A method for underwater positioning of a pressure-resistant concrete shell structure

Abstract

The application provides a positioning method in water for a pressure-resistant concrete shell structure, and relates to the technical field of concrete shell structures, and comprises the following steps: S1, embedding a plurality of positioning sensors in the concrete shell, recording the size of the concrete shell and the positions of the internal positioning sensors, and modeling; S2, moving a construction mother ship to a specified launching position, adsorbing the concrete shell by using a bionic suction cup, and lowering the concrete shell into water by using a crane; the application arranges a plurality of positioning sensors in the concrete shell according to the shape and size of the shell structure, adopts a cross receiver array to receive positioning signals, thereby determining the coordinates of each access point, and deriving the placing direction of the shell, so that the adsorption direction of the bionic suction cup is adjusted, the depth of the shell is determined according to the distance of lowering by a sling, and the azimuth of the shell is determined according to the data of an inclination sensor on the bionic suction cup after the bionic suction cup adsorbs the shell, and the like, so that the test data is more perfect.

Description

Technical Field

[0001] This invention relates to the field of concrete shell technology, and more particularly to a method for underwater positioning of pressure-resistant concrete shell structures. Background Technology

[0002] Hollow concrete shell structures, typically in various shapes such as cylinders and spheres, are mainly used in underwater engineering and have multiple architectural functions such as support and filling. The hollow concrete shell needs to be pressure-resistant, seepage-resistant, and resistant to seawater corrosion.

[0003] In the production of hollow concrete shells, various parameters need to be tested to ensure they meet predetermined standards. Positioning tests are crucial after the shell is lowered into the water. Current technology typically uses a built-in positioning sensor, but this method only determines a coordinate and lacks information on the shell's orientation, water depth, and azimuth. The test data is incomplete. Furthermore, during subsequent salvage operations, the lack of supporting data makes it difficult to determine the correct positioning direction, hindering proper retrieval. Therefore, this invention proposes an underwater positioning method for pressure-resistant concrete shell structures to address the problems in existing technologies. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes an underwater positioning method for pressure-resistant concrete shell structures. This method combines the shape and dimensions of the shell structure, arranges multiple positioning sensors internally, and uses a cross-shaped receiver array to receive positioning signals, thereby determining the coordinates of each access point and deriving the placement direction of the shell, which facilitates the adjustment of the adsorption direction of the bionic suction cup.

[0005] To achieve the objectives of this invention, the invention is implemented through the following technical solution: a method for underwater positioning of a pressure-resistant concrete shell structure, comprising the following steps:

[0006] S1: Embed multiple positioning sensors inside the concrete shell, record the dimensions of the concrete shell and the positions of the internal positioning sensors, and then create a model;

[0007] S2: The construction mother ship is moved to the designated launching position, and the concrete shell is attached to the bionic suction cup. The concrete shell is then lowered into the water by a crane.

[0008] S3: A cross-shaped receiver array is formed by arranging multiple receiver arrays to receive positioning signals from multiple positioning sensors and display them in the model;

[0009] S4: Preprocess the positioning signal, calculate the time stability of the wireless access point signal data at each point and the similarity of each signal access point, and determine the coordinates of each access point;

[0010] S5: Determine the placement direction of the shell based on the coordinates of each access point, set an angle sensor on the bionic suction cup, adjust the boat position, and lower it with a crane so that the bionic suction cup is close to the shell;

[0011] S6: Control the descent direction of the bionic suction cup. When the bionic suction cup is attached to the shell, stop the crane and determine the shell depth based on the sling descent distance.

[0012] S7: Extend the sling to release the tension on the bionic suction cup, so that the bionic suction cup is not attached to the shell by external force. Collect data from the tilt sensor to determine the azimuth angle of the shell.

[0013] S8: Operate the crane to lift the shell onto the mother ship, turn off the suction force of the bionic suction cup, and detach it from the shell.

[0014] A further improvement is made in S1, where the multiple positioning sensors are arranged as follows: one sensor is arranged on each side inside the housing, and at least three sensors are arranged at equal intervals in the middle of the housing. In S1, the size data of the housing is input into ArcGIS and Revit software, the parameters are stretched to form a three-dimensional model, and then ContextCapture is used to process the data and build a model automatically based on the image. The positions of the multiple positioning sensors are determined proportionally according to the actual size and labeled in the model.

[0015] A further improvement is made in S2: after the construction mother ship moves to the designated launching position, it activates the dynamic positioning mode and conducts a dynamic positioning preparation test until the test is completed and meets the standard. Then, it uses a bionic suction cup to adhere to the concrete shell and launches into the water when the water surface is calm. When the wind and waves are large, it does not launch into the water and waits for the wind and waves to calm down. After the shell is lowered into the water, the suction force of the bionic suction cup is released and the bionic suction cup is retrieved.

[0016] Further improvements are made in S3, where the receiver array carries a 3D orthogonal antenna and a corresponding signal processing board, and collects signals from multiple receivers via a serial bus. In conjunction with the differential GPS module, it acquires the longitude W, latitude E, and depth information H of each positioning sensor in real time. When the mother ship carries the cross receiver array to the position above the hull, it calculates the longitude W1, latitude E1, and depth information H1 of each positioning sensor, and records the differential GPS position W2, E2, and H2 at this time, which is then displayed in the model.

[0017] A further improvement is that S4 includes the following steps:

[0018] S41: Collect timestamps of multiple positioning signals, determine the time difference range of each signal entering the receiver, and delete signals whose time interval exceeds the time difference range of other signals;

[0019] S42: In the housing model, the spacing parameters between each positioning sensor are proportionally substituted into the actual dimensions, and spatial logic is used to convert them into spatial spacing;

[0020] S43: Determine the specific parameters between multiple positioning signals. When the distance between two adjacent signals is less than or greater than the predetermined spatial distance between two positioning points obtained in the above steps, delete one of the redundant similar signals based on the distance between these two signals and other adjacent signals.

[0021] S44: Until all the acquired signal data meets the actual number and spatial spacing of the positioning sensors, the coordinates of each access point are determined.

[0022] A further improvement is made in S5, where the shell is deflected due to the influence of water flow during the process of being placed in the water, and the placement direction of the shell is determined according to the arrangement of the coordinates of each access point.

[0023] Further improvements are made in S5, where the dynamic positioning mode of the mother ship is activated, and the bionic suction cup with the suction closed is lowered by the crane. According to the positioning coordinates, the bionic suction cup is brought close to the shell, and the close-up distance is controlled between 2m and 5m.

[0024] A further improvement is made in S6, where the direction of the bionic suction cup is finely adjusted by rotating the crane so that the suction direction of the bionic suction cup is adapted to the length of the shell. When the bionic suction cup is attached to the shell, the crane stops when it senses the weight and the depth is determined.

[0025] A further improvement is that, in step S7, data from the tilt sensor is collected, and the azimuth angle of the hull is determined with the horizontal plane where the mother ship is located as a reference. Specifically, this includes tilt angle, horizontal angle, or vertical angle.

[0026] A further improvement is made in S8, during the process of lifting the hull upward, the variables of the positioning data are simultaneously displayed in the model to obtain the lifting path and lifting distance of the hull, and the depth is verified again. Then, before the hull emerges from the water, the water exit point is selected at the leeward side of the mother ship.

[0027] The beneficial effects of this invention are as follows:

[0028] 1. This invention combines the shape and size of the shell structure, arranges multiple positioning sensors inside, and uses a cross receiver array to receive positioning signals, thereby determining the coordinates of each access point and the placement direction of the shell, which facilitates the adjustment of the adsorption direction of the bionic suction cup. When adsorbing the shell, the depth of the shell can be determined by the distance of the sling lowered. After the shell is adsorbed by the bionic suction cup without external force, the data from the tilt angle sensor can determine the azimuth angle of the shell, etc., thus making the test data more complete.

[0029] 2. This invention preprocesses the positioning signal, deletes signals whose time interval exceeds the time difference range of other signals, and deletes redundant and similar signals until all the obtained signal data meet the actual number and spatial spacing of the positioning sensors, making the positioning more accurate and displaying it in the shell model, making data acquisition more intuitive and convenient.

[0030] 3. This invention uses a bionic suction cup to adsorb the shell for operation. Power is applied by the mother ship in conjunction with the crane. The adsorption direction of the bionic suction cup is adapted to the length of the shell, making it more convenient to put down and take out. Attached Figure Description

[0031] Figure 1 This is a flowchart of the present invention;

[0032] Figure 2 This is a schematic diagram illustrating the operation of the present invention. Detailed Implementation

[0033] To enhance understanding of the present invention, the present invention will be further described in detail below with reference to embodiments. These embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0034] Example 1

[0035] according to Figure 1 , 2 As shown in the figure, this embodiment proposes a method for underwater positioning of a pressure-resistant concrete shell structure, including the following steps:

[0036] S1: Embed multiple positioning sensors inside the concrete shell, record the dimensions of the concrete shell and the positions of the internal positioning sensors, and then create a model;

[0037] S2: The construction mother ship is moved to the designated launching position, and the concrete shell is attached to the bionic suction cup. The concrete shell is then lowered into the water by a crane.

[0038] S3: A cross-shaped receiver array is formed by arranging multiple receiver arrays to receive positioning signals from multiple positioning sensors and display them in the model;

[0039] S4: Preprocess the positioning signal, calculate the time stability of the wireless access point signal data at each point and the similarity of each signal access point, and determine the coordinates of each access point;

[0040] S5: Determine the placement direction of the shell based on the coordinates of each access point, set an angle sensor on the bionic suction cup, adjust the boat position, and lower it with a crane so that the bionic suction cup is close to the shell;

[0041] S6: Control the descent direction of the bionic suction cup. When the bionic suction cup is attached to the shell, stop the crane and determine the shell depth based on the sling descent distance.

[0042] S7: Extend the sling to release the tension on the bionic suction cup, so that the bionic suction cup is not attached to the shell by external force. Collect data from the tilt sensor to determine the azimuth angle of the shell.

[0043] S8: Operate the crane to lift the shell onto the mother ship, turn off the suction force of the bionic suction cup, and detach it from the shell.

[0044] This invention combines the shape and size of the shell structure with multiple positioning sensors arranged inside, and uses a cross receiver array to receive positioning signals, thereby determining the coordinates of each access point and the placement direction of the shell. This facilitates the adjustment of the adsorption direction of the bionic suction cup. When adsorbing the shell, the depth of the shell can be determined by the distance the sling is lowered. After the shell is adsorbed by the bionic suction cup without external force, the data from the tilt angle sensor can determine the azimuth angle (tilted, horizontal, or vertical) of the shell, thus making the test data more complete.

[0045] Example 2

[0046] according to Figure 1 , 2 As shown in the figure, this embodiment proposes a method for underwater positioning of a pressure-resistant concrete shell structure, including the following steps:

[0047] Multiple positioning sensors are pre-embedded inside the concrete shell to record the dimensions of the concrete shell and the positions of the internal positioning sensors for modeling. The arrangement of the multiple positioning sensors is as follows: one sensor is placed on each side inside the shell, and at least three sensors are placed at equal intervals in the middle of the shell. When modeling, the dimensions of the shell are input into ArcGIS and Revit software, the parameters are stretched to form a three-dimensional model, and then ContextCapture is used to process the data and build the model automatically based on the image. The positions of the multiple positioning sensors are determined proportionally according to the actual dimensions and labeled in the model.

[0048] The construction mother ship is moved to the designated launching position, and the concrete shell is attached to it using bionic suction cups. The concrete shell is then lowered into the water using a crane. Specifically, after the construction mother ship moves to the designated launching position, the dynamic positioning mode is activated, and a dynamic positioning preparation test is conducted until the test is completed and meets the standards. Then, the concrete shell is attached to it using bionic suction cups. The ship is launched when the water surface is calm. If the wind and waves are strong, the ship is not launched. The ship is lowered into the water, and the suction force of the bionic suction cups is released and the bionic suction cups are retrieved.

[0049] A cross-shaped receiver array is formed by arranging multiple receiver arrays to receive positioning signals from multiple positioning sensors and display them in the model. Specifically, the receiver array is equipped with a 3D orthogonal antenna and a corresponding signal processing board. It collects signals from multiple receivers via a serial bus and, in conjunction with a differential GPS module, acquires the longitude W, latitude E, and depth information H of each positioning sensor in real time. When the mother ship carries the cross-shaped receiver array to the position above the hull, it calculates the longitude W1, latitude E1, and depth information H1 of each positioning sensor and records the differential GPS position W2, E2, and H2 at this time, displaying it in the model. The differential GPS can be used to calculate the accurate numerical value of the yaw angle. Multiple positioning sensors are arranged inside, and the cross-shaped receiver array is used to receive positioning signals, thereby determining the coordinates of each access point and determining the placement direction of the hull, which facilitates the adjustment of the adsorption direction of the bionic suction cup.

[0050] The positioning signal is preprocessed to calculate the time stability of the wireless access point signal data at each point and the similarity of the signal access points, thereby determining the coordinates of each access point; specifically, this includes the following steps:

[0051] Collect timestamps of multiple positioning signals, determine the time difference range of each signal entering the receiver, and delete signals whose time interval exceeds the time difference range of other signals; this is used to filter for time stability.

[0052] In the shell model, the spacing parameters between each positioning sensor are proportionally substituted into the actual dimensions and converted into spatial spacing using spatial logic; the average spatial spacing between multiple positioning point coordinates can be calculated as the positioning reference.

[0053] Determine the specific parameters between multiple positioning signals. When the distance between two adjacent signals is less than or greater than the predetermined spatial distance between two positioning points obtained in the above steps, delete one of the redundant similar signals based on the distance between these two signals and other adjacent signals.

[0054] The process continues until all acquired signal data meets the actual number and spatial spacing of the positioning sensors, thus obtaining the determined coordinates of each access point. The positioning signals are preprocessed, removing signals whose time intervals exceed the time difference range of other signals and redundant similar signals, until all acquired signal data meets the actual number and spatial spacing of the positioning sensors. This results in more accurate positioning, which is then displayed in the shell model, making data acquisition more intuitive and convenient.

[0055] The placement direction of the shell is determined based on the coordinates of each access point. An angle sensor is installed on the bionic suction cup, the ship's position is adjusted, and the suction cup is lowered by a crane to bring it close to the shell. As the shell is placed in the water, it is affected by the water flow and its direction deflects. Therefore, the placement direction of the shell is determined based on the arrangement of the coordinates of each access point. The specific operation is as follows: the mother ship's dynamic positioning mode is activated, the bionic suction cup with suction power turned off is lowered by a crane, and the bionic suction cup is brought close to the shell according to the positioning coordinates, with the close-up distance controlled within 3m.

[0056] Control the descent direction of the bionic suction cup. When the bionic suction cup is attached to the shell, stop the crane and determine the shell depth based on the sling descent distance. Specifically, the direction of the bionic suction cup is finely adjusted by rotating the crane so that the suction direction of the bionic suction cup is adapted to the length of the shell. When the bionic suction cup is attached to the shell, stop the crane when the weight is sensed by pulling it up, and determine the depth.

[0057] By extending the sling and relieving the tension on the bionic suction cup, external forces are avoided, allowing the bionic suction cup to adhere to the shell without external force. Data from the tilt sensor is collected, and the azimuth angle of the shell is determined with the horizontal plane where the mother ship is located as a reference. Specifically, this includes the tilt angle, whether it is horizontal or vertical. When adhering to the shell, the depth of the shell can be determined by the distance the sling is lowered. After the bionic suction cup adheres to the shell without external force, the data from the tilt sensor on it can determine the azimuth angle (tilt, horizontal or vertical) of the shell, etc., thus making the test data more complete.

[0058] Operate the crane to lift the hull onto the mother ship, then deactivate the bionic suction cups to detach it from the hull. During the lifting process, simultaneously display the positioning data variables in the model to obtain the lifting path and distance, and re-verify the depth. Finally, before the hull emerges from the water, select the leeward side of the mother ship to avoid water waves affecting its normal emergence.

[0059] The biomimetic (fish-like) suction cup utilizes the principle of negative pressure adsorption. The negative pressure is generated through adhesion. In traditional suction cup adsorption, the adhesion force mainly relies on either a vacuum generator or magnetic force. Vacuum generators are bulky, while a smaller electromagnetic force can achieve the adhesion requirement, and it has a simpler structure and occupies less space. Therefore, electromagnetic force is chosen as the suction cup adhesion drive. A motor and a lead screw and nut mechanism drive the skeleton to separate, creating a negative pressure cavity in the suction cup. Based on the fish adsorption process, the adsorption movement related to the formation of the suction cup cavity mainly relies on the movement of the fin spines embedded in the partitions that act as sealing edges. According to the principle of negative pressure formation, the condition for fish adsorption is the formation of a negative pressure cavity under strict sealing of the partitions. Therefore, assuming the skeleton inside the fish suction cup partitions is fixed, the skeleton inside the suction cup cavity moves, pulling out the negative pressure cavity. To detach the suction cup from the host, the motor reverses, causing the driven skeleton to move in the opposite direction, adhering to the fixed skeleton, thus eliminating the negative pressure cavity and allowing the suction cup to detach flexibly from the host. The suction cup structure is based on each pair of partitions. The contact surface between the partition and the host serves as the sealing edge of the suction cup, made of rubber material with good sealing performance. The filling material inside the cavity is made of rubber material with good elasticity. The surface of the sealing edge needs to be made with a large number of tiny protrusions to resist friction. Based on the structural form of the tadpole suction cup, the bionic suction cup structure is designed as follows: the overall shape is elliptical when viewed from above, which is more conducive to spatial arrangement. The front end is slightly pointed than the rear end. About 20 pairs of partitions are evenly arranged on the left and right sides inside. The edge of the cup is inclined outward, and the partitions inside the cup are inclined towards the front end. The partitions separate the muscles filling the cavity. During stable adsorption, a negative pressure is formed in the internal cavity. At this time, the load on the suction cup includes the environmental pressure on the outer surface of the suction cup and the cavity pressure on the inner surface of the suction cup. Since the suction cup works underwater, the external environmental pressure is greater than 101.325 kPa. Assuming the external pressure of the suction cup is 105 Pa, and the cavity pressure can be controlled by adjusting the cavity volume, it is assumed that the cavity pressure can vary between 0-5×10⁴ Pa. In addition to the internal and external pressures, when there are no other external loads, adjusting the pressure in each cavity to make them equal and uniformly 2×10⁴ Pa, the suction cup can maintain a good sealing circuit, thus ensuring stable adsorption.

[0060] This invention combines the shape and size of the shell structure with multiple positioning sensors arranged internally, and uses a cross receiver array to receive positioning signals. This determines the coordinates of each access point and, consequently, the placement direction of the shell, facilitating adjustment of the bionic suction cup's adsorption direction. When adsorbing the shell, the shell depth can be determined by the distance the sling is lowered. After the shell is adsorbed without external force by the bionic suction cup, the data from the tilt angle sensor can determine the shell's azimuth angle (tilted, horizontal, or vertical), thus making the test data more comprehensive. Furthermore, this invention preprocesses the positioning signals, removing signals with time intervals exceeding the time difference range of other signals, and removing redundant and similar signals, until all obtained signal data meets the actual number and spatial spacing of the positioning sensors, resulting in more accurate positioning. This data is displayed in the shell model, making data acquisition more intuitive and convenient. Simultaneously, this invention uses a bionic suction cup to adsorb the shell for operation, with the mother ship and crane providing power. The adsorption direction of the bionic suction cup is adapted to the length of the shell, making lowering and retrieval more convenient.

[0061] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for underwater positioning of a pressure-resistant concrete shell structure, characterized in that, Includes the following steps: S1: Embed multiple positioning sensors inside the concrete shell, record the dimensions of the concrete shell and the positions of the internal positioning sensors, and then create a model; S2: The construction mother ship is moved to the designated launching position, and the concrete shell is attached to the bionic suction cup. The suction direction of the bionic suction cup is adapted to the length of the shell. The concrete shell is lowered into the water by a crane. S3: A cross-shaped receiver array is formed by arranging multiple receiver arrays to receive positioning signals from multiple positioning sensors and display them in the model; In step S3, the receiver array includes a 3D orthogonal antenna and a corresponding signal processing board. It aggregates signals from multiple receivers via a serial bus and, in conjunction with a differential GPS module, acquires the longitude W, latitude E, and depth information H of each positioning sensor in real time. When the mother ship carries the cross receiver array to the position above the hull, it calculates the longitude W1, latitude E1, and depth information H1 of each positioning sensor and records the differential GPS positions W2, E2, and H2 at this time, displaying them in the model. Multiple positioning sensors are arranged internally, and the cross receiver array receives positioning signals, thereby determining the coordinates of each access point and deriving the placement direction of the hull to facilitate adjustment of the adsorption direction of the bionic suction cup. S4: Preprocess the positioning signal, calculate the time stability of the wireless access point signal data at each point and the similarity of each signal access point, and determine the coordinates of each access point; S4 includes the following steps: S41: Collect timestamps of multiple positioning signals, determine the time difference range of each signal entering the receiver, and delete signals whose time interval exceeds the time difference range of other signals; S42: In the housing model, the spacing parameters between each positioning sensor are proportionally substituted into the actual dimensions, and spatial logic is used to convert them into spatial spacing; S43: Determine the specific parameters between multiple positioning signals. When the distance between two adjacent signals is less than or greater than the predetermined spatial distance between two positioning points obtained in the above steps, delete one of the redundant similar signals based on the distance between these two signals and other adjacent signals. S44: Until all the acquired signal data meets the actual number and spatial spacing of the positioning sensors, the coordinates of each access point are determined; S5: Determine the placement direction of the shell based on the coordinates of each access point, set an angle sensor on the bionic suction cup, adjust the boat position, and lower it with a crane so that the bionic suction cup is close to the shell; In step S5, the shell is deflected due to the influence of the water flow during the process of being placed in the water. Therefore, the placement direction of the shell is determined according to the arrangement of the coordinates of each access point. S6: Control the descent direction of the bionic suction cup. When the bionic suction cup is attached to the shell, stop the crane and determine the shell depth based on the sling descent distance. S7: Extend the sling to release the tension on the bionic suction cup, so that the bionic suction cup is not attached to the shell by external force. Collect data from the tilt sensor to determine the azimuth angle of the shell. S8: Operate the crane to lift the shell onto the mother ship, turn off the suction force of the bionic suction cup, and detach it from the shell.

2. The underwater positioning method for a pressure-resistant concrete shell structure according to claim 1, characterized in that: In step S1, the arrangement of multiple positioning sensors is as follows: one sensor is arranged on each side inside the shell, and at least three sensors are arranged at equal intervals in the middle of the shell. In step S1, the size data of the shell is input into ArcGIS and Revit software, the parameters are stretched to form a three-dimensional model, and then ContextCapture is used to process the data and build a model based on image automation. The positions of multiple positioning sensors are determined proportionally according to the actual size and labeled in the model.

3. The underwater positioning method for a pressure-resistant concrete shell structure according to claim 2, characterized in that: In step S2, after the construction mother ship moves to the designated launching position, it activates the dynamic positioning mode and conducts a dynamic positioning preparation test until the test is completed and meets the standards. Then, it uses a bionic suction cup to adhere to the concrete shell and launches into the water when the water surface is calm. When the wind and waves are large, it does not launch into the water and waits for the wind and waves to calm down. After the shell is lowered into the water, the suction force of the bionic suction cup is released and the bionic suction cup is retrieved.

4. A method for underwater positioning of a pressure-resistant concrete shell structure according to claim 3, characterized in that: In step S5, the dynamic positioning mode of the mother ship is activated, and the bionic suction cup with the suction closed is lowered by the crane. According to the positioning coordinates, the bionic suction cup is brought close to the shell, and the close-up distance is controlled between 2m and 5m.

5. A method for underwater positioning of a pressure-resistant concrete shell structure according to claim 4, characterized in that: In step S6, the direction of the bionic suction cup is finely adjusted by rotating the crane so that the suction direction of the bionic suction cup is adapted to the length of the shell. When the bionic suction cup is attached to the shell, the crane stops when it senses the weight and the depth is determined.

6. A method for underwater positioning of a pressure-resistant concrete shell structure according to claim 5, characterized in that: In step S7, data from the tilt sensor is collected, and the azimuth angle of the hull is determined with the horizontal plane where the mother ship is located as a reference. Specifically, the azimuth angle can be tilted, horizontal, or vertical.

7. A method for underwater positioning of a pressure-resistant concrete shell structure according to claim 6, characterized in that: In step S8, during the process of lifting the hull upward, the variables of the positioning data are simultaneously displayed in the model to obtain the lifting path and lifting distance of the hull, and the depth is verified again. Then, before the hull emerges from the water, the water exit point is selected at the leeward side of the mother ship.

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