Large-sized underwater hoisting structure position posture real-time measuring device

Abstract

The invention discloses a large-sized underwater hoisting structure position posture real-time measuring device, which belongs to the field of underwater engineering. To be specific, the device adopts a short-base-line acoustic location principle, the time delay of a signal transmitted from three to four acoustic beacons which are fixed on stationary points of the underground hoisting structure to four receiving points of a location matrix is measured so as to calculate the distance from the underground acoustic beacons to the receiving points, the location of the underground beacon can be realized through a circular intersection method, the position and posture of the underground structure relative to the location matrix can be measured through the positions of three to four beacons, then the location matrix is measured through real time kinematic (RTK), so that the position and posture of the underwater structure under a ground coordinate system can be obtained, and the underwater construction can be effectively instructed. Due to adopting the device, different defects by the traditional underwater measuring method adopting a measuring tower way can be effectively solved, the construction time can be effectively shortened while the engineering quality is improved, and the construction range is enlarged.

Description

technical field [0001] The present invention relates to the field of underwater engineering, more precisely, it relates to a real-time measuring device for the position and attitude of a large-scale underwater hoisting structure, which is suitable for precise positioning of underwater hoisting objects, measurement control of auxiliary submarine pipelines, fault detection and positioning, Precise measurement control of underwater engineering and field stakeout of engineering structures, real-time calibration of various auxiliary lines of underwater detection equipment, underwater measurement control of coastal engineering (ports, tidal power stations, etc.) construction, etc. Background technique [0002] In the process of underwater construction, underwater installation operations of large structures are often encountered, such as underwater immersed tube construction, underwater installation of large structures, etc. In order to ensure the quality of the project, these const...

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Problems solved by technology

[0004] (1) The installation and disassembly process of the measurement tower is complicated, and divers are required to carry out underwater operations during the disassembly process, which increases the risk of construction safety

[0005] (2) Due to the height limitation of the measuring tower, the water depth of the construction water area cannot be too deep, and large-depth construction cannot be realized

[0006] (3) Due to the influence of the measuring tower, the impact of the water collection flow of the object during the entire sinking process increases, making the lifting more difficult

[0007] (4) It is difficult to automatically record the measurement data in real time during the measurement process, the measurement frequency is low, and the accuracy is not high

[0010] Compared with the three positioning technologies, the main advantage of the long baseline positioning system is that it can obtain very high relative positioning accuracy for a large area of ​​the test area. However, the long baseline positioning system itself also has the deployment of sea surface or submarine acoustic arrays. And recovery takes a lot of time; the number of acoustic arrays is huge and the cost is very expensive; the system is too complicated and the operation is extremely cumbersome, etc. A series of shortcomings

The disadvantage of the ultra-short baseline is that after the system is installed, strict calibration of the system is required, which is difficult to achieve in practice; when measuring the absolute accuracy of the target, the accuracy of the peripheral equipment (attitude sensor and depth sensor) At the same time, the ultra-short baseline positioning system is also the one with the worst positioning accuracy among the three types of systems

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