A method for observing the navigation characteristics of ships in navigable tunnels

Abstract

The present application provides a method for observing the navigation characteristics of ships in a navigable tunnel, including the following on-site test implementation steps: Step 1, before the test begins, set up an automatic tracking remote station laser rangefinder and a near-end station laser rangefinder at the entrance and exit of the navigable tunnel respectively; Step 2, hold a measuring prism, place it on both sides of the two sections of the entrance and exit of the navigable tunnel, a total of 4 calibration points, use the remote station laser rangefinder and the near-end station laser rangefinder to measure the coordinates of the calibration points, and obtain the scope of the entire navigable tunnel water area; Step 3, arrange two front and rear measuring points on the test ship, the measuring points are arranged between the bow and the stern, located on the central axis of the test ship, and each measuring point is installed with a 360° prism. The present application solves the problem that the existing testing methods cannot meet the requirements for testing the navigation characteristics of ships in navigable tunnels, affecting the evaluation of the operating effect of the first navigable tunnel built in China.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering measurement, and in particular to a method for observing the navigation characteristics of ships in a navigable tunnel. Background Art

[0002] A section of underground waterway through the mountains. Usually single-line navigation is adopted. The cross-sectional shapes include circular, elliptical and horseshoe-shaped, which are determined by geological conditions, shipping requirements, construction technology and methods, etc. Its width, water depth and water clearance are related to the size of the ship, the way the ship passes through the tunnel and the towing equipment. A towing way is set on one or both sides of the tunnel, and a pilot channel and navigation and mooring buildings are set at both ends. Tunnels are generally straight, and the bottom of the tunnel is mostly horizontal. It is a navigation building excavated for the canal to cross high mountains. Its axis is generally a straight line, and a pilot channel is set at both ends to connect with the main channel, and navigation buildings and mooring buildings are set for ships to wait for passage. To speed up the passage of ships. Towing equipment is set on one or both sides to tow the ship. Its cross-sectional shapes include elliptical, horseshoe and circular, which are selected according to local geological and hydrological conditions, construction technology and methods, etc. The water depth, width and navigation clearance of the tunnel should meet the navigation requirements, and it is generally designed as a single-line channel. The tunnel is equipped with ventilation, lighting, communication and other equipment. Digging tunnels can shorten the mileage of ships, but the project costs are high and the technology is complex, which requires sufficient technical and economic analysis and demonstration to determine.

[0003] In the actual ship test of the waterway after the renovation and the newly built navigation building, it is necessary to observe the navigation characteristics of the ship. The specific parameters mainly include the ship's speed, heading angle, track line, roll angle, pitch angle, drift angle, etc. At present, the observation of ship navigation characteristics mainly adopts a more advanced inertial navigation test system, which is generally composed of a GPS positioning system and a gyroscope. The test instrument is arranged on the ship, and the various parameters of the ship's navigation characteristics are obtained through testing and post-calculation processing. However, the inertial navigation test system has its shortcomings. For example, in the navigation tunnel, the instrument arranged on the ship cannot receive the GPS signal, or in the navigation building (lift tower) or in the pilot channel with steep slopes, when the GPS signal is poor, the inertial navigation test system cannot work normally, mainly because the position coordinates of the ship cannot be obtained, resulting in the inability to obtain the ship's track line, speed, heading angle, drift angle and other parameters.

[0004] In recent years, with the rapid development of inland waterway transportation, it is necessary to build navigable tunnels for the smooth extension of main and branch waterways, the construction of canals across water systems, and the expansion and upgrading of navigation buildings. In the future, navigable tunnels will be a common form of inland waterway transportation. At present, the first-level intermediate channel navigable tunnel of the ship lift of the Goupitan Hydropower Station on the Wujiang River has been completed and opened to navigation. The existing testing methods cannot meet the requirements for testing the navigation characteristics of ships in the navigable tunnel, which affects the evaluation of the operation effect of the first navigable tunnel built in China. It is urgent to propose a new method suitable for testing the navigation characteristics of ships in navigable tunnels; therefore, we have made improvements to this and proposed a method for observing the navigation characteristics of ships in navigable tunnels. Summary of the invention

[0005] The purpose of the present invention is to address the problem that the existing testing means cannot meet the requirements for testing the navigation characteristics of ships in navigation tunnels, which affects the evaluation of the operating effect of the first navigation tunnel built in China.

[0006] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0007] A method for observing the navigation characteristics of ships in navigable tunnels is developed to improve the above problems.

[0008] The specific application is as follows:

[0009] A method for observing the navigation characteristics of ships in a navigable tunnel comprises the following on-site test implementation steps:

[0010] Step 1: Before the test begins, set up an automatic tracking remote station laser rangefinder and a near station laser rangefinder at the entrance and exit of the navigation tunnel respectively;

[0011] Step 2: Hold a measuring prism and place it on both sides of the entrance and exit sections of the navigation tunnel, for a total of 4 calibration points. Use the remote station laser rangefinder and the near station laser rangefinder to measure the coordinates of the calibration points to obtain the scope of the entire navigation tunnel water area.

[0012] Step 3: Arrange two measuring points on the test ship, front and rear, in the middle of the bow and stern, on the central axis of the test ship, and install a 360° prism at each measuring point;

[0013] Step 4: During the actual ship test, the test ship enters from one end of the tunnel, and the laser rangefinder of the far-end measuring station arranged at the far end observes the bow measuring point prism at the bow, and the laser rangefinder of the near-end measuring station arranged at the near end observes the stern measuring point prism at the stern.

[0014] As a preferred technical solution of the present application, in step one, the measuring distance of the laser rangefinder is greater than 1000m, and the measuring range of the laser rangefinder covers the entire tunnel.

[0015] As the preferred technical solution of the present application, while implementing step 2, line orientation is performed using two points on the same side, the direction of the tunnel centerline is set as the Y direction, the cross-river direction is set as the X direction, and the remote station laser rangefinder and the near-end station laser rangefinder establish exactly the same measurement coordinate system.

[0016] As the preferred technical solution of the present application, in step three, the bow is the bow measurement prism, the stern is the stern measurement prism, and the midpoint of the line connecting the two measurement points is determined as the position coordinate of the test ship.

[0017] As the preferred technical solution of this application, the following on-site test implementation steps are included:

[0018] Step 1: two automatic tracking remote station laser rangefinders and a near station laser rangefinder are set to be time synchronized and have the same acquisition frequency;

[0019] Step 2: The two measuring point prisms on the test ship, the bow measuring prism and the stern measuring prism, are installed and fixed reliably, and there is no relative displacement with the ship and no obvious shaking during the test;

[0020] Step three: The length of the tunnel of this project does not exceed the measurement range of the laser rangefinder, and there is no need to add a measuring station in the middle for connection and transition.

[0021] As a preferred technical solution of this application, the method for calculating the ship's navigation characteristic parameters using the coordinate data of the bow and stern obtained at each moment is as follows:

[0022] Step 1: At any time during the navigation of the test ship, for example, 40s+0.1s, the sampling period of the laser rangefinder is 0.1s, that is, Δt=0.1s, the coordinates of the bow are (1, 90), and the coordinates of the stern are (0.5, 40), then the coordinates of the center of the ship are calculated as follows:

[0023] X0t+Δt=(1+0.5) / 2=0.75

[0024] Y0t+Δt=(90+40) / 2=65

[0025] Then the coordinates of the center of the ship are (0.75, 65);

[0026] Step 2: If any two adjacent moments during the ship's voyage are 40s and 40s+0.1s, respectively, then the center coordinates of the ship at the two moments are (0.9, 64.8) and (0.75, 65), respectively. The ship's sailing speed is calculated as follows:

[0027]

[0028] Then the ship speed at that moment is 2.5m / s;

[0029] In Step 3, the angle between the ship's sailing direction and the center line of the navigation tunnel can be regarded as the course angle. At two adjacent moments of 40 s and 40.1 s, the course angle is calculated as follows:

[0030] α 40.1 = tan -1 |(0.75 - 0.9) / (65 - 64.8)| = 36.87°

[0031] The course angle at this moment is calculated to be 36.87°. Since X040.1 < X040, it indicates that the course is to the left of the center line of the tunnel. The angle is taken as negative when it is to the left and positive when it is to the right. Therefore, the course angle at this moment is -36.87°;

[0032] In Step 4, at the moment of 40 s + 0.1 s, the coordinates of the bow and stern measurement points of the ship are (1, 90) and (0.5, 40) respectively. The angle between the central axis of the ship and the center line of the navigation tunnel is calculated as follows:

[0033] β 40.1 = tan -1 |(1 - 0.5) / (90 - 40)| = 0.57°

[0034] The angle between the central axis of the ship and the center line of the navigation tunnel at this moment is calculated to be 0.57°. Since X140.1 > X240.1, it can be determined that the angle is to the right of the center line of the navigation tunnel. Therefore, the angle is positive, that is, 0.57°.

[0035] In Step 5, at the moment of 40 s + 0.1 s, the drift angle of the ship is calculated as follows:

[0036] θ 40.1 = -36.87° - 0.57° = -37.44°

[0037] Then the drift angle of the ship at this moment is obtained as 37.44°, to the left.

[0038] As a preferred technical solution of the present application, according to Step 1, the central coordinates of the ship throughout the process can be obtained, and thus the ship's track line can be drawn in the coordinate system.

[0039] As a preferred technical solution of the present application, according to Step 2, the ship's speed at each moment of the whole journey can be calculated, and the relationship curve between the speed and time can be drawn.

[0040] As a preferred technical solution of the present application, according to Step 3, the ship's course angle at each moment of the whole journey can be obtained, and the relationship curve between the course angle and time can be drawn.

[0041] As a preferred technical solution of the present application, according to Step 4, the drift angle of the ship at each moment of the whole journey can be calculated, and the relationship curve between the drift angle and time can be drawn.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] In the scheme of this application:

[0044] By arranging at least two automatic tracking laser rangefinders at both ends of the navigation tunnel, a completely identical test coordinate system is established, and a 360° measuring prism is respectively arranged on the bow and stern central axis of the test ship, and the coordinates of two measuring points on the ship are synchronously measured as the ship passes through the tunnel; the ship's track line, speed, heading angle, and drift angle change process line are calculated using the measured coordinate sequence of the bow and stern measuring points of the ship. This not only solves the problem of being unable to obtain the ship's navigation characteristic parameters due to the lack of GPS signals in the navigation tunnel, but also greatly improves the test accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 The plan layout of the test of navigation characteristics of ships passing through a navigable tunnel for the test method of navigation characteristics of ships through a navigable tunnel;

[0046] Figure 2 A longitudinal section diagram of a ship passing through a navigation tunnel navigation characteristics test method for a navigation tunnel ship;

[0047] Figure 3 It is a schematic diagram of calculating some parameters of the ship's navigation characteristics at a certain moment in the test method of the ship's navigation characteristics in a navigable tunnel;

[0048] Figure 4 This is a schematic diagram of the calculation of some parameters of the ship's navigation characteristics at adjacent moments in the test method for the ship's navigation characteristics in a navigable tunnel.

[0049] Indicated in the figure:

[0050] 1. Test ship; 2. Navigable tunnel; 3. Laser rangefinder at remote station; 4. Laser rangefinder at near station; 5. Bow measurement prism; 6. Stern measurement prism; 7. Calibration points. DETAILED DESCRIPTION

[0051] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0052] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features and technical solutions in the embodiments can be combined with each other without conflict.

[0053] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0054] The following embodiment takes the navigation characteristics test of ships in the first-stage intermediate channel navigation tunnel 2 of the Wujiang Goupitan Hydropower Station ship lift as an example:

[0055] There is a 424m long navigation tunnel 2 in the first-stage middle channel of the ship lift of the Goupitan Hydropower Station on the Wujiang River. It is arranged in a straight line, with a tunnel width of 16m and a water depth of 3m, and is navigable for 500-ton ships. During the actual ship test of the navigation tunnel 2, because the GPS signal cannot be received in the tunnel, the navigation characteristics test of the ship in the tunnel encountered great difficulties. The present invention adopts a method for testing the navigation characteristics of ships in the navigation tunnel 2, which solves the problem and is well applied.

[0056] like Figure 1-4 As shown, this embodiment proposes a method for observing the navigation characteristics of ships in a navigable tunnel 2, including the following on-site test implementation steps:

[0057] Step 1: Before the test begins, an automatic tracking remote station laser rangefinder 3 and a near station laser rangefinder 4 are respectively set up at the entrance and exit of the navigation tunnel 2. The measuring distance of the laser rangefinder is greater than 1000m, so the measuring range of the laser rangefinder can cover the entire tunnel;

[0058] Step 2: Hold a measuring prism and place it on both sides of the two sections of the entrance and exit of the navigation tunnel 2, with a total of 4 calibration points 7. Use the remote station laser rangefinder 3 and the near-end station laser rangefinder 4 to measure the coordinates of the calibration points 7 to obtain the range of the entire navigation tunnel 2 water area. At the same time, use the two points on the same side for line orientation, set the tunnel centerline direction as the Y direction, and the cross-river direction as the X direction. The remote station laser rangefinder 3 and the near-end station laser rangefinder 4 establish exactly the same measurement coordinate system;

[0059] Step 3: arrange two measuring points on the test ship 1, the measuring points are arranged between the bow and the stern, and are located on the central axis of the test ship 1. A 360° prism is installed at each measuring point. The bow is the bow measuring prism 5, and the stern is the stern measuring prism 6. The midpoint of the line connecting the bow and stern measuring points is determined as the position coordinate of the test ship 1.

[0060] Step 4: During the actual ship test, the test ship 1 enters from one end of the tunnel, the far-end measuring station laser rangefinder 3 arranged at the far end observes the bow measuring point prism at the bow, and the near-end measuring station laser rangefinder 4 arranged at the near end observes the stern measuring point prism at the stern.

[0061] The on-site test implementation steps include the following:

[0062] Step 1: two automatic tracking remote station laser rangefinders 3 and near station laser rangefinders 4 are set to be time synchronized and have the same acquisition frequency;

[0063] Step 2: The two measuring point prisms on the test ship 1, the bow measuring prism 5 and the stern measuring prism 6, are installed and fixed reliably, and there is no relative displacement with the ship and no obvious shaking during the test;

[0064] Step three: The length of the tunnel of this project does not exceed the measurement range of the laser rangefinder, and there is no need to add a measuring station in the middle for connection and transition.

[0065] Using the coordinate data of the bow and stern obtained at each moment, the method for calculating the ship's navigation characteristic parameters is as follows:

[0066] Step 1: At any time during the navigation of the test ship 1, for example, 40s+0.1s, the sampling period of the laser rangefinder is 0.1s, that is, Δt=0.1s, the coordinates of the bow are (1, 90), and the coordinates of the stern are (0.5, 40), then the coordinates of the center of the ship are calculated as follows:

[0067] X0t+Δt=(1+0.5) / 2=0.75

[0068] Y0t+Δt=(90+40) / 2=65

[0069] The coordinates of the center of the ship at this time are (0.75, 65), and the coordinates of the center of the ship in the whole process can be obtained, and the ship track line can be drawn in the coordinate system;

[0070] Step 2: If any two adjacent moments during the ship's voyage are 40s and 40s+0.1s, respectively, then the center coordinates of the ship at the two moments are (0.9, 64.8) and (0.75, 65), respectively. The ship's sailing speed is calculated as follows:

[0071]

[0072] Then the ship speed at that moment is obtained as 2.5 m / s, and the ship speeds at each moment of the whole journey can be calculated, and the relationship curve between the ship speed and time is plotted;

[0073] Step 3: The angle between the ship's sailing direction and the center line of the navigation tunnel 2 can be considered as the course angle. For two adjacent moments of 40 s and 40.1 s, the course angle is calculated as follows:

[0074] α 40.1 = tan -1 |(0.75 - 0.9) / (65 - 64.8)| = 36.87°

[0075] The course angle at that moment is calculated as 36.87°. Since X040.1 < X040, it indicates that the course is to the left of the center line of the tunnel. The angle is taken as negative when it is to the left and positive when it is to the right. Then the course angle at that moment is -36.87°. The ship's course angles at each moment of the whole journey can be obtained, and the relationship curve between the course angle and time is plotted;

[0076] Step 4: At the moment of 40 s + 0.1 s, the coordinates of the bow and stern measurement points of the ship are (1, 90) and (0.5, 40) respectively. The angle between the center line of the ship's middle axis and the center line of the navigation tunnel 2 is calculated as follows:

[0077] β 40.1 = tan -1 |(1 - 0.5) / (90 - 40)| = 0.57°

[0078] The angle between the center line of the ship's middle axis and the center line of the navigation tunnel 2 at that moment is calculated as 0.57°. Since X140.1 > X240.1, it can be determined that the angle is to the right of the center line of the navigation tunnel 2, so the angle is positive, that is, 0.57°.

[0079] Step 5: At the moment of 40 s + 0.1 s, the drift angle of the ship is calculated as follows:

[0080] θ 40.1 = -36.87° - 0.57° = -37.44°

[0081] Then the drift angle of the ship at that moment is obtained as 37.44°, to the left. The drift angles of the ship at each moment of the whole journey can be calculated, and the relationship curve between the drift angle and time is plotted.

[0082] When the present application is in use: the present invention arranges at least two automatic tracking laser rangefinders at both ends of the navigation tunnel 2 to establish a completely identical test coordinate system, arranges a 360° measuring prism on the bow and stern central axis of the test ship 1 respectively, and synchronously measures the coordinates of two measuring points on the ship during the ship's passage through the tunnel; uses the measured coordinate sequence of the bow and stern measuring points of the ship to calculate the ship's track line, speed, heading angle, and drift angle change process line, which not only solves the problem that the ship's navigation characteristic parameters cannot be obtained due to the lack of GPS signals in the navigation tunnel 2, but also greatly improves the test accuracy. The present method can also be used for actual ship tests on other waterways or navigation buildings without GPS signals.

[0083] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. A method for observing the navigation characteristics of ships in a navigable tunnel, characterized by: The on-site test implementation steps include the following: Step 1: Before the test begins, an automatic tracking remote station laser rangefinder (3) and a near station laser rangefinder (4) are respectively installed at the entrance and exit of the navigation tunnel (2). The measuring distance of the laser rangefinder is greater than 1000m, and the measuring range of the laser rangefinder covers the entire tunnel. Step 2: Hold a measuring prism and place it on both sides of the entrance and exit sections of the navigation tunnel (2), with a total of four calibration points (7). Use a remote station laser rangefinder (3) and a near station laser rangefinder (4) to measure the coordinates of the calibration points (7) to obtain the range of the entire navigation tunnel (2). Step 3: While executing step 2, use two points on the same side to perform line orientation, set the tunnel centerline direction as the Y direction, and the cross-river direction as the X direction. The remote station laser rangefinder (3) and the near-end station laser rangefinder (4) establish completely identical measurement coordinate systems. Arrange two front and rear measurement points on the test ship (1). The measurement points are arranged between the bow and the stern, and are located on the central axis of the test ship (1). Each measurement point is installed with a 360° prism. The bow is the bow measurement prism (5), and the stern is the stern measurement prism (6). The midpoint of the line connecting the two measurement points is determined as the position coordinate of the test ship (1). Step 4: During the actual ship test, the test ship (1) enters from one end of the tunnel, the far-end measuring station laser rangefinder (3) arranged at the far end observes the bow measuring point prism at the bow, and the near-end measuring station laser rangefinder (4) arranged at the near end observes the stern measuring point prism at the stern; Among them, establishing a completely identical measurement coordinate system includes the following on-site test implementation steps: Step A, two automatic tracking remote station laser rangefinders (3) and a near station laser rangefinder (4) are set to be time synchronized and have the same acquisition frequency; Step B, the two measuring point prisms on the test ship (1), the bow measuring prism (5) and the stern measuring prism (6), are installed and fixed reliably, and there is no relative displacement with the ship and no obvious shaking during the test; Step C: The length of the tunnel of this project does not exceed the measurement range of the laser rangefinder, and there is no need to add a measuring station in the middle for connection and transition.

2. A method for observing navigation characteristics of ships in a navigable tunnel according to claim 1, characterized in that: Using the coordinate data of the bow and stern obtained at each moment, the method for calculating the ship's navigation characteristic parameters is as follows: Step 1: At any time during the navigation of the test ship (1), if the sampling period of the laser rangefinder is 0.1s at 40s+0.1s, that is, Δt=0.1s, the coordinates of the bow are (1, 90) and the coordinates of the stern are (0.5, 40), then the coordinates of the center of the ship are calculated as follows: X0t+Δt=(1+0.5) / 2=0.75 Y0t+Δt=(90+40) / 2=65 Then the coordinates of the center of the ship are (0.75, 65); Step 2: If any two adjacent moments during the ship's voyage are 40s and 40s+0.1s, respectively, then the coordinates of the center of the ship at the two moments are (0.9, 64.8) and (0.75, 65), respectively. The ship's sailing speed is calculated as follows: Then the ship speed at that moment is 2.5m / s; Step 3: The angle between the ship's navigation direction and the centerline of the navigation tunnel (2) can be considered as the heading angle. At the two adjacent moments of 40s and 40.1s, the heading angle is calculated as follows: α 40.1 =tan -1 |(0.75-0.9) / (65-64.8)|=36.87° The heading angle at this moment is calculated to be 36.87°. Since X040.1<X040, it means that the heading is to the left of the tunnel centerline. The angle is negative if it is to the left and positive if it is to the right. Therefore, the heading angle at this moment is -36.87°. Step 4: At the time of 40s+0.1s, the coordinates of the bow and stern measuring points are (1, 90) and (0.5, 40) respectively. The angle between the centerline of the ship and the centerline of the navigation tunnel (2) is calculated as follows: β 40.1 =tan -1 |(1-0.5) / (90-40)|=0.57° The angle between the centerline of the ship and the centerline of the navigation tunnel (2) at this moment is calculated to be 0.57°. Since X140.1>X240.1, it can be determined that the angle is biased to the right of the centerline of the navigation tunnel (2), so the angle is positive, that is, 0.57°. Step 5, at the moment of 40s+0.1s, the ship's drift angle is calculated as follows: i 40.1 =-36.87°-0.57°=-37.44° It is obtained that the ship's drift angle at this moment is 37.44°, which is biased to the left.

3. A method for observing navigation characteristics of ships in a navigable tunnel according to claim 2, characterized in that: According to step 1, the center coordinates of the ship in the whole process are obtained, and the ship track line can be drawn in the coordinate system.

4. A method for observing navigation characteristics of ships in a navigable tunnel according to claim 2, characterized in that: According to step 2, the ship's speed at each moment of the entire journey can be calculated and a curve of the relationship between speed and time can be drawn.

5. The method for observing the navigation characteristics of ships in a navigable tunnel according to claim 2, characterized in that: According to step 3, the ship's heading angle at each moment of the entire journey can be obtained, and a curve of the relationship between the heading angle and time can be drawn.

6. A method for observing navigation characteristics of ships in a navigable tunnel according to claim 2, characterized in that: According to step 4, the ship drift angle at each moment of the whole process can be calculated and a curve of the relationship between the drift angle and time can be drawn.

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