An indoor model test system and test method for immersed tube tunnel construction process

Abstract

The application relates to an indoor model test system and a test method for a pipe tunnel construction process, the system comprising a to-be-sunk pipe section model, a sunk pipe section model, a GNSS antenna head, GNSS fixing equipment, an inertial navigator and a crane; the method comprising the following steps: constructing a three-dimensional model of the to-be-sunk pipe section model; performing test test before the test; in the test process, the to-be-sunk pipe section model is lifted by the crane, the posture of the pipe section model and the construction process are simulated, and data are collected in real time through the GNSS antenna head and the inertial navigator; and data analysis and precision analysis are performed on the collected data in the simulation experiment process. Compared with the prior art, the application can realize dynamic simulation of the posture of the pipe section in the pipe section floating and sinking process, can collect relevant three-dimensional data, and can realize simulation of the position and posture of the whole pipe section.

Description

Technical Field

[0001] This invention relates to the field of immersed tunnel construction technology, and in particular to an indoor model test system and testing method for the immersed tunnel construction process. Background Technology

[0002] With technological advancements and to meet the needs of people's production and daily life, immersed tunnels are widely used in water transportation. The immersed tunnel method involves fabricating tunnel sections in a dry dock, then floating them to a designated location by tugboats. These sections are then lowered into a foundation trench using ballast tanks and joined with adjacent sections in the water to form a unified structure. The floating and lowering of the tunnel sections is the most critical step in the entire tunnel construction process. Under conditions of waves, currents, and wind, the tunnel sections are highly susceptible to movement, leading to deviations from the towing route and difficulties in precise docking.

[0003] Real-time monitoring of the position and attitude of the tunnel segments and timely control of their movement are crucial for the smooth construction of immersed tunnels. In previous projects, manual total stations were commonly used for monitoring. This method is highly susceptible to distance limitations and often suffers from large errors and low accuracy, especially in the construction of ultra-large immersed tunnels. With the development of digital twin technology, real-time visualization modeling software has been developed based on the physical model of the tunnel segments, the segment positioning and attitude measurement system, and operational data. This software displays various indicators of the tunnel segments during floating and immersion on the interface, offering excellent intuitiveness. However, there are still significant gaps in the methods for testing the accuracy of this monitoring system. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects of the prior art by providing an indoor model test system and testing method for the construction process of immersed tunnels. This system can realize the dynamic simulation of arbitrary postures of tunnel sections during floating and immersion, and can collect relevant three-dimensional data to simulate the overall position and posture of the tunnel sections.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] An indoor model test system for immersed tunnel construction includes a model of a tunnel section to be immersed, a model of a tunnel section already immersed, a GNSS antenna head, a GNSS fixing device, an inertial navigation system, and a crane. The model of the tunnel section already immersed is located on one side of the model of the tunnel section to be immersed. There are multiple GNSS antenna heads, each of which is fixed to the model of the tunnel section to be immersed by a corresponding GNSS fixing device. The inertial navigation system is installed at the centroid of the inner plane of the top plate of the model of the tunnel section to be immersed. The crane is connected to the model of the tunnel section to be immersed by ropes.

[0007] Furthermore, the size of the submerged tunnel segment model is matched with that of the tunnel segment model to be submerged. Both the submerged tunnel segment model and the tunnel segment model to be submerged have docking points at their ends. The submerged tunnel segment model is located at the docking end of the tunnel segment model to be submerged. The plurality of GNSS antenna heads include a first GNSS antenna head, a second GNSS antenna head, and a third GNSS antenna head. The first GNSS antenna head and the second GNSS antenna head are respectively located on both sides of the docking end of the tunnel segment model to be submerged, and the third GNSS antenna head is located at the tail of the tunnel segment model to be submerged.

[0008] Furthermore, the system also includes a total station and a processor. The total station is positioned facing the model of the tunnel segment to be submerged, and the processor is connected to the total station, the inertial navigation system, and each GNSS antenna head.

[0009] Furthermore, the model of the tunnel section to be submerged includes, but is not limited to, at least one of the following: a container, a steel-shell concrete model box, and a reinforced concrete model box;

[0010] The submerged tunnel section model includes, but is not limited to, at least one of the following: steel frame, container, steel-shell concrete model box, and reinforced concrete model box;

[0011] The GNSS fixed equipment includes, but is not limited to, at least one of the following: angle steel, channel steel, and concrete column;

[0012] The GNSS antenna head includes, but is not limited to, at least one of the following: GPS system, GLONASS system, GALILEO system, and BeiDou satellite system;

[0013] The inertial navigation system includes, but is not limited to, at least one of the following: strapdown inertial navigation system, analytical inertial navigation system, and semi-analytical inertial navigation system.

[0014] The present invention also provides a testing method for an indoor model test system for the construction process of an immersed tunnel as described above, comprising the following steps:

[0015] Construct a three-dimensional model of the tunnel segment to be submerged;

[0016] Conduct tests before the experiment;

[0017] During the test, a crane was used to lift the model of the pipe section to be sunk, and the attitude of the pipe section model and the construction process were simulated. Data was collected in real time through the GNSS antenna head and inertial navigation system.

[0018] Data analysis and accuracy analysis were performed on the data collected during the simulation experiment.

[0019] Furthermore, the experimental testing process conducted before the experiment includes 3D model testing, network database testing, and model driver testing;

[0020] The process of testing the 3D model includes:

[0021] The difference between the dimensions of the immersed tunnel segment in the 3D model and the actual dimensions of the immersed tunnel segment was tested.

[0022] Test the positional differences between the reference point in the 3D model and the corresponding point in the field.

[0023] The test investigated the difference between the distance between the dock entrance and the opposite bank in the 3D model and the actual distance.

[0024] The process of testing the network database includes:

[0025] Test whether the client can upload local data to the control center database via a 4G network connection;

[0026] When testing 4G network instability, can the measurement data still be guaranteed to be intact and ultimately uploaded to the control center database?

[0027] The test was conducted to determine whether the data transmission latency could be controlled within 3 seconds under normal 4G network connectivity.

[0028] The process of testing the model driver includes:

[0029] Start the measurement data service program, enable the 4G network connection on the client and start the measurement agent program, simulate the measurement program to insert GPS and inertial navigation system data into the local database, check whether the central database has received the data and start the client.

[0030] Enable real-time mode and connect to the database;

[0031] Check if the pipe segment attitude displayed in the client has changed due to the acquisition of new data;

[0032] Compare the posture of the immersed tunnel segment with that of the construction site to check whether the posture of the driven segment is consistent with that of the tunnel segment.

[0033] Furthermore, the method for simulating the posture of the pipe segment model and the construction process includes:

[0034] The movement of the pipe segment model is specifically as follows: a crane is used to lift the pipe segment model to be submerged and move it to any set simulation position, and place it in place; during this process, the movement of the pipe segment model to be submerged can be in at least one of the following ways: swaying, swaying, heaving, and yawing.

[0035] The simulation of the pipe segment's attitude and position involves: using a crane to lift the model of the pipe segment to be submerged on one side and then raising it to simulate its corresponding position and attitude.

[0036] The simulation of the position and attitude of the floating process of the pipe section is as follows: after the model of the pipe section to be submerged is lifted by one side by a crane, it moves in a straight line and a curve according to the set running route and speed.

[0037] Furthermore, the data acquisition process via the GNSS antenna head and inertial navigation system includes initial data acquisition and experimental data acquisition.

[0038] The initial data acquisition includes using a total station to measure the three-dimensional engineering coordinates of each docking point on the model of the tunnel section to be submerged, measuring the geometric position dimensions of each docking point on the model of the tunnel section to be submerged, and measuring the outer contour dimensions of the model of the tunnel section to be submerged.

[0039] The data collection during the experiment includes:

[0040] During the floating process, the coordinate values ​​of each GNSS antenna head and the inertial navigation attitude values ​​of the inertial navigation system are collected and stored.

[0041] During the sinking and docking process, the coordinate values ​​of each GNSS antenna head and the inertial navigation attitude values ​​of the inertial navigation system are collected and stored. The 3D engineering coordinate values ​​of each docking point on the model of the tunnel section to be sunk are directly measured using the GNSS antenna head.

[0042] Furthermore, the data analysis performed on the data collected during the simulation experiment included: analyzing the accuracy and stability of the readings of each GNSS antenna head and inertial navigation system under different pipe segment attitudes; these different pipe segment attitudes included:

[0043] The model of the tunnel section to be submerged is horizontally aligned with the fixed end.

[0044] The model of the tunnel section to be submerged is docked in a diving motion.

[0045] The model of the tunnel section to be submerged is docked in a forward-tilting manner;

[0046] The tunnel section model is docked while in a horizontal rolling state.

[0047] The tunnel section model was docked under pitching conditions.

[0048] Furthermore, the accuracy analysis of the data collected during the simulation experiment includes:

[0049] The analysis included errors in control point coordinates and elevation, measurement errors in immersed tube feature points, GNSS RTK positioning, attitude angle measurement, and errors in the transformation between the immersed tube coordinate system and the engineering coordinate system.

[0050] The process of transforming the immersed tube coordinate system and the engineering coordinate system includes:

[0051] Establish the engineering coordinate system as (X s ,Y s Zs ), 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 ); Arbitrarily select two GNSS antenna head measurement points corresponding to the engineering coordinates as P1(X); s1 ,Y s1 Z s1 ) and P2(X s2 ,Y s2 Z s2 The corresponding pipe segment coordinates are P1(X). c1 ,Y c1 Z c1 ) and P2(X c2 ,Y c2 Z c2 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 obtained.

[0052] Based on coordinate transformation relationships:

[0053]

[0054] The engineering coordinates converted to the centroid of the pipe segment are:

[0055]

[0056] In the formula, r ij Let R(k) be the element in row i and column j of the rotation matrix R. R(ω) are the rotation matrices for rotation about the X-axis, Y-axis, and Z-axis of the engineering coordinate system, respectively, as shown in the following equations:

[0057]

[0058]

[0059] The overall rotation matrix obtained by the inertial navigation system is:

[0060]

[0061] P1(X) s1 ,Y s1 Z s1 ) and P1(X c1 ,Y c1 Z c1Substituting 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 other measurement point P2(X) s2 ,Y s2 Z s2 ) and P2(X c2 ,Y c2 Z c2 The engineering coordinates of the centroid of the pipe segment can be obtained by substituting the overall rotation matrix R into the formula for the engineering coordinates of the centroid of the pipe segment.

[0062] Take the arithmetic mean of the two calculation results as the centroid coordinates (X) of the pipe segment. co ,Y co Z co Therefore, a certain control point (X) c (k i ),Y c (k i ),Z c (k i and the obtained (X) co ,Y co Z co Substituting the coordinates into the transformation relationship between the pipe section coordinate system and the engineering coordinate system, the (X) coordinates of the control points can be obtained. s (k i ),Y s (k i ),Z s (k i This completes the conversion between the immersed tube coordinate system and the engineering coordinate system.

[0063] Compared with the prior art, the present invention has the following advantages:

[0064] (1) This invention uses a crane to lift the model box and move it to any set position, which can realize the dynamic simulation of the arbitrary posture of the pipe section during the floating and sinking process; by using an inertial navigation instrument installed on the inner side of the top plate of the model container, the tilt angle of the pipe section under different postures can be measured; by using multiple GNSS antenna heads set on the pipe section, the position of the pipe section can be measured during the test, and the three-dimensional posture of the pipe section can be obtained by combining the position and tilt angle; thus, the switching test of different postures of the pipe section and the data acquisition of three-dimensional posture can be realized as a whole, which can more conveniently carry out indoor model tests of the immersed tunnel construction process.

[0065] (2) By comparing continuous readings at the same time and over a long period of time during the construction of immersed tunnels, this invention can detect the stability and accuracy of GNSS and inertial navigation system data of the physical model and the three-dimensional model.

[0066] (3) By analyzing the GNSS and inertial navigation system data collected from the three-dimensional model and the physical model of the monitoring system, this invention can verify the effectiveness and stability of network transmission.

[0067] (4) This invention constructs a three-dimensional numerical model and a physical model of the pipe section, conducts tests and data collection, and performs accuracy analysis using data from the sinking process as an example. By comparing the data from the physical model and the numerical model of the pipe section, the accuracy of the pipe section construction process monitoring system can be verified, providing a basis for subsequent engineering applications. Attached Figure Description

[0068] Figure 1 This is a schematic diagram of the structure of an indoor model test system for the construction process of an immersed tunnel provided in an embodiment of the present invention;

[0069] Figure 2 This is a schematic diagram of a model box structure and equipment layout provided in an embodiment of the present invention;

[0070] Figure 3 This is a schematic diagram of a simulated docking point number and its initial position provided in an embodiment of the present invention;

[0071] Figure 4 This is a schematic diagram of a field testing device provided in an embodiment of the present invention;

[0072] Figure 5 This is a schematic diagram of a model pitch simulation state provided in an embodiment of the present invention;

[0073] Figure 6 This is a schematic diagram of manual measurement data collection for docking point distance provided in an embodiment of the present invention;

[0074] In the figure, 1. Model of the tunnel section to be submerged, 2. Model of the submerged tunnel section, 3. GNSS fixed equipment, 4. GNSS antenna head, 5. Inertial navigation instrument. Detailed Implementation

[0075] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0076] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0077] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0078] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0079] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0080] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but can be slightly tilted.

[0081] Example 1

[0082] like Figure 1 As shown, this embodiment provides an indoor model test system for the construction process of immersed tunnels, including a tunnel section model 1 to be immersed, a tunnel section model 2 already immersed, a GNSS antenna head 4, a GNSS fixing device 3, an inertial navigation device 5, and a crane. The tunnel section model 2 already immersed is located on one side of the tunnel section model 1 to be immersed. There are multiple GNSS antenna heads 4, and each GNSS antenna head 4 is fixed to the tunnel section model 1 to be immersed by a corresponding GNSS fixing device 3. The inertial navigation device 5 is installed at the centroid position of the inner side plane of the top plate of the tunnel section model 1 to be immersed. The crane is connected to the tunnel section model 1 to be immersed by ropes.

[0083] The size of the submerged tunnel segment model 2 is matched with that of the tunnel segment model 1 to be submerged. The submerged tunnel segment model 2 is located at the docking end of the tunnel segment model 1 to be submerged. The docking areas of both the tunnel segment model 1 to be submerged and the submerged tunnel segment model 2 have multiple docking points. The system also includes a total station and a processor. The total station is facing the tunnel segment model 1 to be submerged and can measure the three-dimensional engineering coordinate values ​​of each docking point on the tunnel segment model 1 to be submerged, which is convenient for data calibration. The processor is connected to the total station, the inertial navigation instrument 5 and each GNSS antenna head 4 respectively, and can collect relevant data during the actual test.

[0084] The number of GNSS antenna heads 4 is preferably at least three, namely, a first GNSS antenna head, a second GNSS antenna head and a third GNSS antenna head. The first GNSS antenna head and the second GNSS antenna head are located on both sides of the docking end of the tunnel section model 1 to be submerged, respectively, and the third GNSS antenna head is located at the tail of the tunnel section model 1 to be submerged.

[0085] In this embodiment, the first GNSS antenna head and the second GNSS antenna head are arranged at the docking end of the tunnel section model 1 to be submerged, and the two are 4m apart.

[0086] Model 1 of the tunnel section to be submerged includes, but is not limited to, at least one of the following: container, steel-shell concrete model box, and reinforced concrete model box.

[0087] The submerged tunnel section model 2 includes, but is not limited to, at least one of the following: steel frame, container, steel-shell concrete model box, and reinforced concrete model box.

[0088] GNSS fixed equipment 3 includes, but is not limited to, at least one of the following: angle steel, channel steel, and concrete column.

[0089] The GNSS antenna head 4 includes, but is not limited to, at least one of the following: GPS system, GLONASS system, GALILEO system and BeiDou satellite system.

[0090] The inertial navigator 5 includes, but is not limited to, at least one of the following: strapdown inertial navigation system, analytical inertial navigation system, and semi-analytical inertial navigation system.

[0091] In this embodiment, the model 1 of the tunnel section to be immersed is a container with specifications of 6m×3m×2.7m, the model 2 of the immersed tunnel section is a 3m×3m steel frame, the GNSS fixing device 3 is an angle steel with a length of 4m, and the height of the GNSS antenna head 4 is 2.8m; this setup can basically meet the model test requirements of the immersed tunnel construction process.

[0092] The present invention also provides a testing method for an indoor model test system for the construction process of an immersed tunnel as described above, comprising the following steps:

[0093] First, make the following settings:

[0094] I. Model of the tunnel section to be submerged;

[0095] II. Model of the submerged tunnel section;

[0096] III. Fixed GNSS equipment;

[0097] IV. GNSS antenna head, mounted on the pipe section, used to measure the position of the pipe section;

[0098] V. Inertial navigation system, installed at approximately the centroid of the plane on the inner side of the top plate of the model container, is used to measure the attitude of the pipe section;

[0099] VI. Crane, used to lift the model box and move it to any set simulation position for placement and fixation;

[0100] VII. The connection point is located at the end of the pipe section;

[0101] VIII. Total station, used for benchmark calibration;

[0102] IX. The three-dimensional model of the pipe section can display the position and posture information of the pipe section in real time during the construction process;

[0103] X. Testing and inspection, including: X-1, 3D model testing; X-2, network database testing; X-3, model driver testing;

[0104] XI. Simulation method for pipe segment model posture and construction process: VI. Lifting the model to achieve this.

[0105] XII. Data acquisition, including: XII-1. Initial data acquisition; XII-2. Data acquisition during the experiment.

[0106] XIII. Analysis of Immersion and Docking Test Data, including: XIII-1. Processing and Error Analysis of Raw Immersion and Docking Data; XIII-2. Processing and Error Analysis of Simulated Immersion and Docking Data; XIII-3. Verification and Comparison Analysis of Control Point Coordinates.

[0107] XIV. Accuracy Analysis, including: XIV-1, Planar Position Accuracy Analysis; XIV-2, Elevation Accuracy Analysis; XIV-3, Attitude Error Analysis.

[0108] Specifically,

[0109] 1. The GNSS antenna head IV includes:

[0110] The IV-1 and GNSS1 antenna heads are positioned at the docking end of the model of the tunnel section to be submerged;

[0111] The IV-2 and GNSS2 antenna heads are positioned at the docking end of the model of the tunnel section to be submerged;

[0112] The IV-3 and GNSS3 antenna heads are positioned at the tail of the tunnel section model to be submerged.

[0113] 2. Pipe joint connection point VII includes:

[0114] VII-1, S10, S11, and S12 are the three docking points specified in II.

[0115] Ⅶ-2, S10-1, S11-1, S11-1, on end face I, set corresponding docking points through the frame of the symmetrical plane structure.

[0116] 3. Three-dimensional model test X-1 includes:

[0117] X-1-1 Test the difference between the dimensions of the immersed tunnel segment model in the 3D model and the actual dimensions of the immersed tunnel segment;

[0118] X-1-2. Test the positional differences between the reference points in the 3D model and the corresponding points (corner points, etc.) in the actual site.

[0119] X-1-3. Test the difference between the distance between the dock entrance and the opposite bank in the 3D model and the actual distance.

[0120] 4. Network database test X-2 includes:

[0121] X-2-1. Test whether the client can upload local data to the control center database via a 4G network connection;

[0122] X-2-2. When the 4G network is unstable, can the measurement data still be guaranteed to be intact and ultimately uploaded to the control center database?

[0123] X-2-3. Test whether the data transmission delay is controlled within 3 seconds under normal 4G network connection conditions.

[0124] 5. Model driver test X-3 includes:

[0125] X-3-1. Start the measurement data service program, enable the 4G network connection on the client and start the measurement agent program, simulate the measurement program to insert system data of IV and V into the local database, and check whether the central database has received the data. Start the client.

[0126] X-3-2. Enable real-time mode and connect to the database (including data IV and data V);

[0127] X-3-3. Check if the pipe segment attitude displayed in the client has changed due to the acquisition of new data;

[0128] X-3-4. Compare the posture of the immersed tunnel segment with that of the construction site to check whether the posture of the driven segment is consistent with that of the tunnel segment.

[0129] 6. Simulation methods for pipe segment model posture and construction process include:

[0130] XI-1. Method for moving the pipe segment model position (including swaying, longitudinal swaying, heave, and bow roll): Use VI to lift the model box and move it to any set simulation position, and then place it in place.

[0131] XI-2. Method for simulating the attitude (including roll and pitch) and position of pipe segments: The model box is lifted on one side and then raised to achieve the corresponding position and attitude simulation.

[0132] XI-3. Simulation method for the position and attitude of the pipe section during floating: After the model box is lifted by VI, the set running route and speed are used to make straight and curved movements (including forward and reverse movements).

[0133] 7. Initial data acquisition XII-1 includes:

[0134] XII-1-1. Use VIII to measure the three-dimensional engineering coordinates of VII-2 (keeping the structural position and coordinates unchanged during the immersion simulation);

[0135] XII-1-2. Use, but not limited to, steel tape measures to measure the geometric dimensions of VII-2 in order to monitor the position and attitude of the immersed tube.

[0136] XII-1-3. Use, but not limited to, a steel tape measure to measure the outer contour dimensions of I.

[0137] Experimental data collection XII-2 includes:

[0138] XII-2-1. Data acquisition during the floating process: This process uses monitoring software to collect and store the GPS or GNSS coordinates of IV and the inertial navigation attitude values ​​(roll, pitch, bow) of V.

[0139] XII-2-2. Data acquisition during the sinking and docking process, including: using monitoring software to collect and store the GPS or GNSS coordinates of IV and the inertial navigation attitude values ​​(roll, pitch, bow) of V; using IV to directly measure the three-dimensional engineering coordinate values ​​of VII-2 on I; using, but not limited to, using a steel tape measure to directly measure the distance between VII.

[0140] 8. Analysis of Immersion and Docking Test Data XIII: Analysis of the accuracy and stability of GPS and inertial navigation system readings under different pipe section attitudes is required. The different pipe section attitudes are as follows:

[0141] The pipe section is dynamically connected to the fixed end in a horizontal (approximately horizontal) plane.

[0142] Pipe segment diving type (the rear end of the pipe segment is raised while the fixed end remains in the same position) docking;

[0143] Pipe segment forward tilting type (the front end of the pipe segment is raised while the fixed end remains in the same position) docking;

[0144] Connecting the pipe section while it is in a lateral swaying state (with the fixed end remaining in the same position);

[0145] Connect the pipe sections while they are in a longitudinal swaying state (with the fixed end remaining in the same position).

[0146] 9. Planar position accuracy analysis XIV-1 includes:

[0147] XIV-1-1, Control point coordinates and elevation errors;

[0148] XIV-1-2, Measurement error of characteristic points of immersed tube;

[0149] XIV-1-3, GNSS RTK positioning error;

[0150] XIV-1-4, Attitude angle measurement error;

[0151] XIV-1-5, Transformation error between immersed tube coordinate system and engineering coordinate system;

[0152] XIV-1-6. The influence of external environmental factors (on-site benchmark measurement, model box size measurement error, etc.).

[0153] 10. The specific transformation between the immersed tunnel coordinate system and the engineering coordinate system in XIV-1-5 includes:

[0154] The engineering coordinate system is (X s ,Y s 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 The engineering coordinates corresponding to any two N measurement points are P1(X). s1 ,Y s1 Z s1 ) and P2(X s2 ,Y s2 Z s2 The corresponding pipe segment coordinates are P1(X). c1 ,Y c1 Z c1 ) and P2(X c2 ,Y c2 Z c2 The rotation angles obtained from V, based on the X, Y, and Z axes of the engineering coordinate system, are (α, β, θ). According to the coordinate transformation relationship:

[0155]

[0156] The engineering coordinates of the centroid of the pipe segment are:

[0157]

[0158] In the formula, r ij Let R(k) be the element in row i and column j of the rotation matrix R. R(ω) are the rotation matrices for rotation about the X-axis, Y-axis, and Z-axis of the engineering coordinate system, respectively, as shown in the following equations:

[0159]

[0160]

[0161]

[0162] The overall rotation matrix can be obtained as follows:

[0163]

[0164] P1(X) s1 ,Y s1 Z s1 ) and P1(X 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. Another measurement point P2(X) is then used. s2 ,Y s2 Z s2 ) and P2(X 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 (X). co ,Y co Z co Therefore, a certain control point (X) c (k i ),Y c (k i ),Z c (k i and the obtained (X) co ,Y co Z co Substituting the coordinates into the transformation relationship between the pipe section coordinate system and the engineering coordinate system, the (X) of that point can be obtained. s (k i ),Y s (ki ),Z s (k i )).

[0165] 11. The specific content of Planar Position Accuracy Analysis XIV-2 is similar to that of Planar Position Accuracy Analysis XIV-1.

[0166] 12. Attitude error analysis XIV-3 specifically includes:

[0167] XIV-3 can be calculated from GNSS point coordinates or measured using a coordinate tilt meter. Assuming the distance between the front and rear towers is 150m and the elevation measurement accuracy is 25mm, the mean square error of the axial tilt angle calculated from the GNSS receiver is:

[0168]

[0169] In the formula, ρ″≈206265″ is the value of one second corresponding to one radian. Due to the short distance of the GNSS baseline, the lateral tilt angle calculated by reverse calculation has a large error. Therefore, the angle obtained by the attitude measurement instrument should be used as the standard.

[0170] The following provides a specific operation process of the present invention.

[0171] On-site calibration and result verification of the immersed tunnel were performed using VIII. Specifically:

[0172] First, in accordance with the requirements of the VIII measurement, a TRIMBLE SPS986 GNSS receiver was connected to the engineering channel CORS, and two measurement reference points, Z1 (142630.391, 224067.455, 4.551) and Z2 (142649.89, 224137.9760), were set up at the test site.

[0173] Then, using VIII, and employing the resection method for station establishment, a horizontal plane (composed of w1, w2, w3, and w4) is marked on VIII. The positions of IV-1 and IV-3 are measured, and the projected heights of probes IV-1 and IV-3 are calculated (which should be converted to the projected height of the upper surface plane of I). The plane coordinates and geometric dimensions of the structure and equipment layout points of I are as follows: Figure 2 As shown. VII's number and its initial position are as follows. Figure 3 As shown.

[0174] Before the indoor model test begins, X should be carried out, including: X-1, 3D model test; X-2, network database test; X-3, model driver test.

[0175] X-1-1 Test the difference between the dimensions of the immersed tunnel segment model in the 3D model and the actual dimensions of the immersed tunnel segment;

[0176] X-1-2. Test the positional differences between the reference points in the 3D model and the corresponding points (corner points, etc.) in the actual site.

[0177] X-1-3. Test the difference between the distance between the dock entrance and the opposite bank in the 3D model and the actual distance.

[0178] From X-1-1, X-1-2, and X-1-3, the X-1 test plan can be formulated, mainly including:

[0179] Immersed Tunnel Segment Model Error Test: The control data of the immersed tunnel model in the established 3D model is measured by software and compared with the actual measured values ​​of the tunnel segment by the construction unit.

[0180] Benchmark point error test: Measure the coordinate values ​​of the corresponding points in the engineering coordinate system through VIII, convert them to the coordinate values ​​in the pipe segment coordinate system through the conversion relationship between the engineering coordinate system and the pipe segment coordinate system, and compare them with the coordinate values ​​of the benchmark points in the pipe segment coordinate system in the model.

[0181] Test of the difference between the observed distance and the actual distance on both sides of the artificial island: Representative observation points were taken on both sides of the immersed tunnel (including the artificial island), and the distance between the two points was measured by VIII and compared with the distance value of the corresponding point in the 3D model. This was to verify the GPS measurement error.

[0182] Dry dock port coordinate point error test: The coordinate values ​​of the dock port reference point in the engineering coordinate system are measured by VIII. The coordinate values ​​are then converted into the pipe section coordinate system through the transformation relationship between the engineering coordinate system and the model coordinate system. The results are then compared with the coordinate values ​​of the reference point in the pipe section coordinate system in the model.

[0183] The specific transformation relationship between the immersed tunnel coordinate system and the engineering coordinate system is as follows:

[0184] The engineering coordinate system is (X s ,Y s 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 The engineering coordinates corresponding to any two N measurement points are P1(X). s1 ,Y s1 Z s1 ) and P2(X s2 ,Y s2 Z s2 The corresponding pipe segment coordinates are P1(X). c1 ,Y c1 Z c1 ) and P2(X c2,Y c2 Z c2 The rotation angles obtained from V, based on the X, Y, and Z axes of the engineering coordinate system, are (α, β, θ). According to the coordinate transformation relationship:

[0185]

[0186] The engineering coordinates of the centroid of the pipe segment are:

[0187]

[0188] In the formula, r ij Let R(k) be the element in row i and column j of the rotation matrix R. R(ω) are the rotation matrices for rotation about the X-axis, Y-axis, and Z-axis of the engineering coordinate system, respectively, as shown in the following equations:

[0189]

[0190]

[0191]

[0192] The overall rotation matrix can be obtained as follows:

[0193]

[0194] P1(X) s1 ,Y s1 Z s1 ) and P1(X 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. Another measurement point P2(X) is then used. s2 ,Y s2 Z s2 ) and P2(X 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 (X). co ,Y co Z co Therefore, a certain control point (X) c (k i ),Y c (k i ),Z c (k i and the obtained (X) co,Y co Z co Substituting the coordinates into the transformation relationship between the pipe section coordinate system and the engineering coordinate system, the (X) of that point can be obtained. s (k i ),Y s (k i ),Z s (k i )).

[0195] The above tests revealed the error between the 3D model dimensions and the actual dimensions. By modifying the model, these errors were eliminated or reduced, ensuring that the established 3D model accurately reflects the physical characteristics of the actual site and pipe sections. The model's dynamic and static modules were separated and built using the AutoCAD system for convenient subsequent processing (such as 3ds Max processing).

[0196] Furthermore, X-2 includes:

[0197] X-2-1. Test whether the client can upload local data to the control center database via a 4G network connection;

[0198] X-2-2. When the 4G network is unstable, can the measurement data still be guaranteed to be intact and ultimately uploaded to the control center database?

[0199] X-2-3. Test whether the data transmission delay is controlled within 3 seconds under normal 4G network connection conditions.

[0200] Based on X-2-1, X-2-2, and X-2-3, the X-2 test plan can be formulated, mainly including:

[0201] Internet penetration test: By deploying the control center service program and database to the control center intranet, the test was conducted to see if the measurement agent program could successfully upload measurement data via the 4G network.

[0202] Fault tolerance and robustness testing: By manually disconnecting and then reconnecting the 4G network, the system was tested to verify whether the measurement data agent could eventually upload all the measurement data to the central database.

[0203] Performance testing: Under normal 4G network conditions, transmission performance was statistically analyzed by comparing the time it took for the agent program to read the local database and the time it took for the service program to write to the central database.

[0204] Furthermore, X-3 includes:

[0205] X-3-1. Start the measurement data service program, enable the 4G network connection on the client and start the measurement agent program, simulate the measurement program to insert GPS and inertial navigation system data into the local database, check whether the central database has received the data and start the client.

[0206] X-3-2. Enable real-time mode and connect to the database (including GPS data and tilt data);

[0207] X-3-3. Check if the pipe segment attitude displayed in the client has changed due to the acquisition of new data;

[0208] X-3-4. Compare the posture of the immersed tunnel segment with that of the construction site to check whether the posture of the driven segment is consistent with that of the tunnel segment.

[0209] Furthermore, after completing X, a pipe section connection simulation test was conducted on-site using VI, such as... Figure 4 As shown. Specifically:

[0210] The XI-1 method was used to simulate the movement of the pipe segment model.

[0211] XI-2 is used to simulate the roll, pitch, and position of the pipe section. Taking the pitch simulation as an example, the simulation state is as follows: Figure 5 As shown;

[0212] The position and attitude of the pipe segment during the floating process were simulated using XI-3.

[0213] Furthermore, after completing XI, we begin XII, which includes: XII-1, initial data acquisition; XII-2, data acquisition during the experiment.

[0214] Furthermore, the initial data acquisition XII-1 includes:

[0215] XII-1-1. Use VIII to determine the coordinates of the VII-1 three-dimensional engineering coordinate system (keeping the structure position and coordinates unchanged during the sinking simulation);

[0216] XII-1-2. Use, but not limited to, steel tape measures to measure the geometric dimensions of VII-2 in order to monitor the position and attitude of the immersed tube.

[0217] XII-1-3. Use, but not limited to, a steel tape measure to measure the outer contour dimensions of I.

[0218] Furthermore, the experimental process data acquisition XII-2 includes:

[0219] XII-2-1. Data acquisition during the floating process: This process acquires and stores the GPS or GNSS coordinates of IV and the inertial navigation attitude values ​​(roll, pitch, bow) of V.

[0220] XII-2-2, Data Acquisition During the Diving and Docking Process: This process acquires and stores the following data: GPS or GNSS coordinates of IV and inertial navigation attitude values ​​(roll, pitch, bow); the three-dimensional engineering coordinates of VII-2 on I are directly measured using IV; the distances between VII are measured using, but not limited to, steel tape measures. Figure 6 As shown.

[0221] Furthermore, after completing XII, XIII will be carried out under different pipe segment postures. The different pipe segment postures include: translational docking in the horizontal (approximately horizontal) plane between the pipe segment and the fixed end; diving docking (the rear end of the pipe segment is raised while the fixed end remains in the same position); forward tilting docking (the front end of the pipe segment is raised while the fixed end remains in the same position); docking in the lateral rolling state of the pipe segment (the fixed end remains in the same position); and docking in the longitudinal rolling state of the pipe segment (the fixed end remains in the same position).

[0222] Furthermore, XIII mainly includes:

[0223] XIII-1. Processing and error analysis of raw data for immersion docking;

[0224] XIII-2. Simulated Immersion and Docking Data Processing and Error Analysis;

[0225] XIII-3. Control point coordinate verification and comparative analysis.

[0226] Furthermore, after XIII is completed, precision analysis XIV is performed on the data, including:

[0227] XIV-1, Planar Position Accuracy Analysis, including: XIV-1-1, Control Point Coordinates and Elevation Errors; XIV-1-2, Immersed Tunnel Feature Point Measurement Errors; XIV-1-3, GNSS RTK Positioning Errors; XIV-1-4, Attitude Angle Measurement Errors; XIV-1-5, Immersed Tunnel Coordinate System and Engineering Coordinate System Conversion Errors; XIV-1-6, Influence of External Environmental Factors (On-site Base Point Measurement Errors, Model Box Dimension Measurement Errors, etc.).

[0228] XIV-2, Elevation Accuracy Analysis: This step is similar to XIV-1 and will not be elaborated further.

[0229] XIV-3, Attitude Error Analysis, specifically:

[0230] XIV-3 can be calculated from GNSS point coordinates or measured using a coordinate tilt meter. Assuming the distance between the front and rear towers is 150m and the elevation measurement accuracy is 25mm, the mean square error of the axial tilt angle calculated from the GNSS receiver is:

[0231]

[0232] In the formula, ρ″≈206265″ is the value of one second corresponding to one radian. Due to the short distance of the GNSS baseline, the lateral tilt angle calculated by reverse calculation has a large error. Therefore, the angle obtained by the attitude measurement instrument should be used as the standard.

[0233] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A method of testing a system of indoor model tests of a construction process of a immersed tunnel, characterized in that, The indoor model test system comprises a to-be-sunk pipe section model (1), a sunk pipe section model (2), GNSS antenna heads (4), GNSS fixing devices (3), an inertial navigator (5) and a crane, the sunk pipe section model (2) is located on one side of the to-be-sunk pipe section model (1), the number of the GNSS antenna heads (4) is plural, each GNSS antenna head (4) is fixed on the to-be-sunk pipe section model (1) through a corresponding GNSS fixing device (3), the inertial navigator (5) is installed at the planar centroid position on the inside of the top plate of the to-be-sunk pipe section model (1), and the crane is connected to the to-be-sunk pipe section model (1) through a rope; The test method comprises the following steps: constructing a three-dimensional model of the to-be-sunk pipe section model (1); performing test test before test; in the test process, the to-be-sunk pipe section model (1) is lifted by the crane, the posture of the pipe section model and the construction process are simulated, and data are collected in real time through the GNSS antenna heads (4) and the inertial navigator (5); performing data analysis and precision analysis on the data collected in the simulation experiment process; the precision analysis on the data collected in the simulation experiment process comprises: analyzing the coordinate and elevation error of the control point, the measurement error of the sunk pipe feature point, the GNSS RTK positioning error, the attitude angle measurement error, and the error of the conversion between the sunk pipe coordinate system and the engineering coordinate system; the conversion process between the sunk pipe coordinate system and the engineering coordinate system comprises: Establishing engineering coordinate system is X s , Y s , Z s ), take the centroid of the pipe section as the coordinate origin, establish the pipe section coordinate system ( X c , Y c , Z c ), the origin of the pipe section coordinate system corresponds to the engineering coordinate value is ( X co , Y co , Z co );Arbitrarily select two GNSS antenna head (4) measurement point corresponding engineering coordinates P 1( X s1 , Y s1 , Z s1 ) and P 2( X s2 , Y s2 , Z s2 ), the corresponding pipe section coordinates are P 1( X c1 , Y c1 , Z c1 ) and P 2( X c2 , Y c2 , Z c2 );The rotation angle based on the engineering coordinate system X axis, Y axis and Z axis obtained by the inertial navigator (5) is ( , , ); according to the coordinate conversion relationship: the engineering coordinate value of the centroid of the pipe section is: wherein r ij is a rotation matrix R of i row j column elements, R ( k ), R ( the total rotation matrix obtained by the inertial navigator (5) is: ), R ( the sunk pipe section model (2) is matched in size with the to-be-sunk pipe section model (1), the end portions of the sunk pipe section model (2) and the to-be-sunk pipe section model (1) are each provided with a butt joint point, the sunk pipe section model (2) is located at the butt joint end of the to-be-sunk pipe section model (1), the plurality of GNSS antenna heads (4) comprise a first GNSS antenna head, a second GNSS antenna head and a third GNSS antenna head, the first GNSS antenna head and the second GNSS antenna head are respectively located on the two sides of the butt joint end of the to-be-sunk pipe section model (1), and the third GNSS antenna head is located at the tail portion of the to-be-sunk pipe section model (1). ) are rotation matrices of angles , , around the X, Y, Z axes of the engineering coordinate system, respectively, and are given by the following equations: The system further comprises a total station and a processor, the total station is opposite to the to-be-sunk pipe section model (1), and the processor is connected to the total station, the inertial navigator (5) and each GNSS antenna head (4). will be P 1( X s1 , Y s1 , Z s1 ) and P 1( X c1 , Y c1 , Z c1 ) and the overall rotation matrix R into the formula of the engineering coordinate value of the centroid of the pipe section, the engineering coordinate value of the centroid of the pipe section can be obtained; another measuring point P 2( X s2 , Y s2 , Z s2 ) and P 2( X c2 , Y c2 , Z c2 ) and the overall rotation matrix R into the formula of the engineering coordinate value of the centroid of the pipe section, the engineering coordinate value of the centroid of the pipe section can be obtained; Take the arithmetic mean of the two calculation results as the centroid coordinates of the pipe segment. X co , Y co , Z co Therefore, a certain control point ( X c ( k i ), Y c ( k i ), Z c ( k i )) and the obtained ( X co , Y co , Z co Substituting the values ​​into the transformation relationship between the pipe section coordinate system and the engineering coordinate system, the control points can be obtained. X s ( k i ), Y s ( k i ), Z s ( k i This completes the conversion between the immersed tube coordinate system and the engineering coordinate system.

2. The method of claim 1, wherein, The to-be-sunk pipe section model (1) comprises at least one of the following but is not limited to the following: a container, a steel shell concrete model box and a reinforced concrete model box; 3. The method of claim 1, wherein, The sunk pipe section model (2) comprises at least one of the following but is not limited to the following: a steel frame, a container, a steel shell concrete model box and a reinforced concrete model box; 4. The method of claim 1, wherein, The GNSS fixing device (3) comprises at least one of the following but is not limited to the following: an angle steel, a channel steel and a concrete column; The GNSS antenna head (4) comprises at least one of the following but is not limited to the following: a GPS system, a GLONASS system, a GALILEO system and a Beidou satellite system. ​ ​ The inertial navigation device (5) includes but is not limited to at least one of the following: a strapdown inertial navigation system, an analytical inertial navigation system, and a semi-analytical inertial navigation system.

5. The method of claim 1, wherein, The test process before the test includes three-dimensional model testing, network database testing, and model driving program testing; The three-dimensional model testing process includes: Testing the difference between the model size of the immersed tube section in the three-dimensional model and the actual immersed tube section size; Testing the difference between the position of the reference point in the three-dimensional model and the corresponding point in the field; Testing the difference between the distance from the dock to the opposite shore in the three-dimensional model and the actual distance; The network database testing process includes: Testing whether the client can upload local data to the control center database through 4G network connection; Testing whether the measurement data can still be guaranteed without loss and ultimately uploaded to the control center database when the 4G network is unstable; Testing whether the data transmission delay is controlled within 3s under the condition of normal 4G network connection; The model driving program testing process includes: Starting the measurement data service program, starting the measurement agent program on the client with 4G network connection, simulating the measurement program to insert GPS and inertial navigation system data in the local database, and checking whether the center database receives the data to start the client; Starting the real-time mode and connecting the database; Checking whether the pipe section attitude displayed in the client changes due to new data acquisition; Comparing the immersed tube section attitude in the construction site to check whether the driven pipe section attitude remains consistent.

6. The method of claim 1, wherein, The pipe section model attitude and construction process simulation method includes: Pipe section model position movement, specifically: using a crane to lift the to-be-immersed pipe section model (1) and move it to any set simulation position for placement and fixation; the movement mode of the to-be-immersed pipe section model (1) in this process includes but is not limited to at least one of the following: sway, surge, heave, yaw; Pipe section attitude and position simulation, specifically: using a crane to lift the to-be-immersed pipe section model (1) on one side and pad it, and then performing corresponding position and attitude simulation; Pipe section floating process position and attitude simulation, specifically: using a crane to lift the to-be-immersed pipe section model (1) on one side, and then performing straight line and curve motion according to the set running route and speed.

7. The method of claim 1, wherein, The data acquisition process through the GNSS antenna head (4) and the inertial navigation device (5) includes initial data acquisition and test process data acquisition, The initial data acquisition includes measuring the three-dimensional engineering coordinate values of each docking point on the to-be-immersed pipe section model (1) using a total station, measuring the geometric position size of each docking point on the to-be-immersed pipe section model (1), and measuring the outer contour size of the to-be-immersed pipe section model (1); The test process data acquisition includes: During the floating process, the coordinate values of each GNSS antenna head (4) and the inertial navigation attitude values of the inertial navigation device (5) are collected and stored; During the sinking and docking process, the coordinate values of each GNSS antenna head (4) and the inertial navigation attitude values of the inertial navigation device (5) are collected and stored, and the three-dimensional engineering coordinate values of each docking point on the to-be-immersed pipe section model (1) are directly measured using the GNSS antenna head (4).

8. The method of claim 1, wherein, The data analysis of the data collected during the simulation experiment includes: analyzing the accuracy and stability of the readings of each GNSS antenna head (4) and inertial navigator (5) under different pipe segment postures, including: Horizontal translation docking of the immersed tube section model (1) and the fixed end horizontal plane; Nose-down docking of the immersed tube section model (1); Forward-up docking of the immersed tube section model (1); Rolling docking of the immersed tube section model (1); Pitching docking of the immersed tube section model (1).

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