Calculation method for installation measurement data of large curvature pipe sections

Abstract

The present invention relates to the technical field of immersed tube installation, and particularly to a calculation method for installation measurement data of large curvature pipe sections, including: S1, preparation of primary calibration data; S2, calculation of installation parameters of the pipe section to be installed; S3, calculation of real-time position deviation data of the immersed tube during the pulling-in process; performing linear pre-control on the immersed tube to be installed and calculating the tail-end axis deviation Z E ; According to the above calculation method for installation measurement data of large curvature pipe sections, it avoids the difficulties in measurement control caused by the curvature of the immersed tube during the construction process, ensures the accuracy of the measurement and control of the immersed tube installation, enables the control of the pulling-in system, anchor cable system, etc. to be visually displayed during the construction process, and greatly reduces the construction difficulty of large curvature immersed tubes.

Description

Technical Field

[0001] The present invention relates to the technical field of immersed tube tunnels, and particularly to a calculation method for installation measurement data of large curvature pipe segments. Background Art

[0002] During the existing construction process of immersed tube installation, the processing of pipe segment measurement data is carried out according to the measurement and control of straight pipe segments and construction technical requirements. For large curvature curved pipe segments, due to the special requirements of measurement and control and construction technology, it is necessary to optimize and calculate the measurement data obtained from the first calibration and the second calibration of the large curvature pipe segment to achieve precise measurement and control of the large curvature pipe segment during the floating installation process. Summary of the Invention

[0003] Aiming at the deficiencies existing in the above-mentioned prior art, the present invention provides a calculation method for installation measurement data of large curvature pipe segments, which can meet the construction control requirements and measurement and control accuracy requirements for the floating installation of curved pipe segments, and provides a data basis for the measurement and control of immersed tube installation.

[0004] The present invention provides a calculation method for installation measurement data of large curvature pipe segments, including the following steps:

[0005] S1. Preparation of first calibration data:

[0006] Obtain the actual external dimensions of the pipe segment according to the measurement data obtained from the first calibration, and establish a pipe segment coordinate system based on the relative position relationship of the characteristic point coordinates of the immersed tube end face, and obtain the data model of the entire immersed tube in the pipe segment coordinate system;

[0007] S2. Calculation of installation parameters of the pipe segment to be installed:

[0008] According to the design drawings in the urban construction coordinate system, the coordinates of the center point of the top plate at the head end of the pipe segment to be installed

[0009] (X S , Y S , Z S ), the coordinates of the center point of the top plate at the tail end (X W , Y W , Z W ), considering the measured external dimensions of the immersed tube, the mileage and axis deviation of the installed pipe segment, and the designed GINA compression amount, determine the coordinates of the characteristic points of the actually positioned pipe segment in the urban construction coordinate system, and the anchor cable system controls the position and attitude of the pipe segment according to the urban construction coordinates of the characteristic points.

[0010] S3. Calculation of real-time position deviation data of the immersed tube during the pulling-in process:

[0011] Establish a head end coordinate system, with the head end face of the immersed tube as Y 首 , and the direction perpendicular to the head end face as X首 If the included angle between the end steel shell at the first end of the pipe section and the X-axis of the pipe section coordinate system is A, then:

[0012] ΔS1 = ΔS cos A + ΔA sin A

[0013] ΔA1 = -ΔS sin A + ΔA cos A

[0014] Where, ΔS is the real-time mileage deviation of the first end of the sunken pipe section in the pipe section coordinate system, and ΔS1 is the real-time mileage deviation of the first end of the sunken pipe section in the first-end coordinate system;

[0015] ΔA is the real-time axis deviation of the first end of the sunken pipe section in the pipe section coordinate system, and ΔA1 is the real-time axis deviation of the first end of the sunken pipe section in the first-end coordinate system;

[0016] Similarly, it can be obtained that: ΔS2 = ΔS cos 2A + ΔA sin 2A

[0017] ΔA2 = -ΔS sin 2A + ΔA cos 2A

[0018] Where, ΔS is the real-time mileage deviation of the tail end of the sunken pipe section in the pipe section coordinate system, and ΔS2 is the real-time mileage deviation of the tail end of the sunken pipe section in the first-end coordinate system;

[0019] ΔA is the real-time axis deviation of the tail end of the sunken pipe section in the pipe section coordinate system, and ΔA2 is the real-time axis deviation of the tail end of the sunken pipe section in the first-end coordinate system;

[0020] Control the axis deviation of the pipe section during the pulling and closing process according to the said ΔA1 and the said ΔA2.

[0021] This technical solution provides a calculation method for the installation measurement data of large-curvature pipe sections, avoiding the difficulties in measurement control caused by the curvature of the sunken pipes during the construction process, ensuring the accuracy of the measurement and control of the sunken pipe installation, enabling the control of the pulling and closing system, the anchor cable system, etc. to be visually displayed during the construction process, and greatly reducing the construction difficulty of large-curvature sunken pipes.

[0022] In some embodiments of the present application, in step S2, it is necessary to calculate the actual installation position coordinates (X1, Y1, Z1) of the center point of the top plate at the first end of the sunken pipe:

[0023] According to the designed azimuth angle α1 of the tail end of the already installed pipe section given on the design drawing and the measured mileage deviation S1 of the tail end of the already installed pipe section, calculate the actual tangent azimuth angle α2 of the tail end of the to-be-installed pipe section:

[0024] α2 = α1 + 180 × S1 / πR

[0025] Where, R is the curvature radius of the pipe section in the curve section;

[0026] The urban construction coordinates (X S , YS , Z S ), the forward mileage deviation S1 and the GINA compression design value S2 are used to obtain the actual installation position coordinates (X1, Y1, Z1) of the center point of the top plate at the head of the immersed tube:

[0027] X1 = Xs + (S1 + S2)cosα2

[0028] Y1 = Ys + (S1 + S2)sinα2

[0029] Z1 = Zs + (S1 + S2)tanβ

[0030] where β is the designed slope of the immersed tube to be installed.

[0031] In some embodiments of the present application, in step S2, the coordinates of the feature points at the head and tail of the immersed tube in the pipe joint coordinate system are converted to the urban construction coordinate system. In the urban construction coordinate system, the displacement amounts of each of the feature points in the X, Y, and Z directions are X1, Y1, and Z1 respectively, and the rotation angle is the designed azimuth angle α of the axis of the immersed tube to be installed:

[0032] α = arctan[(Y w - Y s ) / (X w - X s )]

[0033] In some embodiments of the present application, the coordinates (X t , Y t , Z t ) of the feature points in the pipe joint coordinate system are converted as follows to obtain the urban construction coordinates (X T , Y T , Z T ):

[0034]

[0035] According to the coordinate rotation matrix, after simplification, we can get:

[0036] X T = X t cosαcosβ + Y t sinα - Z t cosαsinβ

[0037] Y T = X t sinαcosβ + Y t cosα + Z t sinαsinβ

[0038] Z T = X t sinβ + Y tcosβ

[0039] The installation design position coordinates corresponding to each of the feature points in the urban construction coordinate system can be obtained, that is, the coordinates (X T , Y T , Z T ) of each of the feature points in the urban construction coordinate system.

[0040] In some embodiments of the present application, before step S3, secondary calibration data preparation for the immersed tube is required: survey towers are installed at the head and tail ends of the immersed tube, GPS positioning devices are installed on the survey towers, and the total station measures and obtains the coordinates of the GPS positioning devices on the survey towers of the immersed tube in the pipe joint coordinate system, so as to obtain the relative position relationship between the GPS positioning devices and the head and tail end faces of the pipe joint.

[0041] In some embodiments of the present application, in step S1, the origin of the pipe joint coordinate system is located at the center point of the top of the head end of the immersed tube.

[0042] Based on the above technical solutions, the calculation method for the installation measurement data of the large curvature pipe joint in the embodiments of the present invention avoids the difficulties in measurement control caused by the curvature of the immersed tube during the construction process, ensures the accuracy of the measurement and control of the immersed tube installation, enables the control of the pulling and closing system, the anchor cable system, etc. to be visually displayed during the construction process, and greatly reduces the construction difficulty of the large curvature immersed tube;

[0043] According to the special requirements of the measurement and control and construction technology of the curved section pipe joint, the original straight section algorithm is corrected and optimized to achieve precise measurement and control of the floating transportation and installation of the large curvature immersed tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of the present application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0045] Figure 1 is the position of the tail end feature point of the immersed tube to be installed in the embodiment of the present invention;

[0046] Figure 2 is the schematic diagram of the pipe joint coordinate system in the embodiment of the present invention;

[0047] Figure 3 is the schematic diagram of the designed azimuth angle of the tail end of the immersed tube in the embodiment of the present invention;

[0048] Figure 4 is the schematic diagram of the axial deviation caused by the mileage deviation of the pipe joint during the pulling and closing process of the immersed tube in the embodiment of the present invention;

[0049] Figure 5 is the schematic diagram of the positional relationship between the pipe joint coordinate system and the head end coordinate system in the embodiment of the present invention. Detailed implementation mode

[0050] The following will clearly and completely describe the technical solutions in the embodiments in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work belong to the scope of protection of the present invention.

[0051] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "transverse", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0052] The terms "first", "second", "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third" may explicitly or implicitly include one or more of such features.

[0053] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be directly connected, or indirectly connected through an intermediate medium, and may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0054] A calculation method for the installation measurement data of a large curvature pipe section in an embodiment of the present invention includes the following steps:

[0055] S1. Preparation of primary calibration data:

[0056] Obtain the actual outer shape dimensions of the pipe section according to the measurement data obtained from the primary calibration, and select four corner points at the head and tail end faces as feature points. Among them, the feature points at the tail end face are as Figure 1 , the positions of the feature points at the head end correspond to the positions of the feature points at the tail end, and establish a pipe section coordinate system according to the relative position relationship of the coordinates of the feature points on the immersed tube end face, and obtain the data model of the entire immersed tube in the pipe section coordinate system; and the coordinate origin of the pipe section coordinate system is located at the center point at the top of the head end of the immersed tube, and the X axis is the connection line of the center points at the head and tail ends, as shown in the appendix Figure 2As shown in the figure, in this embodiment, the relative position relationship of the feature points on the head and tail end faces of the pipe section is mainly used to perform real-time measurement and control of the head and tail end faces during the floating transportation and installation of the immersed tube.

[0057] S2. Calculation of the installation parameters of the pipe section to be installed:

[0058] According to the design drawings in the urban construction coordinate system, the coordinates of the center point of the top plate at the head end of the pipe section to be installed

[0059] (X S , Y S , Z S ), and the coordinates of the center point of the top plate at the tail end (X W , Y W , Z W ). Considering the measured external dimensions of the immersed tube, the mileage and axis deviation of the installed pipe section, and the designed GINA compression amount, determine the coordinates of the feature points of the actually positioned pipe section in the urban construction coordinate system. The anchor cable system controls the position and attitude of the pipe section according to the urban construction coordinates of the feature points.

[0060] Due to the mileage and center axis deviation of the installed pipe section, in order to ensure that the contact of the GINA nose tip is not affected during the docking of the immersed tube, it is necessary to push forward the mileage deviation of the installed pipe section in the calculation of the designed installation position. At the same time, during the installation process of the immersed tube, in order to facilitate construction and control the pulling and closing system and the hydraulic connection, it is also necessary to measure and position the distance between the tail end of the installed pipe section and the head end of the pipe section to be installed. Therefore, it is necessary to push forward the mileage deviation of the installed pipe section and the designed GINA compression value in the designed position.

[0061] First, calculate the actual installation position coordinates (X1, Y1, Z1) of the center point of the top plate at the head end of the immersed tube:

[0062] As Figure 3 shown in the figure, the due north direction in the figure is the Y-axis direction in the urban construction coordinate system. According to the designed azimuth angle α1 of the tail end of the installed pipe section given on the design drawings and the mileage deviation S1 of the tail end of the installed pipe section obtained from the through measurement, calculate the actual tangent azimuth angle α2 of the tail end of the pipe section to be installed:

[0063] α2 = α1 + 180×S1 / πR

[0064] where R is the curvature radius of the pipe section in the curve section;

[0065] Push forward the mileage deviation S1 and the designed GINA compression value S2 from the urban construction coordinates (X S , Y S , Z S ) of the center point of the top plate at the head end of the immersed tube on the design drawings to obtain the actual installation position coordinates (X1, Y1, Z1) of the center point of the top plate at the head end of the immersed tube:

[0066] X1 = Xs + (S1 + S2)cosα2

[0067] Y1 = Ys + (S1 + S2)sinα2

[0068] Z1 = Zs + (S1 + S2)tanβ

[0069] Where β is the designed slope of the pipe section to be installed;

[0070] After obtaining the actual installation position coordinates (X1, Y1, Z1) of the center point of the top plate at the head end of the immersed tube, first, make the origin of the coordinate system of the pipe section coincide with the center point of the top plate at the head end of the immersed tube, and make the Y-axis of the coordinate system of the pipe section coincide with the designed installation axis of the immersed tube.

[0071] Convert the coordinates of the characteristic points at the head and tail ends of the immersed tube in the coordinate system of the pipe section to the urban construction coordinate system. In the urban construction coordinate system, the displacement amounts of each of the characteristic points in the X, Y, and Z directions are X1, Y1, and Z1 respectively, and the rotation angle is the designed azimuth angle α of the axis of the immersed tube to be installed. In this embodiment, α is the angle between the line connecting the head and tail ends of the immersed tube and the Y-axis of the urban construction coordinate system, that is, the due north direction:

[0072] α = arctan[(Y w - Y s ) / (X w - X s )]

[0073] In some embodiments of the present application, the coordinates (X t , Y t , Z t ) of the characteristic points in the coordinate system of the pipe section are converted as follows to obtain the urban construction coordinates (X T , Y T , Z T ):

[0074]

[0075] According to the coordinate rotation matrix, after simplification, we can get:

[0076] X T = X t cosαcosβ + Y t sinα - Z t cosαsinβ

[0077] Y T = X t sinαcosβ + Y t cosα + Z t sinαsinβ

[0078] Z T = X tsinβ + Y t cosβ

[0079] From this, the installation design position coordinates corresponding to each of the said feature points in the urban construction coordinate system can be obtained, that is, the coordinates (X T , Y T , Z T )

[0080] S3. Calculation of the real-time position deviation data of the immersed tube during the pulling and closing process:

[0081] In this embodiment, during the installation of the immersed tube, it is necessary to perform real-time positioning on the feature points at the head and tail ends of the immersed tube, that is, the positions of 4 corner points. Since the GPS positioning device is limited to use on water, measurement towers with a height of 20m are installed at the head and tail ends of the immersed tube, and GPS positioning devices are installed on the measurement towers. The positions of the GPS devices on the measurement towers in the pipe section coordinate system are obtained through secondary calibration measurement, that is, the relative position relationship between the GPS devices and the feature points on the end face of the pipe section is obtained.

[0082] In the pipe section of the curve segment, the X-axis of the pipe section coordinate system is the connection line of the center points at the head and tail ends. As Figure 2 shown, the mileage deviation between the actual position and the design position of each point along the connection line of the center points at the head and tail ends of the immersed tube, that is, the axis direction of the pipe section, is not perpendicular to the steel shell at the head end. The lateral deviation is perpendicular to the axis direction of the immersed tube and does not coincide with the steel shell at the head end. However, during the actual construction process, it is necessary to control the pulling and closing unit at the head end of the immersed tube so that the axis of the pipe section does not shift during the pulling and closing process. Since the pulling and closing direction is perpendicular to the steel shell at the head end, during the pulling and closing process, the axis deviation at the tail end of the pipe section installation position calculated according to the X and Y axes of the pipe section coordinate system will continuously change as the mileage shortens. As Figure 4 shown. As the pulling and closing progresses, the pipe section approaches the design position and gradually returns to zero.

[0083] Therefore, it is necessary to make changes to the original calculation method so that the axis deviation of the immersed tube shows that the axis deviation does not change with the mileage deviation during the pulling and closing process. By converting the position deviations at the head and tail ends of the pipe section and converting the numerical direction to the head end coordinate system, specifically:

[0084] Establish a head end coordinate system, with the end face of the head end of the immersed tube as Y_head, and the direction perpendicular to the end face of the head end as X_head. As shown in the appendix Figure 5 shown, for the position deviation of the pipe section shown in the head end coordinate system, the mileage deviation direction is perpendicular to the steel shell at the head end and coincides with the pulling and closing direction; the axis deviation direction is along the steel shell direction at the head end. If the pulling and closing does not affect the axis deviation of the pipe section in theory, the axis deviation of the pipe section will always be zero during the pulling and closing process, and the same is true for the tail end deviation display.

[0085] In this embodiment, ΔS is the real-time mileage deviation of the sinking pipe's head end in the pipe section coordinate system, ΔS1 is the real-time mileage deviation of the sinking pipe's head end in the head end coordinate system, and the included angle between the head end end steel shell of the pipe section and the X-axis of the pipe section coordinate system is A. Then:

[0086] ΔS1 = ΔS cos A + ΔA sin A

[0087] ΔA1 = -ΔS sin A + ΔA cos A

[0088] Wherein, ΔS is the real-time mileage deviation of the sinking pipe's head end in the pipe section coordinate system, and ΔS1 is the real-time mileage deviation of the sinking pipe's head end in the head end coordinate system;

[0089] ΔA is the real-time axis deviation of the sinking pipe's head end in the pipe section coordinate system, and ΔA1 is the real-time axis deviation of the sinking pipe's head end in the head end coordinate system;

[0090] Similarly, it can be obtained that: ΔS2 = ΔS cos 2A + ΔA sin 2A

[0091] ΔA2 = -ΔS sin 2A + ΔA cos 2A

[0092] Wherein, ΔS is the real-time mileage deviation of the sinking pipe's tail end in the pipe section coordinate system, and ΔS2 is the real-time mileage deviation of the sinking pipe's tail end in the head end coordinate system;

[0093] ΔA is the real-time axis deviation of the sinking pipe's tail end in the pipe section coordinate system, and ΔA2 is the real-time axis deviation of the sinking pipe's tail end in the head end coordinate system;

[0094] The calculation method of the installation measurement data of the large curvature pipe section in this embodiment avoids the difficulties in measurement control caused by the curvature of the sinking pipe during the construction process, ensures the accuracy of the sinking pipe installation measurement and control, enables the control of the pulling and closing system, the anchor cable system, etc. to be visually displayed during the construction process, and greatly reduces the construction difficulty of the large curvature sinking pipe. According to the special requirements of the measurement and control and construction technology of the curved pipe section, the original straight pipe section algorithm is corrected and optimized to achieve precise measurement and control of the floating transportation and installation of the large curvature sinking pipe.

[0095] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and the key points of each embodiment are the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other.

[0096] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: still can modify the specific implementation manners of the present invention or perform equivalent replacements on some technical features; without departing from the spirit of the technical solutions of the present invention, they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. A calculation method for installation measurement data of large curvature pipe sections, characterized in that It includes the following steps: S1. Preparation of primary calibration data: Obtain the actual external dimensions of the pipe section based on the measurement data obtained from the primary calibration, and establish a pipe section coordinate system according to the relative position relationship of the characteristic point coordinates on the end face of the immersed tube, so as to obtain the data model of the entire immersed tube in the pipe section coordinate system; S2. Calculation of the installation parameters of the pipe section to be installed: According to the design drawings in the urban construction coordinate system, the coordinates of the center point of the top plate at the head end of the pipe section to be installed (X S , Y S , Z S ), the coordinates of the center point of the end top plate are (X W , Y W , Z W ). Considering the measured external dimensions of the immersed tube, the mileage and axis deviation of the installed pipe sections, and the designed GINA compression amount, determine the coordinates of the characteristic points of the actually positioned pipe section in the urban construction coordinate system. The anchor cable system controls the position and attitude of the pipe section according to the urban construction coordinates of the characteristic points; S3. Calculation of the real-time position deviation data of the immersed tube during the pulling and closing process: Establish a head-end coordinate system, with the head-end end face of the immersed tube as Y 首 , and the direction perpendicular to the head-end end face as X 首 , and the included angle between the head-end steel shell of the pipe joint and the X-axis of the pipe joint coordinate system is A, then: ΔS1 = ΔS cos A + ΔA sin A ΔA1 = -ΔS sin A + ΔA cos A Where, ΔS is the real-time mileage deviation of the head end of the immersed tube in the pipe section coordinate system, and ΔS1 is the real-time mileage deviation of the head end of the immersed tube in the head end coordinate system; ΔA is the real-time axis deviation of the head end of the immersed tube in the pipe section coordinate system, and ΔA1 is the real-time axis deviation of the head end of the immersed tube in the head end coordinate system; Similarly, it can be obtained that: ΔS2 = ΔS cos 2A + ΔA sin 2A ΔA2 = -ΔS sin 2A + ΔA cos 2A Where, ΔS is the real-time mileage deviation of the tail end of the immersed tube in the pipe section coordinate system, and ΔS2 is the real-time mileage deviation of the tail end of the immersed tube in the head end coordinate system; ΔA is the real-time axis deviation of the tail end of the immersed tube in the pipe section coordinate system, and ΔA2 is the real-time axis deviation of the tail end of the immersed tube in the head end coordinate system; Control the axis deviation of the pipe section during the pulling and closing process according to the ΔA1 and the ΔA2.

2. The calculation method for installation measurement data of large curvature pipe sections according to claim 1, characterized in that, In step S2, it is necessary to calculate the actual installation position coordinates (X1, Y1, Z1) of the center point of the top plate at the head end of the immersed tube: According to the designed azimuth angle α1 of the tail end of the installed pipe section given on the design drawings and the measured mileage deviation S1 of the tail end of the installed pipe section, calculate the actual tangent azimuth angle α2 of the tail end of the pipe section to be installed: α2 = α1 + 180×S1 / (πR) Where, R is the curvature radius of the pipe section in the curve section; The urban construction coordinates (X S , Y S , Z S ) of the center point of the top plate at the head of the immersed tube on the design drawing are pushed forward by the mileage deviation S1 and the GINA compression design value S2 to obtain the actual installation position coordinates (X1, Y1, Z1) of the center point of the top plate at the head of the immersed tube: X1 = Xs + (S1 + S2) cos α2 Y1 = Ys + (S1 + S2) sin α2 Z1 = Zs + (S1 + S2) tan β Where, β is the designed slope of the pipe section to be installed.

3. The calculation method for installation measurement data of large curvature pipe sections according to claim 2, characterized in that, In step S2, convert the coordinates of the head and tail end characteristic points of the immersed tube in the pipe section coordinate system to the urban construction coordinate system. In the urban construction coordinate system, the displacement amounts of each of the characteristic points in the X, Y, and Z directions are X1, Y1, and Z1 respectively, and the rotation angle is the designed azimuth angle α of the axis of the immersed tube to be installed; α = arctan[(Y w - Y s ) / (X w - X s )].

4. The calculation method for installation measurement data of large curvature pipe sections according to claim 1, characterized in that The coordinates (X t , Y t , Z t ) of the feature points in the pipe joint coordinate system are transformed as follows to obtain the urban construction coordinates (X T , Y T , Z T ): According to the coordinate rotation matrix, it can be simplified to obtain: X T = X t cosαcosβ + Y t sinα - Z t cosαsinβ Y T = X t sinαcosβ + Y t cosα + Z t sinαsinβ Z T = X t sinβ + Y t cosβ Thus, the installation design position coordinates corresponding to each of the said feature points in the urban construction coordinate system can be obtained, that is, the coordinates (X T , Y T , Z T ) in the urban construction coordinate system corresponding to each of the said feature points.

5. The calculation method for installation measurement data of large curvature pipe sections according to claim 4, characterized in that, Before step S3, it is necessary to prepare secondary calibration data for the immersed tube: Measure towers are installed at the head and tail ends of the immersed tube, and GPS positioning devices are installed on the measure towers. The total station measures and obtains the coordinates of the GPS positioning devices on the measure towers of the immersed tube in the pipe section coordinate system, and obtains the relative position relationship between the GPS positioning devices and the head and tail end faces of the pipe section.

6. The calculation method for installation measurement data of large curvature pipe sections according to claim 1, wherein In step S1, the origin of the pipe section coordinate system is located at the center point of the top of the head end of the immersed tube.

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