Multi-sensor vertical position measuring method for floating support installation

Abstract

The invention relates to the technical field of floating support position measurement, and discloses a floating support installation-oriented multi-sensor vertical position measurement method, which comprises the following steps of 1, acquiring measurement data of a floating support barge, measurement data of a jacket and sensing data of a sea surface environment through a GPS (Global Positioning System) and a sensing device, and classifying to form a data set; 2, the ship buoyancy center and the jacket buoyancy center and the relative distance between the ship buoyancy center and the jacket buoyancy center are analyzed at the same time point, and the comprehensive analysis and measurement accuracy is high; 3, the change trend of the ship buoyancy center and the jacket buoyancy center is analyzed, and the fluctuation ratio is generated; 4, analyzing the influence degree of various factors on floating support installation, and generating a stability coefficient; and 5, judging whether a collision risk exists between the floating barge and the jacket or not and whether environmental factors seriously influence the accuracy of floating mounting or not, and outputting corresponding suggested measures, so that the mounting is dynamically adjusted to be more stable.

Description

Technical Field

[0001] The present invention relates to the technical field of floatation position measurement, in particular to a multi-sensor vertical position measurement method for floatation installation. Background Art

[0002] Float-over installation is a highly efficient method widely used in the installation of large offshore structures, primarily for installing topside modules on offshore platforms. Compared to traditional hoisting methods, float-over installation offers advantages such as increased safety, lower costs, and higher efficiency, making it particularly suitable for installation in deepwater areas and on very large platforms. Float-over installation involves towing prefabricated topside modules from shore to a designated seabed using a floating barge. By precisely controlling the buoyancy and displacement of the barge, the modules are precisely docked with a pre-installed jacket or support structure on the seabed. The installation process includes barge loading, transport positioning, installation docking, and fixed commissioning. First, the topside modules are constructed and tested on land before being loaded onto the floating barge. During loading, the module's weight distribution and center of gravity are calculated to ensure barge stability. The modules are then transported to the designated offshore installation location using a floating barge. Dynamic positioning systems and tugboat assistance ensure safe and precise navigation. At the installation site, the barge uses ballast water to reduce its draft, allowing the modules to gradually contact and precisely seat on the jacket. During the process, sea conditions, wind speed and hull movement need to be monitored in real time. After the modules are docked, they are fixed with high-strength bolts or welding, and functional debugging is carried out to ensure the normal operation of the platform.

[0003] At present, the traditional floating installation vertical position measurement method has difficulty in capturing the vertical displacement in complex three-dimensional space. In a complex marine environment, factors such as waves, wind, and ocean currents will have a significant interference with the stability and reliability of the measurement results, making it impossible to achieve real-time feedback and dynamic monitoring, thereby delaying the timing of adjustment operations. Summary of the Invention

[0004] (1) Technical problems solved

[0005] In response to the shortcomings of the existing technology, the present invention provides a multi-sensor vertical position measurement method for floating installation, which has the advantages of high comprehensive analysis and measurement accuracy, more stable dynamic adjustment installation, etc. It solves the problem that traditional floating installation vertical position measurement methods are difficult to capture vertical displacement in complex three-dimensional space and cannot monitor influencing factors in real time.

[0006] (2) Technical solution

[0007] To achieve the above object, the present invention provides the following technical solution: a multi-sensor vertical position measurement method for floatation installation, comprising the following steps:

[0008] Step 1: Using the GPS positioning system and sensor devices, obtain the floating barge measurement data, jacket measurement data, and sea surface environment sensor data, and classify them into a ship dataset, a tip dataset, and an environmental dataset.

[0009] Step 2: Based on the ship dataset and the tip dataset, analyze the relative distance XDJ between the ship's buoyancy center CB and the jacket's buoyancy center JB, as well as the relative distance XDJ between the ship's buoyancy center CB and the jacket's buoyancy center JB at the same time point;

[0010] Step 3: Set a fixed-length monitoring period Q, analyze the changing trends of the ship's buoyancy center CB and the jacket's buoyancy center JB, and generate the corresponding fluctuation rate Bdl;

[0011] Step 4: Analyze the impact of various environmental factors on floatover installation based on the environmental data set and generate the corresponding stability coefficient Wxs;

[0012] Step 5: Set a fixed range of safety thresholds AQY, fluctuation thresholds BDY, and stability thresholds WDY. Combined with the relative distance XDJ, fluctuation rate Bdl, and stability factor Wxs, determine whether there is a collision risk between the floatover barge and the jacket, and whether environmental factors seriously affect the accuracy of the floatover installation. Output corresponding recommended measures.

[0013] Preferably, in step 1, the expression of the ship data set is {C1 d 、C2 d 、C3 d ,..., Cn d}, C1 d To Cn d are the measurement data of the floating barge from the first time point to the nth time point, respectively. The measurement data include the Cartesian coordinates of the center of gravity of the ship, the altitude of the center of gravity of the ship, the ship's heel angle, the ship's longitudinal heel angle, the vertical distance from the center of gravity of the ship to the center of buoyancy of the ship, the ship's lateral tilting moment, the ship's longitudinal tilting moment, and the ship's weight load. d represents the specific time when the measurement data of the floating barge are obtained.

[0014] Preferably, in step 1, the expression of the tip dataset is {J1 m 、J2 m 、J3 m 、...、Jn m}, J1 m To Jn mare the measurement data of the jacket from the first time point to the nth time point, including the Cartesian coordinates of the jacket center of gravity, the altitude of the jacket center of gravity, the jacket lateral heel angle, the jacket longitudinal heel angle, the vertical distance from the jacket center of gravity to the buoyancy center of the tip, the jacket lateral tilting moment, the jacket longitudinal tilting moment and the jacket weight load. m represents the specific time when the jacket measurement data is obtained.

[0015] Preferably, in step 1, the expression of the environmental data set is {CW s , CL s LS s LG s FL s , FS s}, CW s Represents tide level, CL s Indicates the direction of the current, LS s Indicates the current speed, LG s Indicates wave height, FL s Indicates wind force level, FS s represents the wind speed, and s represents the specific time for obtaining the sea surface environment sensing data.

[0016] Preferably, in step 2, the calculation process of the ship's buoyancy center CB is as follows:

[0017] Extract the measurement data of the i-th time point in the ship data set, and mark the Cartesian coordinates of the ship's center of gravity at the i-th time point as (x i ,y i ,z i ), x i Indicates the coordinate component after converting the GPS coordinate longitude of the ship's center of gravity into spherical coordinates, y i Indicates the coordinate component after converting the GPS coordinate latitude of the ship's center of gravity into spherical coordinates, z i The height of the ship's center of gravity is represented by φ, and the ship's heel angle at the i-th time point is marked as φ i , mark the ship's trim angle at the i-th time point as ω i , mark the vertical distance from the center of gravity of the ship to the center of buoyancy of the ship at the i-th time point as h i , the ship's transverse tilting moment at the i-th time point is marked as Hφ i , the longitudinal tilting moment of the ship at the i-th time point is marked as Zω i , mark the ship weight load at time point i as CW i ;

[0018] At the preset time point i, the ship's buoyancy center CB i The Cartesian coordinates of i ,Y i,Z i ),

[0019]

[0020] In the formula, Indicates the ship's heel angle Restore the lateral movement distance of the ship's center of gravity and obtain the coordinate component X of the ship's buoyancy center CB on the Cartesian coordinate axis x i ,y i +tan(ω i )×h i Indicates that the ship's longitudinal inclination angle ω i , restore the longitudinal movement distance of the ship's center of gravity, and obtain the coordinate component Y of the ship's buoyancy center CB on the Cartesian coordinate axis y i , According to the moment balance principle, the coordinate component Z of the ship's buoyancy center CB on the Cartesian coordinate axis z is obtained i .

[0021] Preferably, in step 2, the calculation process of the jacket buoyancy center JB is as follows:

[0022] Extract the measurement data of the i-th time point in the tip data set, and mark the Cartesian coordinate of the center of gravity of the jacket at the i-th time point as (a i ,b i ,c i ), a i b represents the coordinate component after converting the GPS coordinate longitude of the jacket center of gravity into spherical coordinates, i It represents the coordinate component after the GPS coordinate latitude of the jacket center of gravity is converted into spherical coordinates, c i The height of the jacket's center of gravity is represented by θ, and the jacket's heel angle at the i-th time point is marked as θ i , the jacket pitch angle at the i-th time point is marked as The vertical distance from the jacket center of gravity to the jacket buoyancy center at the i-th time point is marked as u i , the jacket lateral tilt moment at the i-th time point is marked as Hθ i , the longitudinal tilt moment of the jacket at the i-th time point is marked as The jacket weight load at time point i is marked as JW i ;

[0023] At the preset time point i, the jacket buoyancy center JB i The Cartesian coordinates of i ,B i ,C i ),

[0024]

[0025] In the formula, a i +tan(θ i )×u i Indicates the jacket heel angle θ i , restore the lateral movement distance of the jacket center of gravity and obtain the coordinate component A of the jacket buoyancy center JB on the Cartesian coordinate axis x i , b i + Indicates the jacket's longitudinal inclination angle Restore the longitudinal movement distance of the jacket center of gravity and obtain the coordinate component B of the jacket buoyancy center JB on the Cartesian coordinate axis y i , According to the moment balance principle, the coordinate component C of the jacket buoyancy center JB on the Cartesian coordinate axis z is obtained. i .

[0026] Preferably, in step 2, the relative distance XDJ is calculated as follows:

[0027]

[0028] In the formula, according to the Euclidean distance formula, the ship's buoyancy center CB at the i-th time point is obtained i With the jacket buoyancy center JB i The straight-line distance between them is the relative distance.

[0029] Preferably, in step 3, the calculation process of the volatility Bdl is as follows:

[0030] The Cartesian coordinates of the ship's buoyancy center CB within the monitoring period Q are counted, and the coordinate components Z are marked as {z1, z2, z3, ..., zq} in chronological order from early to late, where z1 to zq are the coordinate components Z of the ship's buoyancy center CB from the first time point to the qth time point, respectively;

[0031] Count the Cartesian coordinates of the jacket buoyancy center JB within the monitoring period Q, and mark the coordinate components C as {c1, c2, c3, ..., cq} in chronological order from early to late, where c1 to cq are the coordinate components C of the jacket buoyancy center JB from the first time point to the qth time point, respectively;

[0032]

[0033] In the formula, It represents the average value of the coordinate component Z of the ship's buoyancy center CB during the monitoring period Q. represents the average value of the coordinate component C of the jacket buoyancy center JB during the monitoring period Q, ze represents the coordinate component Z of the ship buoyancy center CB at the e-th time point, It represents the fluctuation rate of the coordinate component Z of the ship's buoyancy center CB according to the variance formula, cf represents the coordinate component C of the jacket buoyancy center JB at the fth time point, It represents the fluctuation rate of the coordinate component C of the jacket buoyancy center JB obtained according to the variance formula.

[0034] Preferably, in step 4, the calculation process of the stability coefficient Wxs is as follows:

[0035] Extract the sensor data of the sea surface environment at the i-th time point in the environmental data set;

[0036] If at the i-th time point, the tidal current direction CL is consistent with the float-over installation direction, the tidal current direction is conducive to the float-over installation.

[0037] WxS i =γ1CW+γ2LS+γ3LG+γ4FL+γ5CW

[0038] In the formula, γ1 represents the evaluation weight of the tidal direction CL at the i-th time point, γ2 represents the evaluation weight of the tidal velocity LS at the i-th time point, γ3 represents the evaluation weight of the wave height LG at the i-th time point, γ4 represents the evaluation weight of the wind force level FL at the i-th time point, and γ5 represents the evaluation weight of the wind speed FS at the i-th time point. γ1+γ2+γ3+γ4+γ5=1, γ1CW+γ2LS+γ3LG+γ4FL+γ5CW represents the stability coefficient Wxs at the i-th time point obtained according to the weights of γ1, γ2, γ3, γ4 and γ5. i ;

[0039] If at time point i, the tidal current direction CL s The direction is inconsistent with the floating installation direction, and the tidal current direction is not conducive to floating installation.

[0040] WxS i =μ1CW+μ2LS+μ3LG+μ4FL+μ5CW

[0041] In the formula, μ1 represents the evaluation weight of the tidal current direction CL at the i-th time point, μ2 represents the evaluation weight of the tidal current speed LS at the i-th time point, μ3 represents the evaluation weight of the wave height LG at the i-th time point, μ4 represents the evaluation weight of the wind force level FL at the i-th time point, and μ5 represents the evaluation weight of the wind speed FS at the i-th time point. μ1+μ2+μ3+μ4+μ5=1, μ1CW+μ2LS+μ3LG+μ4FL+μ5CW represents the stability coefficient Wxs at the i-th time point obtained according to the weights of μ1, μ2, μ3, μ4 and μ5. i .

[0042] Preferably, in step five, when the relative distance XDJ is lower than the safety threshold AQY, it indicates that at the current time point, there is a collision risk between the floating barge and the jacket, and it is recommended to move the position of the floating barge; when any value of the fluctuation rate Bdl exceeds the fluctuation threshold BDY or the stability coefficient Wxs exceeds the stability threshold WDY, it indicates that at the current time point, environmental factors seriously affect the accuracy of the floatation installation, and it is recommended to delay the floatation installation work.

[0043] Compared with the prior art, the present invention provides a multi-sensor vertical position measurement method for float-over installation, which has the following beneficial effects:

[0044] 1. The present invention uses a GPS positioning system and sensor devices to obtain measurement data from the floating barge, measurement data from the jacket, and sensor data from the sea surface environment, and classifies them into a ship dataset, a tip dataset, and an environmental dataset. Based on the ship dataset and the tip dataset, the present invention analyzes the relative distance XDJ between the ship's buoyancy center CB and the jacket's buoyancy center JB, as well as the relative distance XDJ between the ship's buoyancy center CB and the jacket's buoyancy center JB, at the same time point. This allows for real-time assessment of the safety between the ship and the jacket, reducing collision risks and achieving comprehensive analysis with high measurement accuracy.

[0045] 2. The present invention sets a fixed-time monitoring period Q to analyze the changing trends of the ship's buoyancy center CB and the jacket's buoyancy center JB, and generates a corresponding fluctuation rate Bdl. The changing trends of the ship's and jacket's buoyancy centers are analyzed in real time. Based on the environmental data set, the influence of various environmental factors on the floatover installation is analyzed, and a corresponding stability coefficient Wxs is generated to ensure that the floatover installation operation is not disturbed by adverse weather or sea conditions, quantify the impact of the environment on the installation accuracy, and avoid installation errors caused by environmental changes. A fixed range of safety threshold AQY, fluctuation threshold BDY, and stability threshold WDY are set to judge the stability between the floatover barge and the jacket. Whether there is a collision risk and whether environmental factors seriously affect the accuracy of floatover installation. When the relative distance XDJ is lower than the safety threshold AQY, it indicates that there is a collision risk between the floatover barge and the jacket at the current time point, and it is recommended to move the position of the floatover barge. When any value of the fluctuation rate Bdl exceeds the fluctuation threshold BDY or the stability coefficient Wxs exceeds the stability threshold WDY, it indicates that at the current time point, environmental factors seriously affect the accuracy of floatover installation. It is recommended to delay the floatover installation work. This provides an early warning of possible collision risks during the floatover installation process, avoids loss of accuracy due to environmental factors, and dynamically adjusts the installation for more stable installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a step diagram of the method of the present invention. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0048] Because traditional float-mounted vertical position measurement methods have difficulty capturing vertical displacement in complex three-dimensional spaces, and in complex marine environments, factors such as waves, wind, and currents can significantly interfere with the stability and reliability of measurement results, making it impossible to achieve real-time feedback and dynamic monitoring, which can delay adjustment operations. Therefore, a multi-sensor vertical position measurement method for float-mounted installations is provided. Figure 1 A multi-sensor vertical position measurement method for float-mounted installations comprises the following steps:

[0049] Step 1: Using the GPS positioning system and sensor devices, obtain the floating barge measurement data, jacket measurement data, and sea surface environment sensor data, and classify them into a ship dataset, a tip dataset, and an environmental dataset.

[0050] The expression of the ship data set is {C1 d 、C2 d 、C3 d ,..., Cn d}, C1 d To Cn d The measurement data of the floating barge from the first time point to the nth time point respectively include the Cartesian coordinates of the ship's center of gravity, the altitude of the ship's center of gravity, the ship's heel angle, the ship's longitudinal heel angle, the vertical distance from the ship's center of gravity to the ship's center of buoyancy, the ship's transverse tilting moment, the ship's longitudinal tilting moment, and the ship's weight load. d represents the specific time when the floating barge measurement data is obtained. Comprehensive monitoring of the floating barge's key data helps provide a more comprehensive basis for decision-making.

[0051] The expression of the tip data set is {J1 m 、J2 m 、J3 m 、...、Jn m}, J1 m To Jn m The measurement data of the jacket from the first time point to the nth time point respectively include the Cartesian coordinates of the jacket center of gravity, the altitude of the jacket center of gravity, the jacket heel angle, the jacket pitch angle, the vertical distance from the jacket center of gravity to the buoyancy center of the jacket tip, the jacket lateral tilting moment, the jacket longitudinal tilting moment, and the jacket weight load. m represents the specific time when the jacket measurement data was obtained. This comprehensive monitoring of the jacket's key data facilitates the subsequent accurate measurement of the LMU tip position.

[0052] The expression of the environment dataset is {CW s , CL s LS s LG s FL s , FS s}, CW s Represents tide level, CL s Indicates the direction of the current, LS s Indicates the current speed, LG s Indicates wave height, FL s Indicates wind force level, FS s represents the wind speed, and s represents the specific time for acquiring sea surface environment sensor data. Tide level changes affect the height adjustment of the floatation equipment and the selection of the installation window. Higher waves may cause the relative motion between the floatation vessel and the installation target to intensify, increasing the risk of collision. High wind speeds increase the lateral movement and drift risk of the jacket, affecting the docking accuracy between the floatation vessel and the installation target. Comprehensive monitoring of various factors in the sea surface environment ensures the stability of subsequent floatation installations.

[0053] Step 2: Based on the ship dataset and the tip dataset, analyze the relative distance XDJ between the ship's buoyancy center CB and the jacket's buoyancy center JB, as well as the relative distance XDJ between the ship's buoyancy center CB and the jacket's buoyancy center JB at the same time point;

[0054] The calculation process of the ship's center of buoyancy CB is as follows:

[0055] Extract the measurement data of the i-th time point in the ship data set, and mark the Cartesian coordinates of the ship's center of gravity at the i-th time point as (x i ,y i ,z i ), x i Indicates the coordinate component after converting the GPS coordinate longitude of the ship's center of gravity into spherical coordinates, y i Indicates the coordinate component after converting the GPS coordinate latitude of the ship's center of gravity into spherical coordinates, z i The altitude of the center of gravity of the ship is represented by The ship's trim angle at the i-th time point is marked as ω i , mark the vertical distance from the center of gravity of the ship to the center of buoyancy of the ship at the i-th time point as h i , the ship's transverse tilting moment at the i-th time point is marked as The longitudinal tilting moment of the ship at the i-th time point is marked as Zω i , mark the ship weight load at time point i as CW i ;

[0056] At the preset time point i, the ship's buoyancy center CB i The Cartesian coordinates of i ,Y i ,Z i ),

[0057]

[0058] In the formula, Indicates the ship's heel angle Restore the lateral movement distance of the ship's center of gravity and obtain the coordinate component X of the ship's buoyancy center CB on the Cartesian coordinate axis x i ,y i +tan(ω i )×h i Indicates that the ship's longitudinal inclination angle ω i , restore the longitudinal movement distance of the ship's center of gravity, and obtain the coordinate component Y of the ship's buoyancy center CB on the Cartesian coordinate axis y i , According to the moment balance principle, the coordinate component Z of the ship's buoyancy center CB on the Cartesian coordinate axis z is obtained i;

[0059] The calculation process of the jacket buoyancy center JB is as follows:

[0060] Extract the measurement data of the i-th time point in the tip data set, and mark the Cartesian coordinate of the center of gravity of the jacket at the i-th time point as (a i ,b i ,c i ), a i b represents the coordinate component after converting the GPS coordinate longitude of the jacket center of gravity into spherical coordinates, i It represents the coordinate component after the GPS coordinate latitude of the jacket center of gravity is converted into spherical coordinates, c i The height of the jacket's center of gravity is represented by θ, and the jacket's heel angle at the i-th time point is marked as θ i , the jacket pitch angle at the i-th time point is marked as The vertical distance from the jacket center of gravity to the jacket buoyancy center at the i-th time point is marked as u i , the jacket lateral tilt moment at the i-th time point is marked as Hθ i , the longitudinal tilt moment of the jacket at the i-th time point is marked as The jacket weight load at time point i is marked as JW i ;

[0061] At the preset time point i, the jacket buoyancy center JB i The Cartesian coordinates of i ,B i ,C i ),

[0062]

[0063] In the formula, a i +tan(θ i )×u i Indicates the jacket heel angle θ i , restore the lateral movement distance of the jacket center of gravity and obtain the coordinate component A of the jacket buoyancy center JB on the Cartesian coordinate axis x i , b i + Indicates the jacket's longitudinal inclination angle Restore the longitudinal movement distance of the jacket center of gravity and obtain the coordinate component B of the jacket buoyancy center JB on the Cartesian coordinate axis y i , According to the moment balance principle, the coordinate component C of the jacket buoyancy center JB on the Cartesian coordinate axis z is obtained. i ;

[0064] The relative distance XDJ calculation formula is as follows:

[0065]

[0066] In the formula, according to the Euclidean distance formula, the ship's buoyancy center CB at the i-th time point is obtained i With the jacket buoyancy center JB i The straight-line distance between them is the relative distance, which can be used to evaluate the safety between the ship and the jacket in real time, reduce the risk of collision, and provide comprehensive analysis and high measurement accuracy.

[0067] Step 3: Set a fixed monitoring period Q, analyze the changing trends of the ship's buoyancy center CB and the jacket's buoyancy center JB, and generate the corresponding fluctuation rate Bdl. The calculation process is as follows:

[0068] The Cartesian coordinates of the ship's buoyancy center CB within the monitoring period Q are counted, and the coordinate components Z are marked as {z1, z2, z3, ..., zq} in chronological order from early to late, where z1 to zq are the coordinate components Z of the ship's buoyancy center CB from the first time point to the qth time point, respectively;

[0069] Count the Cartesian coordinates of the jacket buoyancy center JB within the monitoring period Q, and mark the coordinate components C as {c1, c2, c3, ..., cq} in chronological order from early to late, where c1 to cq are the coordinate components C of the jacket buoyancy center JB from the first time point to the qth time point, respectively;

[0070]

[0071] In the formula, It represents the average value of the coordinate component Z of the ship's buoyancy center CB during the monitoring period Q. represents the average value of the coordinate component C of the jacket buoyancy center JB during the monitoring period Q, ze represents the coordinate component Z of the ship buoyancy center CB at the e-th time point, It represents the fluctuation rate of the coordinate component Z of the ship's buoyancy center CB according to the variance formula, cf represents the coordinate component C of the jacket buoyancy center JB at the fth time point, According to the variance formula, the fluctuation rate of the JB coordinate component C of the jacket buoyancy center is obtained, and the changing trend of the ship and jacket buoyancy center is analyzed in real time, which is conducive to the subsequent rapid judgment of the floatover installation conditions;

[0072] Step 4: Based on the environmental data set, analyze the impact of various environmental factors on the floatover installation and generate the corresponding stability coefficient Wxs. The calculation process is as follows:

[0073] Extract the sensor data of the sea surface environment at the i-th time point in the environmental data set;

[0074] If at the i-th time point, the tidal current direction CL is consistent with the float-over installation direction, the tidal current direction is conducive to the float-over installation.

[0075] WxS i =γ1CW+γ2LS+γ3LG+γ4FL+γ5CW

[0076] In the formula, γ1 represents the evaluation weight of the tidal direction CL at the i-th time point, γ2 represents the evaluation weight of the tidal velocity LS at the i-th time point, γ3 represents the evaluation weight of the wave height LG at the i-th time point, γ4 represents the evaluation weight of the wind force level FL at the i-th time point, and γ5 represents the evaluation weight of the wind speed FS at the i-th time point. γ1+γ2+γ3+γ4+γ5=1, γ1CW+γ2LS+γ3LG+γ4FL+γ5CW represents the stability coefficient Wxs at the i-th time point obtained according to the weights of γ1, γ2, γ3, γ4 and γ5. i ;

[0077] If at time point i, the tidal current direction CL s The direction is inconsistent with the floating installation direction, and the tidal current direction is not conducive to floating installation.

[0078] WxS i =μ1CW+μ2LS+μ3LG+μ4FL+μ5CW

[0079] In the formula, μ1 represents the evaluation weight of the tidal current direction CL at the i-th time point, μ2 represents the evaluation weight of the tidal current speed LS at the i-th time point, μ3 represents the evaluation weight of the wave height LG at the i-th time point, μ4 represents the evaluation weight of the wind force level FL at the i-th time point, and μ5 represents the evaluation weight of the wind speed FS at the i-th time point. μ1+μ2+μ3+μ4+μ5=1, μ1CW+μ2LS+μ3LG+μ4FL+μ5CW represents the stability coefficient Wxs at the i-th time point obtained according to the weights of μ1, μ2, μ3, μ4 and μ5. i Through real-time monitoring of environmental data, we ensure that floatover installation operations are not affected by adverse weather or sea conditions. We quantify the impact of the environment on installation accuracy, avoid installation errors caused by environmental changes, and help determine whether installation strategies need to be adjusted.

[0080] Step 5: Set a fixed range of safety thresholds AQY, fluctuation thresholds BDY, and stability thresholds WDY. Combined with the relative distance XDJ, fluctuation rate Bdl, and stability factor Wxs, determine whether there is a collision risk between the float barge and the jacket, and whether environmental factors are seriously affecting the accuracy of the float installation. When the relative distance XDJ is lower than the safety threshold AQY, there is a collision risk between the float barge and the jacket at the current time, and it is recommended to relocate the float barge. When any value in the fluctuation rate Bdl exceeds the fluctuation threshold BDY or the stability factor Wxs exceeds the stability threshold WDY, it indicates that environmental factors are seriously affecting the accuracy of the float installation at the current time, and it is recommended to delay the float installation work. This provides an early warning of potential collision risks during the float installation process, avoids loss of accuracy due to environmental factors, and makes dynamic adjustments to ensure more stable installation.

[0081] Example 1: In this experiment, a floating tender was selected as the experimental object. After testing, the Cartesian coordinates of the center of gravity of the ship were (100, 50, 5), the ship's heel angle was 5°, the ship's pitch angle was 3°, the vertical distance from the center of gravity of the ship to the center of buoyancy of the ship was 10m, the ship's transverse tilting moment was 200kN·m, the ship's longitudinal tilting moment was 150kN·m, and the ship's weight load was 5000t. The calculation formula for the center of buoyancy CB of the floating tender is as follows:

[0082]

[0083] In the formula, 100.875 represents the ship's heel angle. Restore the lateral movement distance of the ship's center of gravity and obtain the coordinate component X of the ship's buoyancy center CB on the Cartesian coordinate axis x i , 100.875 means that according to the ship's longitudinal inclination angle ω i , restore the longitudinal movement distance of the ship's center of gravity, and obtain the coordinate component Y of the ship's buoyancy center CB on the Cartesian coordinate axis y i , 5.07 indicates that according to the moment balance principle, the coordinate component Z of the ship's buoyancy center CB on the Cartesian coordinate axis z is obtained i The Cartesian coordinates of the ship buoyancy center CB of the floating tender are (100.875, 50.524, 5.07).

[0084] Example 2: In this experiment, the buoyancy center of the jacket with Cartesian coordinates of (15, 25, 35) was selected as the experimental object. After testing, the Cartesian coordinates of the buoyancy center of the ship were (10, 20, 30). The relative distance XDJ between the buoyancy center of the ship and the buoyancy center of the jacket was calculated as follows:

[0085]

[0086] In the formula, according to the Euclidean distance formula, the relative distance between the buoyancy center of the ship and the buoyancy center of the jacket is 8.66m.

[0087] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A multi-sensor vertical position measurement method for float-over installation, characterized by: The following steps are involved: Step 1: Using the GPS positioning system and sensor devices, obtain the floating barge measurement data, jacket measurement data, and sea surface environment sensor data, and classify them into a ship dataset, a tip dataset, and an environmental dataset. Step 2: Based on the ship dataset and the tip dataset, analyze the relative distance XDJ between the ship's buoyancy center CB and the jacket's buoyancy center JB, as well as the relative distance XDJ between the ship's buoyancy center CB and the jacket's buoyancy center JB at the same time point; Step 3: Set a fixed-length monitoring period Q, analyze the changing trends of the ship's buoyancy center CB and the jacket's buoyancy center JB, and generate the corresponding fluctuation rate Bdl; Step 4: Analyze the impact of various environmental factors on floatover installation based on the environmental data set and generate the corresponding stability coefficient Wxs; Step 5: Set a fixed range of safety thresholds AQY, fluctuation thresholds BDY, and stability thresholds WDY. Combined with the relative distance XDJ, fluctuation rate Bdl, and stability factor Wxs, determine whether there is a collision risk between the floatover barge and the jacket, and whether environmental factors seriously affect the accuracy of the floatover installation. Output corresponding recommended measures.

2. The multi-sensor vertical position measurement method for floatation installation according to claim 1, characterized in that: In step 1, the expression of the ship data set is {C1 d 、C2 d 、C3 d ,..., Cn d }, C1 d To Cn d are the measurement data of the floating barge from the first time point to the nth time point, respectively. The measurement data include the Cartesian coordinates of the center of gravity of the ship, the altitude of the center of gravity of the ship, the ship's heel angle, the ship's longitudinal heel angle, the vertical distance from the center of gravity of the ship to the center of buoyancy of the ship, the ship's lateral tilting moment, the ship's longitudinal tilting moment, and the ship's weight load. d represents the specific time when the measurement data of the floating barge are obtained.

3. The multi-sensor vertical position measurement method for floatation installation according to claim 2, characterized in that: In the step 1, the expression of the tip dataset is {J1 m 、J2 m 、J3 m 、...、Jn m }, J1 m To Jn m are the measurement data of the jacket from the first time point to the nth time point, including the Cartesian coordinates of the jacket center of gravity, the altitude of the jacket center of gravity, the jacket lateral heel angle, the jacket longitudinal heel angle, the vertical distance from the jacket center of gravity to the buoyancy center of the tip, the jacket lateral tilting moment, the jacket longitudinal tilting moment and the jacket weight load. m represents the specific time when the jacket measurement data is obtained.

4. The multi-sensor vertical position measurement method for float-over installation according to claim 3, characterized in that: In step 1, the expression of the environment data set is {CW s , CL s LS s LG s FL s , FS s }, CW s Represents tide level, CL s Indicates the direction of the current, LS s Indicates the current speed, LG s Indicates wave height, FL s Indicates wind force level, FS s represents the wind speed, and s represents the specific time for obtaining the sea surface environment sensing data.

5. The multi-sensor vertical position measurement method for float-over installation according to claim 4, characterized in that: In step 2, the calculation process of the ship's buoyancy center CB is as follows: Extract the measurement data of the i-th time point in the ship data set, and mark the Cartesian coordinates of the ship's center of gravity at the i-th time point as (x i ,y i ,z i ), x i Indicates the coordinate component after converting the GPS coordinate longitude of the ship's center of gravity into spherical coordinates, y i Indicates the coordinate component after converting the GPS coordinate latitude of the ship's center of gravity into spherical coordinates, z i The altitude of the center of gravity of the ship is represented by The ship's trim angle at the i-th time point is marked as ω i , mark the vertical distance from the center of gravity of the ship to the center of buoyancy of the ship at the i-th time point as h i , the ship's transverse tilting moment at the i-th time point is marked as The longitudinal tilting moment of the ship at the i-th time point is marked as Zω i , mark the ship weight load at time point i as CW i ; At the preset time point i, the ship's buoyancy center CB i The Cartesian coordinates of i ,Y i ,Z i ), In the formula, Indicates the ship's heel angle Restore the lateral movement distance of the ship's center of gravity and obtain the coordinate component X of the ship's buoyancy center CB on the Cartesian coordinate axis x i ,y i +tan(ω i )×h i Indicates that the ship's longitudinal inclination angle ω i , restore the longitudinal movement distance of the ship's center of gravity, and obtain the coordinate component Y of the ship's buoyancy center CB on the Cartesian coordinate axis y i , According to the moment balance principle, the coordinate component Z of the ship's buoyancy center CB on the Cartesian coordinate axis z is obtained i .

6. The multi-sensor vertical position measurement method for floatation installation according to claim 5, characterized in that: In step 2, the calculation process of the jacket buoyancy center JB is as follows: Extract the measurement data of the i-th time point in the tip data set, and mark the Cartesian coordinate of the center of gravity of the jacket at the i-th time point as (a i ,b i ,c i ), a i b represents the coordinate component after converting the GPS coordinate longitude of the jacket center of gravity into spherical coordinates, i It represents the coordinate component after the GPS coordinate latitude of the jacket center of gravity is converted into spherical coordinates, c i The height of the jacket's center of gravity is represented by θ, and the jacket's heel angle at the i-th time point is marked as θ i , the jacket pitch angle at the i-th time point is marked as The vertical distance from the jacket center of gravity to the jacket buoyancy center at the i-th time point is marked as u i , the jacket lateral tilt moment at the i-th time point is marked as Hθ i , the longitudinal tilt moment of the jacket at the i-th time point is marked as The jacket weight load at time point i is marked as JW i ; At the preset time point i, the jacket buoyancy center JB i The Cartesian coordinates of i ,B i ,C i ), In the formula, a i +tan(θ i )×u i Indicates the jacket heel angle θ i , restore the lateral movement distance of the jacket center of gravity and obtain the coordinate component A of the jacket buoyancy center JB on the Cartesian coordinate axis x i , Indicates the jacket's longitudinal inclination angle Restore the longitudinal movement distance of the jacket center of gravity and obtain the coordinate component B of the jacket buoyancy center JB on the Cartesian coordinate axis y i , According to the moment balance principle, the coordinate component C of the jacket buoyancy center JB on the Cartesian coordinate axis z is obtained. i .

7. The multi-sensor vertical position measurement method for float-over installation according to claim 6, characterized in that: In step 2, the relative distance XDJ is calculated as follows: In the formula, according to the Euclidean distance formula, the ship's buoyancy center CB at the i-th time point is obtained i With the jacket buoyancy center JB i The straight-line distance between them is the relative distance.

8. The multi-sensor vertical position measurement method for float-over installation according to claim 7, characterized in that: In step 3, the calculation process of volatility Bdl is as follows: The Cartesian coordinates of the ship's buoyancy center CB within the monitoring period Q are counted, and the coordinate components Z are marked as {z1, z2, z3, ..., zq} in chronological order from early to late, where z1 to zq are the coordinate components Z of the ship's buoyancy center CB from the first time point to the qth time point, respectively; Count the Cartesian coordinates of the jacket buoyancy center JB within the monitoring period Q, and mark the coordinate components C as {c1, c2, c3, ..., cq} in chronological order from early to late, where c1 to cq are the coordinate components C of the jacket buoyancy center JB from the first time point to the qth time point, respectively; In the formula, It represents the average value of the coordinate component Z of the ship's buoyancy center CB during the monitoring period Q. represents the average value of the coordinate component C of the jacket buoyancy center JB during the monitoring period Q, ze represents the coordinate component Z of the ship buoyancy center CB at the e-th time point, It represents the fluctuation rate of the coordinate component Z of the ship's buoyancy center CB according to the variance formula, cf represents the coordinate component C of the jacket buoyancy center JB at the fth time point, It represents the fluctuation rate of the coordinate component C of the jacket buoyancy center JB obtained according to the variance formula.

9. The multi-sensor vertical position measurement method for float-over installation according to claim 8, characterized in that: In step 4, the calculation process of the stability coefficient Wxs is as follows: Extract the sensor data of the sea surface environment at the i-th time point in the environmental data set; If at the i-th time point, the tidal current direction CL is consistent with the float-over installation direction, the tidal current direction is conducive to the float-over installation. Wxs i =γ1CW+γ2LS+γ3LG+γ4FL+γ5CW In the formula, γ1 represents the evaluation weight of the tidal direction CL at the i-th time point, γ2 represents the evaluation weight of the tidal velocity LS at the i-th time point, γ3 represents the evaluation weight of the wave height LG at the i-th time point, γ4 represents the evaluation weight of the wind force level FL at the i-th time point, and γ5 represents the evaluation weight of the wind speed FS at the i-th time point. γ1+γ2+γ3+γ4+γ5=1, γ1CW+γ2LS+γ3LG+γ4FL+γ5CW represents the stability coefficient Wxs at the i-th time point obtained according to the weights of γ1, γ2, γ3, γ4 and γ5. i ; If at time point i, the tidal current direction CL s The direction is inconsistent with the floating installation direction, and the tidal current direction is not conducive to floating installation. Wxs i =μ1CW+μ2LS+μ3LG+μ4FL+μ5CW In the formula, μ1 represents the evaluation weight of the tidal current direction CL at the i-th time point, μ2 represents the evaluation weight of the tidal current speed LS at the i-th time point, μ3 represents the evaluation weight of the wave height LG at the i-th time point, μ4 represents the evaluation weight of the wind force level FL at the i-th time point, and μ5 represents the evaluation weight of the wind speed FS at the i-th time point. μ1+μ2+μ3+μ4+μ5=1, μ1CW+μ2LS+μ3LG+μ4FL+μ5CW represents the stability coefficient Wxs at the i-th time point obtained according to the weights of μ1, μ2, μ3, μ4 and μ5. i .

10. The multi-sensor vertical position measurement method for floatation installation according to claim 9, characterized in that: In step 5, when the relative distance XDJ is lower than the safety threshold AQY, it indicates that there is a collision risk between the float barge and the jacket at the current time, and it is recommended to move the position of the float barge. When the value of any of the fluctuation rate Bdl exceeds the fluctuation threshold BDY or the stability coefficient Wxs exceeds the stability threshold WDY, it indicates that at the current time, environmental factors are seriously affecting the accuracy of the float installation, and it is recommended to delay the float installation work.

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