Pose monitoring method suitable for floating support installation jacking plane and butt joint plane

Abstract

The invention discloses a pose monitoring method suitable for a floating support installation jacking plane and a butt joint plane. The pose monitoring method comprises the steps that eight laser distance measuring sensors are installed on a jacket pile leg, distance data are measured in the butt joint process, coordinates of discrete points at the bottom of an upper module are obtained according to the position relation, and a measurement plane equation is calculated; pressure sensors are installed in the four hydraulic cylinders, pressure values are measured, the jacking force of all positions is calculated, static analysis is conducted in ANSYS to obtain an upper module deformation model, and jacking plane deviation and butt joint plane deviation are calculated through secondary development; and a jacking plane equation and a butt joint plane equation are obtained in combination with the deviation value and the measurement plane equation. The butt joint precision of the upper modules in the floating support installation process can be improved, the anti-interference performance of a monitoring system is enhanced, and the safety of the butt joint process is guaranteed.

Description

technical field [0001] The invention relates to a method for monitoring the position and posture of a plane, in particular to a method for monitoring the position and posture of a jacking plane and a docking plane installed with a float. Background technique [0002] During the docking process of the floatover installation module, the upper module slowly descends to the supporting legs of the jacket under the joint action of the hydraulic system, the water level ballast system and the tide. Affected by factors such as wind, waves, currents, and tides, the upper module needs to be kept stable through the motion compensation system. The most important part of the motion compensation system is the monitoring of the real-time pose of the upper module. The traditional position and attitude monitoring method is to use lidar to monitor the upper module. This method has large hysteresis, low monitoring accuracy, limited monitoring range, high equipment cost, and poor environmental a...

AI Technical Summary

Problems solved by technology

[0004] The advantages of the present invention: the laser ranging sensor is used as the main monitoring instrument to improve monitoring accuracy and environmental anti-interference; get rid of the traditional idea of ​​only monitoring the bottom surface of the upper module, monitor the docking plane and the jacking plane, and enhance the performance of the monitoring system Practicality; the comprehensive consideration of the deformation of the upper module during the floating installation process makes the monitoring effect more reliable; the calculation method is simple, the data processing is simple, and the timeliness of the monitoring system is guaranteed to the greatest extent; it can effectively solve the docking accuracy of the floating installation module docking process It is a method with simple operation, safety and reliability, high monitoring accuracy, strong anti-interference and strong real-time

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