telescopic frame and the vertical telescopic frame respectively.

and includes the following steps:

S2, the control platform puts the seabed acoustic base station on the seabed;

S3, controlling the attitude measurement sensor 10 to measure the platform 12 to obtain measurement attitude data;

Specifically, the attitude measurement sensor 10 is disposed on the platform 1; the attitude measurement sensor includes motion sensing devices such as a three-axis gyroscope, a three-axis accelerometer, and an electronic compass, and performs motion attitude measurement through a quaternion-based sensor data algorithm.

S4, the control system obtains the platform fitting plane of the platform 1 based on the least squares method according to the measured attitude data;

Specifically, polynomial fitting or polyfit fitting in Matlab can also be used, and there is no specific limitation.

S5, based on the posture of the platform fitting plane in the platform coordinate system of platform 1, obtain the absolute posture data of platform 1, this step is the same as step S5 in the above-mentioned embodiment 1, and will not be repeated here;

S61, control the support frame 7, so that the sea surface height acoustic measuring device 8 horizontally extends out of the platform, and moves a preset distance vertically;

S62, control each sea surface height acoustic measuring device 8 to transmit and receive sound waves, and measure the travel time of the sound waves;

S63, and then calculate and obtain the height data of each sea surface height acoustic measuring device 8 from the sea surface measurement point according to the travel time of the sound wave.

Specifically, the first preset distance is preset before the measurement starts, and after the first measurement, the control system adjusts the first preset distance according to the obtained altitude data, and the sea surface height acoustic measuring instruments at different altitudes are adjusted. The results of 8 are integrated to obtain the desired height data more accurately.

S7, obtain the sea surface fitting plane based on the least squares method according to the height data;

S8, based on the comparison between the fitting plane and the platform fitting plane, obtain sea surface state data; this step is the same as step S8 in the above-mentioned first embodiment, and will not be repeated here;

S9, a plurality of acoustic receivers 6 receive the transmission signal of the seabed acoustic base station;

Specifically, there are three acoustic receivers 6, and the overall positioning data of the platform is measured according to the sound waves in multiple directions; the whole here refers to the plane fitted by the three acoustic receivers 6, in order to make the overall positioning of the platform The data is more accurate. In practical applications, the number of acoustic receivers 6 can be increased and their arrangement can be changed, but the consumption of computing resources will also increase accordingly. The preferred setting is three; the acoustic receivers 6 are arranged at the lower end of the vertical telescopic frame. It is distributed in an isosceles triangle around the platform, and can also be set up in another telescopic frame independent of the sea surface height acoustic measuring device 8, and then the acoustic receiver 6 or the sea surface height acoustic measuring device 8 can be individually controlled by the controller to reach the designated position. It can be set according to actual needs without limitation.

Specifically, the control system obtains the acoustic travel time according to the time when the seabed acoustic transmitter 4 transmits the acoustic wave and the time when the acoustic receiver 6 receives the acoustic wave, and calculates the coordinate data of the platform according to the multiple acoustic travel times at multiple locations; The receiver 6 receives a weak sound wave signal from the seabed acoustic transmitter 4, that is, when the platform 12 deviates far from the seabed acoustic base station due to factors such as sea wind and waves, the built-in power system can also drive the platform 12 to return to the sea. The bed acoustic base station corresponds to the working range.

S11, platform positioning data is obtained based on coordinate data, absolute attitude data and sea surface state data to achieve accurate real-time positioning.

S12, when the positioning monitoring is completed, control the acoustic response fuse 2 to blow, and the buoy 5 drives the seabed acoustic transmitter 4 and the power supply device 3 to float up and recover.

Specifically, based on the ultra-short baseline measurement principle, there are three seabed acoustic transmitters 4 included in the seabed acoustic base station, and they are distributed in an equilateral triangle or a right triangle; preferably, an equilateral triangle distribution is used, which can be more accurate and effective The positioning data of the platform is measured.

The above is an embodiment in which the seabed acoustic base station is a drop-in type, which belongs to the wireless type and is suitable for the deep sea area where the seawater depth exceeds 500 meters; in the shallow sea area where the water depth is less than 500 meters, the cable type can be used, please refer to Figure 3 : The seabed acoustic base station includes a submerged platform base 1, a power supply device 3 and a seabed acoustic transmitter 4; and the seabed acoustic transmitter 4 is connected to the platform 12 through a cable, and can be directly controlled by a winch and cable to release and recover, which is convenient Fast and reliable.

The present application combines the attitude measurement sensor 10, the sea surface height acoustic measurer 8, the seabed acoustic transmitter 4 and the acoustic receiver 6 to realize the measurement and calculation of the absolute attitude and relative attitude of the platform, and to monitor the motion characteristics of the operating object in real time, so as to realize The real-time changes in the pose and position of the floating platform relative to the sea surface are required for monitoring.

It should be noted that the above are only the preferred embodiments of the present application, and are not intended to limit the present invention. Although the present application has been described in detail with reference to examples, those skilled in the art can still understand the above-mentioned examples. The technical solutions recorded are modified, or some technical features thereof are equivalently replaced, but any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included in the protection scope of this application. Inside.

Claims

An acoustic positioning monitoring method for an offshore floating platform is characterized in that it is applied to an acoustic positioning monitoring system for an offshore floating platform, wherein the acoustic positioning monitoring system for the offshore floating platform comprises: a platform, a seabed acoustic base station, and an attitude measurement sensor , a plurality of sea level acoustic measurers, and a plurality of acoustic receivers; and comprising the steps of:

Navigation based on the satellite positioning system controls the platform to navigate to the preset work area;

The control platform drops the seabed acoustic base station into the seabed;

Control the attitude measurement sensor measurement platform to obtain measurement attitude data;

Obtaining the platform fitting plane according to the measured attitude data;

Obtain the absolute attitude data of the platform based on the posture of the platform fitting plane in the platform coordinate system of the platform;

Control each sea surface height acoustic measuring instrument to measure the sea surface, and obtain the height data from the sea surface measurement point respectively;

Obtain the sea surface fitting plane according to each of the height data;

obtaining sea surface state data based on the comparison between the sea surface fitting plane and the platform fitting plane;

controlling a plurality of acoustic receivers to receive the transmitted signal of the seabed acoustic base station;

According to the received transmission signal, the coordinate data of the platform is obtained through calculation;

Platform positioning data is obtained based on the coordinate data, the absolute attitude data, and the relationship between the sea surface state data and the platform positioning data.
The method for monitoring the acoustic positioning of an offshore floating platform according to claim 1, wherein the seabed acoustic base station comprises a submerged platform base and a seabed acoustic transmitter.
The method for monitoring the acoustic positioning of an offshore floating platform according to 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 connected and arranged in sequence from bottom to top;

Also includes the following steps:

When the positioning monitoring is completed, control the acoustic response fuse to blow to recover the seabed acoustic transmitter.
The method for monitoring the acoustic positioning of an offshore floating platform according to claim 2 or 3, wherein the sinking platform base is specifically an iron base.
The method for monitoring the acoustic positioning of an offshore floating platform according to claim 1, wherein the platform fitting plane and the sea surface fitting plane are both obtained based on least squares fitting.
The method for monitoring the acoustic positioning of an offshore floating platform according to claim 1, wherein the controlling each sea surface height acoustic measuring device to measure the sea surface, and obtaining the height data from the sea surface measurement point respectively, specifically includes;

Controlling each of the sea surface height acoustic measuring instruments to transmit and receive sound waves, and measure the travel time of the sound waves;

According to the travel time of the sound waves, the height data of each of the sea surface height acoustic measuring instruments from the sea surface measurement point are obtained by calculating respectively.
The method for monitoring the acoustic positioning of an offshore floating platform according to claim 5, wherein the platform is further provided with a support frame for installing the sea surface height acoustic measurer in a one-to-one correspondence;

The controlling of each of the sea surface height acoustic measuring instruments to transmit and receive sound waves further includes:

The support frame is controlled so that the sea level acoustic measurer extends horizontally out of the platform and moves vertically by a preset distance.
The method for monitoring the acoustic positioning of an offshore floating platform according to claim 7, wherein the acoustic receivers are also installed on the support frame in a one-to-one correspondence.
The method for monitoring acoustic positioning of an offshore floating platform according to claim 1, wherein the number of the acoustic receivers is three;

The three acoustic receivers are distributed in an isosceles triangle around the center of the platform.
The method for monitoring acoustic positioning of an offshore floating platform according to claim 2, wherein the number of the seabed acoustic transmitters is three;

The three seabed acoustic transmitters are distributed in an equilateral triangle or a right triangle around the center of the seabed acoustic base station.