A three-dimensional posture measurement system for a pipe section of a immersed tube and a method thereof

Abstract

The present application relates to a kind of three-dimensional attitude measurement system and method of pipe section in water of immersed tube, the system includes the measuring tower installed on immersed tube tunnel pipe section, wherein, GNSS system is installed on the measuring tower, inertial navigation system is also installed on immersed tube tunnel pipe section, water level gauge is installed on the two sides of immersed tube tunnel pipe section, control point for calibrating the installation position of GNSS system is also provided on immersed tube tunnel pipe section, GNSS system, inertial navigation system and water level gauge are all connected to backstage and processed.Data is transmitted to backstage continuously and stably compared with prior art, and the attitude of pipe section during floating and sinking process can be accurately monitored, and manual total station is no longer needed for monitoring, and it is no longer limited by measurement distance and environmental factors, so that the three-dimensional attitude of pipe section in water can be efficiently and accurately obtained.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of immersed tube tunnel construction, and particularly relates to a three-dimensional attitude measurement system for an immersed tube segment in water and a method thereof. BACKGROUND

[0002] The immersed tube tunnel has advantages of adaptation to various hydrogeological conditions, shallow tunnel depth, high utilization rate of cross section, etc., and has developed rapidly in China's cross-sea and cross-river channel projects in recent years. However, the water environment is harsh, and there are many random factors, so that the movement of the immersed tube segment is greatly affected by environmental factors such as waves, water flow, climate, etc., that is, there are many influencing factors during the floating and sinking of the immersed tube segment, and the segment is easy to deviate from the planned route, which brings severe challenges to construction safety.

[0003] The floating and sinking of the immersed tube segment is one of the most critical processes in the entire construction process of the immersed tube tunnel, therefore, real-time precise measurement and monitoring of the position and attitude of the segment, and decision-making according to the movement of the segment, are essential for ensuring the stability of the segment's direction and accurate sinking and docking between segments. In the past engineering construction, the position and attitude of the segment were mostly monitored by manual total station, which has defects such as low efficiency, poor accuracy, limited measurement distance, and is easily affected by environmental factors such as climate and visibility, resulting in failure to accurately obtain the attitude data of the segment in water. SUMMARY

[0004] The present application relates to the technical field of immersed tube tunnel construction, and particularly relates to a three-dimensional attitude measurement system for an immersed tube segment in water and a method thereof.

[0005] The present application relates to the technical field of immersed tube tunnel construction, and particularly relates to a three-dimensional attitude measurement system for an immersed tube segment in water and a method thereof.

[0006] Further, the measuring tower comprises a main measuring tower and an auxiliary measuring tower installed at two ends of the immersed tube tunnel segment respectively.

[0007] Further, the top of the main measuring tower and the auxiliary measuring tower is provided with two GNSS systems.

[0008] Further, the horizontal distance between the inertial navigation system and the main measuring tower is within a set distance range.

[0009] Further, two water level gauges are installed on each side of the immersed tube tunnel segment.

[0010] Further, the GNSS system includes but is not limited to GPS system, GLONASS system, GALILEO system and Beidou satellite system.

[0011] Further, the inertial navigation system includes but is not limited to strapdown inertial navigation system, analytical inertial navigation system and semi-analytical inertial navigation system.

[0012] Further, the water level gauge includes but is not limited to float type water level gauge, optical fiber water level gauge, tracking type water level gauge, pressure type water level gauge and acoustic wave type water level gauge.

[0013] Further, the axis direction of the immersed tube tunnel segment is uniformly arranged with multiple groups of control points at equal intervals.

[0014] Further, the water level gauge adopts L-shaped structure: one section is designed and installed on the top surface side edge of the immersed tube tunnel segment with a strip, and the other section is designed with a semicircular sheet metal and fixed to the outside wall of the immersed tube tunnel segment by spot welding.

[0015] A method for measuring the three-dimensional attitude of an immersed tube segment in water, comprising the following steps:

[0016] S1, installing GNSS system, inertial navigation system and water level gauge at corresponding positions of each segment to be measured;

[0017] S2, calibrating the installation points, and the calibration content is the three-dimensional coordinate values of the installation points and the structural feature points of the segment in the same coordinate system;

[0018] S3, the GNSS system collects the position information of the immersed tube and transmits it to the background; the inertial navigation system collects the attitude information of the immersed tube and transmits it to the background; the water level gauge collects the freeboard value of the immersed tube and transmits it to the background;

[0019] S4, pre-establishing a three-dimensional model according to the design drawings, and verifying the three-dimensional model according to the actual situation on site;

[0020] S5, based on the field data of the immersed tube collected in step S3, driving the three-dimensional model to act, and calculating the coordinates of the adjacent segment joint points in the engineering coordinate system according to the conversion relationship between the engineering coordinate system and the segment coordinate.

[0021] Further, the conversion relationship between the engineering coordinate system and the segment coordinate in step S5 is constructed as follows:

[0022] S51. Establish a three-dimensional coordinate system for the immersed tube with the centroid of the immersed tube as the origin, the axial direction of the immersed tube as the X-axis, and the transverse direction of the immersed tube as the Y-axis.

[0023] S52. Measure the three-dimensional coordinates of each control point in the pipe section in the immersed tube three-dimensional coordinate system, wherein the control points include, but are not limited to, pipe section connection points and GNSS observation points;

[0024] S53. Based on the planar position of the pipe section measured by the GNSS system and the tilt angle of the pipe section measured by the inertial navigation system, establish the transformation relationship between the engineering coordinate system and the pipe section coordinates.

[0025] Furthermore, the specific process of step S53 is as follows:

[0026] Set the engineering coordinate system as (X) s ,Y s Z s The engineering coordinates corresponding to any two GNSS measurement points on the pipe section are P1(X). s1 ,Y s1 Z s1 ) and P2(X s2 ,Y s2 Z s2 );

[0027] Establish a pipe section coordinate system (X) with the centroid of the pipe section as the origin. c ,Y c Z c The coordinates of the pipe section corresponding to the two GNSS measurement points are P1(X). c1 ,Y c1 Z c1 ) and P2(X c2 ,Y c2 Z c2 The origin of the pipe section coordinate system corresponds to the engineering coordinate value (X). co ,Y co Z co The rotation angles (α, β, θ) obtained by the inertial navigation system based on the X, Y, and Z axes of the engineering coordinate system are translation coordinates. According to the coordinate transformation relationship:

[0028]

[0029] The engineering coordinates of the centroid of the pipe segment are obtained as follows:

[0030]

[0031] Where, r ij Let R(k) be the element in the i-th row and j-th column of the rotation matrix R in the transformation relationship between the pipe section coordinate system and the engineering coordinate system. R(ω) are the rotation matrices for rotation about the X, Y, and Z axes of the engineering coordinate system, respectively, as shown in the following equations:

[0032]

[0033]

[0034]

[0035] The overall rotation matrix is ​​as follows:

[0036]

[0037] The engineering coordinate value P1(X) corresponding to a GNSS measurement point. s1 ,Y s1 Z s1 ) and the corresponding pipe section coordinates P1(X) of this measurement point c1 ,Y c1 Z c1 Substituting the overall rotation matrix R into the formula for the engineering coordinates of the centroid of the pipe segment, the first engineering coordinate value of the centroid of the pipe segment can be obtained.

[0038] The engineering coordinates corresponding to another GNSS measurement point are P2(X). s2 ,Y s2 Z s2 ) and the corresponding pipe section coordinates P2(X) of this measurement point c2 ,Y c2 Z c2 Substituting the overall rotation matrix R into the formula for the engineering coordinates of the centroid of the pipe segment, the second engineering coordinates of the centroid of the pipe segment can be obtained.

[0039] The arithmetic mean of the first and second engineering coordinates of the centroid of the pipe segment is taken as the centroid coordinates of the pipe segment.

[0040] Furthermore, the calculation process for the coordinates of the docking points of adjacent pipe sections in the engineering coordinate system in step S5 is as follows:

[0041] The coordinates of a certain pipe section connection point in the pipe segment coordinate system are set to (X). c (k i ),Y c (k i ),Z c (k i The origin of the pipe section coordinate system is mapped to the engineering coordinate value (X). co ,Y co Z co ) and the coordinates of the docking point (X c (k i ),Y c (ki ),Z c (k i Substituting these values ​​into the transformation formula between the engineering coordinate system and the pipe section coordinate system, the coordinates (X, Y) of the control point in the engineering coordinate system can be obtained. s (k i ),Y s (k i ),Z s (k i ))for:

[0042]

[0043] Compared with existing technologies, this invention installs a measuring tower on the immersed tunnel segment, with a GNSS system and an inertial navigation system mounted on the tower. Water level gauges are also installed on both sides of the tunnel segment, and the GNSS system, inertial navigation system, and water level gauges are all connected to a backend system for data processing. This allows for accurate monitoring of the tunnel segment's attitude during floating and immersion, and continuous and stable transmission of monitoring data to the backend for processing. It eliminates the need for manual total station monitoring and is no longer limited by measurement distance or environmental factors, thus efficiently and accurately obtaining the three-dimensional attitude of the tunnel segment in the water.

[0044] This invention sets up a main measurement tower and a secondary measurement tower at both ends of the immersed tunnel segment, and installs two GNSS systems on each of the two measurement towers. The inertial navigation system is installed near the main measurement tower, and control points for calibrating the GNSS installation position are set on the segment. This can fully ensure the accuracy and comprehensiveness of the collected data information, which is conducive to obtaining reliable results through subsequent data fusion processing.

[0045] This invention pre-builds a three-dimensional model based on the design drawings and uses the final construction correction values ​​provided by the construction unit to correct the model, ensuring consistency between the dimensions and the actual model on site. By establishing the transformation relationship between the engineering coordinate system and the pipe segment coordinates, the coordinates of the adjacent joint docking points in the engineering coordinate system can be calculated, which can be used as the basis for pipe segment docking and can provide accurate and timely reference for construction operations. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the system structure of the present invention;

[0047] Figure 2 This is a schematic diagram of the method flow of the present invention;

[0048] Figure 3 This is a schematic diagram of the real-time status of the three-dimensional model of the pipe section in Example 1;

[0049] Figure 4 This is a schematic diagram of the pipe section coordinate system and the engineering coordinate system in Example 2;

[0050] Figure 5 This is a schematic diagram of the monitoring point layout for pipe section connection in Example 2;

[0051] The markings in the diagram are as follows: 1. Immersed tunnel segment, 2. Measurement tower, 3. GNSS system, 4. Inertial navigation system, 5. Control point, 6. Water level gauge. Detailed Implementation

[0052] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0053] A three-dimensional attitude measurement system for an immersed tunnel segment in water includes a measurement tower 2 installed on the immersed tunnel segment 1, a GNSS system 3 installed on the measurement tower 2, an inertial navigation system 4 installed on the immersed tunnel segment 1, water level gauges 6 installed on both sides of the immersed tunnel segment 1, and control points 5 for calibrating the installation position of the GNSS system 3 set on the immersed tunnel segment 1. The GNSS system 3, the inertial navigation system 4 and the water level gauges 6 are all connected to the backend for data processing.

[0054] The measuring tower 2 includes a main measuring tower and an auxiliary measuring tower installed at both ends of the immersed tunnel segment 1. Two GNSS systems 3 are installed on the top of both the main measuring tower and the auxiliary measuring tower. The inertial navigation system 4 is installed at the accessory position of the main measuring tower, and the horizontal distance between the system and the main measuring tower is within the set distance range.

[0055] Two water level gauges 6 are installed on both sides of the immersed tunnel section 1.

[0056] In practical applications, GNSS systems include, but are not limited to, GPS, GLONASS, GALILEO, and BeiDou satellite systems.

[0057] Inertial navigation systems 4 include, but are not limited to, strapdown inertial navigation systems, analytical inertial navigation systems, and semi-analytical inertial navigation systems;

[0058] Water level gauges include, but are not limited to, float-type water level gauges, fiber optic water level gauges, tracking water level gauges, pressure-type water level gauges, and acoustic water level gauges.

[0059] In addition, multiple control points 5 are evenly spaced along the axial direction of the immersed tunnel segment 1. The water level gauge 6 can adopt an L-shaped structure: one part is designed as a sheet metal strip and installed on the side edge of the top surface of the immersed tunnel segment 1, and the other part adopts a semi-circular sheet metal design and is fixed to the outer wall of the immersed tunnel segment 1 by spot welding.

[0060] The above system is used to realize a method for measuring the three-dimensional attitude of a submerged pipe section in water, such as... Figure 2 As shown, it includes the following steps:

[0061] S1. Install a GNSS system, an inertial navigation system, and a water level gauge at the corresponding positions of each pipe section to be measured;

[0062] S2. Calibrate the installation points. The calibration content includes the three-dimensional coordinate values ​​of the installation points and the structural feature points of the pipe sections in the same coordinate system.

[0063] The S3 and GNSS systems collect the location information of the immersed tunnel and transmit it to the backend; the inertial navigation system collects the attitude information of the immersed tunnel and transmits it to the backend; the water level gauge collects the freeboard value of the immersed tunnel and transmits it to the backend.

[0064] S4. Build a 3D model in advance based on the design drawings, and verify the 3D model according to the actual site conditions;

[0065] S5. Based on the immersed tunnel site data collected in step S3, drive the 3D model to move. According to the pre-built transformation relationship between the engineering coordinate system and the tunnel segment coordinates, calculate the coordinates of the docking points of adjacent tunnel segments in the engineering coordinate system. Specifically, the process of building the transformation relationship between the engineering coordinate system and the tunnel segment coordinates is as follows:

[0066] S51. Establish a three-dimensional coordinate system for the immersed tube with the centroid of the immersed tube as the origin, the axial direction of the immersed tube as the X-axis, and the transverse direction of the immersed tube as the Y-axis.

[0067] S52. Measure the three-dimensional coordinates of each control point in the pipe section in the immersed tube three-dimensional coordinate system, wherein the control points include, but are not limited to, pipe section connection points and GNSS observation points;

[0068] S53. Based on the pipe segment's planar position measured by the GNSS system and the pipe segment's tilt angle measured by the inertial navigation system, establish the transformation relationship between the engineering coordinate system and the pipe segment coordinate system—first, set the engineering coordinate system as (X... s ,Y s Z s The engineering coordinates corresponding to any two GNSS measurement points on the pipe section are P1(X). s1 ,Y s1 Z s1 ) and P2(X s2 ,Y s2 Z s2 );

[0069] Then, taking the centroid of the pipe segment as the origin, a pipe segment coordinate system (X) is established. c ,Y c Z c The coordinates of the pipe section corresponding to the two GNSS measurement points are P1(X). c1 ,Y c1 Z c1 ) and P2(X c2 ,Y c2 Z c2The origin of the pipe section coordinate system corresponds to the engineering coordinate value (X). co ,Y co Z co The rotation angles (α, β, θ) obtained by the inertial navigation system based on the X, Y, and Z axes of the engineering coordinate system are translation coordinates. According to the coordinate transformation relationship:

[0070]

[0071] The engineering coordinates of the centroid of the pipe segment are obtained as follows:

[0072]

[0073] Where, r ij Let R(k) be the element in the i-th row and j-th column of the rotation matrix R in the transformation relationship between the pipe section coordinate system and the engineering coordinate system. R(ω) are the rotation matrices for rotation about the X, Y, and Z axes of the engineering coordinate system, respectively, as shown in the following equations:

[0074]

[0075]

[0076]

[0077] The overall rotation matrix is ​​as follows:

[0078]

[0079] Then, the engineering coordinate value P1(X) corresponding to a GNSS measurement point is obtained. s1 ,Y s1 Z s1 ) and the corresponding pipe section coordinates P1(X) of this measurement point c1 ,Y c1 Z c1 Substituting the overall rotation matrix R into the formula for the engineering coordinates of the centroid of the pipe segment, the first engineering coordinate value of the centroid of the pipe segment can be obtained.

[0080] Then, the engineering coordinates P2(X) corresponding to another GNSS measurement point are... s2 ,Y s2 Z s2 ) and the corresponding pipe section coordinates P2(X) of this measurement point c2 ,Y c2 Z c2 Substituting the overall rotation matrix R into the formula for the engineering coordinates of the centroid of the pipe segment, the second engineering coordinates of the centroid of the pipe segment can be obtained.

[0081] Finally, the arithmetic mean of the first and second engineering coordinates of the centroid of the pipe segment is taken as the centroid coordinates of the pipe segment.

[0082] The specific process for calculating the coordinates of the connection point between adjacent pipe sections in the engineering coordinate system is as follows:

[0083] The coordinates of a certain pipe section connection point in the pipe segment coordinate system are set to (X). c (k i ),Y c (k i ),Z c (k i The origin of the pipe section coordinate system is mapped to the engineering coordinate value (X). co ,Y co Z co ) and the coordinates of the docking point (X c (k i ),Y c (k i ),Z c (k i Substituting these values ​​into the transformation formula between the engineering coordinate system and the pipe section coordinate system, the coordinates (X, Y) of the control point in the engineering coordinate system can be obtained. s (k i ),Y s (k i ),Z s (k i ))for:

[0084]

[0085] In summary, this technical solution mainly includes:

[0086] I. Immersed tunnel segment;

[0087] II. Measurement towers, installed on the immersed tunnel sections, including the main measurement tower and the auxiliary measurement tower;

[0088] III. GNSS system, which is installed on the measurement tower of the immersed tunnel segment;

[0089] IV. Inertial navigation system, installed near the main measurement tower on the immersed tunnel segment;

[0090] V. Control point, located on the immersed tunnel segment;

[0091] VI. Water level gauges, including those installed on both sides of the pipe section;

[0092] VII. High-precision total station, used for calibrating structural feature points and equipment installation points of pipe sections;

[0093] VIII. Data sources include the planar trajectory, attitude, and freeboard of the tunnel segments during the floating process; and the planar position, immersion depth, immersion status, and relationship with the preceding and following tunnel segments during the immersion and docking process.

[0094] IX. The three-dimensional model is constructed based on the precise drawings provided by the design unit. The three-dimensional model is built using software such as AutoCAD and SolidWorks, and the final construction correction values ​​provided by the construction unit are used to correct the three-dimensional model of the immersed tunnel.

[0095] X. Construction and transformation of the test coordinate system: Based on the data parameters of the position and attitude of the immersed tunnel segments during the immersion process, establish the transformation relationship between the engineering coordinate system and the segment coordinates.

[0096] X-1. Establish a three-dimensional coordinate system for the immersed tube, with the centroid of the immersed tube as the origin, the axial direction of the immersed tube as the X-axis, the horizontal direction of the immersed tube as the Y-axis, and the vertical direction as the Z-axis.

[0097] X-2. Use VII to accurately measure the three-dimensional coordinates of each control point (segment connection point, GNSS observation point, control points in other parts, etc.) in the immersed tunnel coordinate system.

[0098] X-3. Based on the pipe section plane position measured by III and the pipe section inclination angle measured by IV, establish the transformation relationship between the engineering coordinate system and the pipe section coordinates.

[0099] X-4. Based on the transformation relationship between the engineering coordinate system and the pipe section coordinate system, calculate the coordinates of the docking points of adjacent pipe sections in the engineering coordinate system, which will serve as the basis for pipe section docking.

[0100] The process of X-3 is as follows:

[0101] The engineering coordinate system is (X s ,Y s Z s The engineering coordinates corresponding to any two III measurement points on the pipe section are P1(X). s1 ,Y s1 Z s1 ) and P2(X s2 ,Y s2 Z s2 Taking the centroid of the pipe segment as the origin, establish a pipe segment coordinate system (X). c ,Y c Z c The coordinates of the pipe section corresponding to the two III measurement points are P1(X). c1 ,Y c1 Z c1 ) and P2(X c2 ,Y c2 Zc2 The engineering coordinate value corresponding to the origin of the pipe section coordinate system is (X). co ,Y co Z co The rotation angles (α, β, θ) obtained by IV based on the X, Y, and Z axes of the engineering coordinate system are the translation coordinates. According to the coordinate transformation relationship:

[0102]

[0103] The engineering coordinates of the centroid of the pipe segment are:

[0104]

[0105] In the formula, r ij R(k) represents the element in row i and column j of the rotation matrix R in the transformation relationship between the pipe section coordinate system and the engineering coordinate system. R(ω) are the rotation matrices for rotation about the X, Y, and Z axes of the engineering coordinate system, respectively, as shown in the following equations:

[0106]

[0107]

[0108]

[0109] The overall rotation matrix is ​​as follows:

[0110]

[0111] The engineering coordinate value P1(X) corresponding to measurement point III is... s1 ,Y s1 Z s1 ) and the corresponding pipe section coordinates P1(X) of this measurement point c1 ,Y c1 Z c1 Substituting the overall rotation matrix R into the formula for the engineering coordinates of the pipe segment centroid, the engineering coordinates of the pipe segment centroid can be obtained. The engineering coordinates P2(X) corresponding to another measurement point III can then be used to calculate the centroid's coordinates. s2 ,Y s2 Z s2 ) and the corresponding pipe section coordinates P2(X) of this measurement point c2 ,Y c2 Z c2 The engineering coordinates of the pipe segment centroid can be obtained by substituting the overall rotation matrix R into the formula for the engineering coordinates of the pipe segment centroid. To improve the accuracy and reliability of monitoring calculations, the arithmetic mean of the two calculation results is taken as the coordinates of the pipe segment centroid.

[0112] The process of X-4 is as follows:

[0113] Let the coordinates of a certain pipe section connection point in the pipe section coordinate system be (X... c (k i ),Y c (k i ),Z c (k i )), the result of X-3 is (X co ,Y co Z co ) and docking point coordinates (X ck ,Y ck Z ck Substituting the values ​​into the transformation formula between the engineering coordinate system and the pipe section coordinate system, the coordinates (X, Y) of the control point in the engineering coordinate system can be obtained. s (k i ),Y s (k i ),Z s (k i )), as shown in the following formula:

[0114]

[0115] Example 1

[0116] In this embodiment, the GNSS system adopts the GPS system, and the inertial navigation system adopts the tilt measurement sensor system, which is used to describe the floating process of the immersed tube.

[0117] The GPS system uses RTK positioning mode for the pipe section's horizontal positioning and GPS-fitted elevation for the vertical positioning. To accurately transfer the horizontal coordinates and elevation from the GPS antenna center to each control point on the pipe section, calibration of the installation points is necessary. To ensure a calibration accuracy of no less than 5mm, a high-precision total station is used to calibrate the three-dimensional coordinates of the installation points and structural feature points (mainly the corner points at the ends) of the pipe section in the same coordinate system before the pipe section is pushed into the water.

[0118] Control points are arranged in three rows along the axis of the pipe section, with three points in each row. The three control points at the center are steel markers with forced centering marks, while the remaining control points are fixed to the top of the pipe using standard prism rod mounting bases, all secured by spot welding around the perimeter. The control points are used not only as GPS stations during the pipe section's floating process but also for calibrating the GPS installation points on the survey tower during the sinking process.

[0119] The water level gauges are installed on both sides of the pipe section, with a total of 4 installation points. The pre-installation positions are determined during the joint design and construction phase, and the pre-installation components are installed and the three-dimensional coordinates of the points are measured before the pipe section is prefabricated and pushed into the water.

[0120] Before floating, the GPS system is calibrated on the surveying tower and compared with the actual values. The horizontal discrepancy should be ≤3cm, and the elevation discrepancy should be ≤6cm. The tilt measurement sensor system is checked on a horizontal plate. The GPS system is checked in the dry dock and compared with the depth measurement using a steel tape. The depth measurement discrepancy should be ≤1cm. After calibration, the status of the measurement system, communication system, network database system, software system, and integrated system are debugged and checked as required.

[0121] Then, technical, safety, and civilized construction briefings are conducted.

[0122] Before the floating installation vessel anchors, inspections are conducted, and the measurement, communication, database, and software systems are operational. At this point, the real-time status of the tunnel section's 3D model is displayed on the screen. Figure 3 As shown, before the installation vessel weighs anchor, the staff checks whether each system is functioning properly. Key checks include: the current number of valid satellites, the number of valid satellites in the survey area within the next 12 hours according to the ephemeris, GPS station coordinates; the logical consistency between the 3D model of the tunnel section and the surrounding terrain; the logical rationality of the tunnel section coordinates; the logical consistency between the tunnel section model and the warning line; the logical rationality of the tunnel section attitude; the transmission rate and stability of the communication system; the normality of the input and output of the database system; the effectiveness and stability of the software-controlled measurement system; and the immediacy, smoothness, and stability of the software in receiving data, processing, modeling, and displaying results.

[0123] The measurement team monitors and predicts the number of satellites and the stability of the signals, and prepares for emergency recovery in case of failure. The person in charge analyzes and judges whether the position and attitude of the pipe section are within the safe range based on the monitoring results, and responds to the problems and potential problems to ensure the smooth progress of the monitoring work.

[0124] The pipe section was floated to the designated location, and the floating and monitoring work was completed after the installation vessel anchored and stabilized.

[0125] Example 2

[0126] This embodiment describes the process of laying the pipe section. The horizontal positioning, elevation measurement equipment and installation point positioning of the pipe section in this embodiment are the same as in Embodiment 1, so they will not be repeated here.

[0127] In this embodiment, GNSS RTK technology is used to measure and convert the angle of the pipe section to the engineering coordinate system in real time. An attitude sensor is used to collect the tilt angle of the pipe section in real time, and a three-dimensional model is built based on the observation data. Finally, the coordinates of the docking point in the engineering coordinate system are calculated as the basis for pipe section docking. Specifically:

[0128] like Figure 4 As shown, the nominal dimensions of the pipe section are [L,D,h], and the engineering coordinate system is (X... s ,Ys Z s ), taking the centroid of the pipe segment as the origin, establish the pipe segment coordinate system (X). c ,Y c Z c The origin of the pipe section coordinate system corresponds to the engineering coordinate value (X). co ,Y co Z co Let the height of GPS-1 from the top surface of the pipe section be H1, corresponding to the engineering coordinates P1(X). s1 ,Y s1 Z s1 The corresponding pipe segment coordinates are P1(X). c1 ,Y c1 Z c1 ), that is, P1(X c1 ,Y c1 Let H2 be the height of GPS-2 from the top surface of the pipe section, and its corresponding engineering coordinate be P2(X). s2 ,Y s2 Z s2 The corresponding pipe segment coordinates are P2(X). c2 ,Y c2 Z c2 That is, P2(X) c2 ,Y c2 The rotation angles obtained by the inertial navigation system based on the X, Y, and Z axes of the coordinate system are (α, β, θ). According to the coordinate transformation relationship:

[0129]

[0130] The engineering coordinates of the centroid of the pipe segment are:

[0131]

[0132] In the formula, r ij R(k) represents the element in row i and column j of the rotation matrix R in the transformation relationship between the pipe section coordinate system and the engineering coordinate system. R(ω) are the rotation matrices for rotation about the X, Y, and Z axes of the engineering coordinate system, respectively, as shown in the following equations:

[0133]

[0134]

[0135]

[0136] The overall rotation matrix is ​​as follows:

[0137]

[0138]

[0139] The engineering coordinates P1(X) corresponding to the GPS-1 measurement point are... s1 ,Y s1 Z s1 The coordinates of the pipe section corresponding to the GPS-1 measurement point P1(X) c1 ,Y c1 Z c1 Substituting the overall rotation matrix R into the formula for the engineering coordinates of the centroid of the pipe segment, the engineering coordinates P′0(X′) of the centroid of the pipe segment can be obtained. co ,Y′ co ,Z′ co ), where X′ co Y′ co Z′ co The solution is as follows:

[0140]

[0141]

[0142]

[0143] The engineering coordinates P2(X) corresponding to the GPS-2 measurement points are... s2 ,Y s2 Z s2 The coordinates of the pipe section corresponding to the GPS-2 measurement point P2(X) c2 ,Y c2 Z c2 Substituting the overall rotation matrix R into the formula for the engineering coordinates of the centroid of the pipe segment, the engineering coordinates P″ of the centroid of the pipe segment can be obtained. o (X″ co ,Y″ co ,Z″ co ), where X″ co 、Y″ co Z″ co The solution is as follows:

[0144]

[0145]

[0146]

[0147] To improve the accuracy and reliability of monitoring calculations, the arithmetic mean of the two calculation results is taken as the centroid coordinate value P of the pipe segment. o (X co ,Y co Z co ), X co Yco Z co The solutions are as follows:

[0148]

[0149]

[0150]

[0151] like Figure 5 As shown, to achieve precise pipe segment connection, four control points are selected on the end face of the pipe segment. The coordinate values ​​of each control point in the pipe segment coordinate system are k1(L / 2,D / 2,0), k2(L / 2,0,h / 2), k3(L / 2,-D / 2,0), and k4(L / 2,0,-h / 2).

[0152] The above calculation obtained (X) co ,Y co Z co Substituting the coordinate translation values ​​into the transformation relationship between the engineering coordinate system and the pipe section coordinate system, the coordinate values ​​of each control point corresponding to the engineering coordinates can be calculated using the following formulas.

[0153]

[0154] Control point k1 in the engineering coordinate system X s (k1), Y s (k1), Z s (k1) are respectively:

[0155]

[0156]

[0157]

[0158] Control point k2 in the engineering coordinate system X s (k2), Y s (k2), Z s (k2) are respectively:

[0159]

[0160]

[0161]

[0162] Control point k3 in the engineering coordinate system X s (k3), Y s (k3), Z s (k3) are respectively:

[0163]

[0164]

[0165]

[0166] Control point k4 in the engineering coordinate system X s (k4), Y s (k4), Z s (k4) are respectively:

[0167]

[0168]

[0169]

[0170] After the pipe sections are connected, the coordinates of key points are verified, and the settlement and displacement of the immersed pipe are monitored.

[0171] Therefore, by setting up a GNSS system and an inertial navigation system, this technical solution can accurately and in real time locate the actual attitude of the pipe segment. The accuracy of the GNSS system and the inertial navigation system can ensure that the actual collected data is correct.

[0172] This technical solution features model integrity and scalability. The 3D model of the pipe section is constructed using precise drawings provided by the design unit and corrected with the final construction correction values ​​provided by the construction unit to ensure consistency between the dimensions and the actual model on site. The 3D model can then be combined with rendering software for scene rendering and enhancement. The software reads the model into the configuration file and visualizes it. Furthermore, the output results can be presented graphically, providing clear and intuitive results. Real-time calculations and output of data such as docking distances are also possible, offering excellent intuitiveness and allowing users to promptly and accurately obtain the current status of the pipe section, providing reliable reference information.

Claims

1. A method for measuring the three-dimensional attitude of a submerged pipe section in water, applied to a three-dimensional attitude measurement system for a submerged pipe section in water, characterized in that, The system includes a measuring tower (2) installed on the immersed tunnel section (1), a GNSS system (3) installed on the measuring tower (2), an inertial navigation system (4) installed on the immersed tunnel section (1), water level gauges (6) installed on both sides of the immersed tunnel section (1), and control points (5) for calibrating the installation position of the GNSS system (3) set on the immersed tunnel section (1). The GNSS system (3), the inertial navigation system (4) and the water level gauges (6) are all connected to the background for data processing. The measurement method implemented using the above system includes the following steps: S1. Install a GNSS system, an inertial navigation system, and a water level gauge at the corresponding positions of each pipe section to be measured; S2. Calibrate the installation points. The calibration content includes the three-dimensional coordinate values ​​of the installation points and the structural feature points of the pipe sections in the same coordinate system. The S3 and GNSS systems collect the location information of the immersed tunnel and transmit it to the backend; the inertial navigation system collects the attitude information of the immersed tunnel and transmits it to the backend; the water level gauge collects the freeboard value of the immersed tunnel and transmits it to the backend. S4. Build a 3D model in advance based on the design drawings, and verify the 3D model according to the actual site conditions; S5. Based on the immersed tunnel field data collected in step S3, drive the three-dimensional model to move, and calculate the coordinates of the docking point of adjacent tunnel sections in the engineering coordinate system according to the transformation relationship between the pre-built engineering coordinate system and the tunnel section coordinates. The process of constructing the transformation relationship between the engineering coordinate system and the pipe section coordinate system in step S5 is as follows: S51. Establish a three-dimensional coordinate system for the immersed tube with the centroid of the immersed tube as the origin, the axial direction of the immersed tube as the X-axis, and the transverse direction of the immersed tube as the Y-axis. S52. Measure the three-dimensional coordinates of each control point in the pipe section in the immersed tube three-dimensional coordinate system, where the control points include pipe section connection points and GNSS observation points; S53. Based on the planar position of the pipe section measured by the GNSS system and the tilt angle of the pipe section measured by the inertial navigation system, establish the transformation relationship between the engineering coordinate system and the pipe section coordinates. The specific process of step S53 is as follows: Set the engineering coordinate system as ( X s , Y s , Z s The engineering coordinates corresponding to any two GNSS measurement points on the pipe section are: P 1( X s1 , Y s1 , Z s1 )and P 2( X s2 , Y s2 , Z s2 ); Establish a pipe section coordinate system by taking the centroid of the pipe section as the origin. X c , Y c , Z c The coordinates of the pipe sections corresponding to the two GNSS measurement points are: P 1( X c1 , Y c1 , Z c1 )and P 2( X c2 , Y c2 , Z c2 The origin of the pipe section coordinate system corresponds to the engineering coordinate value of (). X co , Y co , Z co ), that is, translation coordinates. The rotation angles obtained by the inertial navigation system based on the X, Y, and Z axes of the engineering coordinate system are ( , , ), that is, rotating coordinates, according to the coordinate transformation relationship: The engineering coordinates of the centroid of the pipe segment are obtained as follows: in, r ij The rotation matrix in the transformation relationship between the pipe section coordinate system and the engineering coordinate system R The i OK j Column elements, , , The rotation matrices for rotation about the X-axis, Y-axis, and Z-axis of the engineering coordinate system are shown in the following equations: The overall rotation matrix is ​​as follows: Map the engineering coordinates of a GNSS measurement point P 1( X s1 , Y s1 , Z s1 ) and the coordinates of the pipe section corresponding to this measurement point P 1( X c1 , Y c1 , Z c1 and the overall rotation matrix R Substituting these values ​​into the formula for the engineering coordinates of the centroid of the pipe segment, the first engineering coordinate value of the centroid of the pipe segment can be obtained. The engineering coordinates of another GNSS measurement point P 2( X s2 , Y s2 , Z s2 ) and the coordinates of the pipe section corresponding to this measurement point P 2( X c2 , Y c2 , Z c2 and the overall rotation matrix R Substituting these values ​​into the formula for the engineering coordinates of the centroid of the pipe segment, the second engineering coordinate value of the centroid of the pipe segment can be obtained. The arithmetic mean of the first and second engineering coordinates of the centroid of the pipe segment is taken as the centroid coordinates of the pipe segment. The calculation process for the coordinates of the docking points of adjacent pipe sections in the engineering coordinate system in step S5 is as follows: The coordinates of a certain pipe section connection point in the pipe segment coordinate system are set to ( ). X c ( k i ), Y c ( k i ), Z c ( k i The origin of the pipe section coordinate system is mapped to the engineering coordinate value as ( X co , Y co , Z co ) and the coordinates of the docking point ( X c ( k i ), Y c ( k i ), Z c ( k i By substituting these values ​​into the transformation formula between the engineering coordinate system and the pipe section coordinate system, the coordinates of the connection point between adjacent pipe sections in the engineering coordinate system can be obtained. X s ( k i ), Y s ( k i ), Z s ( k i ))for: 。 2. The method for measuring the three-dimensional attitude of a submerged pipe section in water according to claim 1, characterized in that, The measuring tower (2) includes a main measuring tower and a secondary measuring tower installed at both ends of the immersed tunnel section (1), and two GNSS systems (3) are installed on the top of both the main measuring tower and the secondary measuring tower.

3. The method for measuring the three-dimensional attitude of a submerged pipe section in water according to claim 2, characterized in that, The horizontal distance between the inertial navigation system (4) and the main measuring tower is within the set distance range.

4. The method for measuring the three-dimensional attitude of a submerged pipe section in water according to claim 1, characterized in that, Two water level gauges (6) are installed on both sides of the immersed tunnel section (1). The water level gauges (6) include float-type water level gauges, fiber optic water level gauges, tracking water level gauges, pressure-type water level gauges, or acoustic water level gauges. The water level gauge (6) adopts an L-shaped structure: one section is designed with sheet metal and installed on the top side edge of the immersed tunnel section (1), and the other section adopts a semi-circular sheet metal design and is fixed to the outer wall of the immersed tunnel section (1) by spot welding.

5. The method for measuring the three-dimensional attitude of a submerged pipe section in water according to claim 1, characterized in that, The GNSS system (3) includes GPS system, GLONASS system, GALILEO system or BeiDou satellite system; The inertial navigation system (4) includes a strapdown inertial navigation system, an analytical inertial navigation system, or a semi-analytical inertial navigation system.

6. The method for measuring the three-dimensional attitude of a submerged pipe section in water according to claim 1, characterized in that, Multiple control points (5) are evenly arranged at equal intervals along the axial direction of the immersed tunnel segment (1).

Images