Positioning method for submarine pipeline laying for arc-shaped routing

Abstract

The invention discloses a positioning method for submarine pipeline laying for an arc-shaped route. The positioning method comprises the following steps: selecting a plurality of monitoring points on a pipe laying ship; the pipe laying ship is used for laying subsea pipelines, and the positions of the multiple monitoring points on the pipe laying ship are different; the design route of the subsea pipeline is an arc-shaped route; a measuring module and a control module are arranged on the pipe laying ship; determining parameters of the arc-shaped route; the parameters of the arc-shaped routing comprise a circle center, a radius, a starting point and an ending point; calculating theoretical track lines of the plurality of monitoring points; the actual position of each monitoring point is obtained by using the measurement module and the control module; and calculating the deviation between the actual position and the theoretical track line, and giving an early warning when the deviation exceeds a preset value. According to the positioning method for submarine pipeline laying for the arc-shaped route, the submarine pipeline can be laid on the arc-shaped route by the pipe laying ship along the optimal path.

Description

Technical Field

[0001] The present invention relates to the field of marine engineering surveying and mapping technology, and in particular to a positioning method for laying submarine pipelines with arc-shaped routes. Background Art

[0002] The description in this section merely provides background information related to the disclosure of this specification and does not constitute prior art.

[0003] As an important transportation channel for the development of marine oil and gas resources, submarine pipelines play a key role in the transportation of oil and natural gas, and can transport developed energy from one place to another. The main pipe-laying methods for submarine pipelines are: trusteeship method, S-shaped pipe-laying method, J-shaped pipe-laying method, reel-type pipe-laying method, etc. In comparison, the trusteeship method is suitable for situations where the pipeline length and towing distance are short, the S-shaped pipe-laying method has the largest pipe-laying diameter and fast pipe-laying speed, the reel-type pipe-laying method has the smallest pipe-laying diameter and uses a flexible hose, and the J-shaped pipe-laying method has the slowest pipe-laying speed. The S-shaped pipe-laying method is currently the most widely used method for laying submarine pipelines.

[0004] With the rapid increase in energy demand, the development area of ​​offshore oil and gas fields is becoming wider and wider, and the development is constantly moving towards deep water, and the technical requirements for laying submarine pipelines are becoming higher and higher. Among the many technical difficulties faced, domestic and foreign scholars have conducted extensive research, and laying pipelines accurately on the designed route is one of their research directions. The designed route of submarine pipelines is generally a straight line segment, an arc segment, or a combination of the two. The pipe-laying ship needs to sail and lay pipelines along the designed route according to the set position and direction. For the arc segment, the ship position and bow direction need to be continuously adjusted to ensure that the pipeline is laid on the arc segment.

[0005] It should be noted that the above introduction to the technical background is only for the convenience of providing a clear and complete description of the technical solutions of this specification and for the convenience of understanding by those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art simply because they are described in the background technology section of this specification. Summary of the invention

[0006] In view of the deficiencies of the prior art, an object of this specification is to provide a positioning method for laying submarine pipelines in an arc-shaped route, which enables a pipe-laying vessel to lay submarine pipelines along an optimal path on the arc-shaped route.

[0007] To achieve the above purpose, the embodiment of this specification provides a positioning method for laying a submarine pipeline with an arc route, comprising the following steps:

[0008] Select multiple monitoring points on the pipe-laying vessel; the pipe-laying vessel is used to lay submarine pipelines, and the multiple monitoring points are located at different positions on the pipe-laying vessel; the designed route of the submarine pipeline is an arc route; the pipe-laying vessel is provided with a measurement module and a control module;

[0009] Determine the parameters of the arc route; the parameters of the arc route include the center, radius, starting point and end point;

[0010] Calculating theoretical track lines of a plurality of the monitoring points;

[0011] Using the measurement module and the control module to obtain the actual position of each of the monitoring points;

[0012] The deviation between the actual position and the theoretical track line is calculated, and an early warning is issued when the deviation exceeds a predetermined value.

[0013] As a preferred embodiment, in the step of selecting multiple monitoring points on the pipe-laying vessel, the pipe-laying vessel is provided with a pipeline for pipe-laying; the monitoring points include a mud point, which is a position where the pipeline contacts the seabed when the pipe-laying vessel is laying the pipe; and the theoretical track line of the mud point completely coincides with the arc route.

[0014] As a preferred implementation, in the step of calculating the theoretical track lines of the plurality of monitoring points, points are evenly selected from the starting point A on the arc route in an equally spaced manner, and the central angle corresponding to the equally spaced interval is recorded as ; According to the arc routing design coordinates, the center of the arc routing is obtained ,starting point ,end , the radius of the arc routing is , then the i-th sampling point The calculation formula is: ;

[0015] in, According to the sampling point The theoretical track line of the mud impact point is obtained.

[0016] As a preferred embodiment, are the azimuths of OA and OB respectively, and the calculation method is:

[0017] ;

[0018] in, ;

[0019] ;

[0020] in, .

[0021] As a preferred embodiment, in the step of selecting a plurality of monitoring points on the pipe-laying vessel, the pipe-laying vessel is provided with a stinger for carrying the pipeline, and the monitoring points also include the end points of the stinger; in the step of calculating the theoretical track lines of the plurality of monitoring points, the end points of the stinger The calculation formula is: ;in, Indicates the distance from the mud landing point to the end point of the stinger in the hull coordinate system; Represents the angle from the mud landing point to the end point of the stinger in the hull coordinate system; For The tangent azimuth of the arc at the point.

[0022] As a preferred implementation, in the step of calculating the theoretical track lines of the plurality of monitoring points, ;in, is the coordinate of the mud impact point in the hull coordinate system, is the coordinate of the endpoint of the stinger in the hull coordinate system.

[0023] As a preferred implementation, in the step of calculating the theoretical track lines of the plurality of monitoring points, .

[0024] As a preferred embodiment, in the step of selecting a plurality of monitoring points on the pipe-laying vessel, the monitoring points also include pipeline welding points; in the step of calculating the theoretical track lines of the plurality of monitoring points, the pipeline welding points The calculation formula is: ;in, Indicates the distance from the mud landing point to the pipeline welding point in the hull coordinate system; Indicates the angle from the mud landing point to the pipeline welding point in the hull coordinate system; For The tangent azimuth of the arc at the point.

[0025] As a preferred implementation, in the step of calculating the theoretical track lines of the plurality of monitoring points, ;in, is the coordinate of the mud landing point in the hull coordinate system, is the coordinate of the pipeline welding point in the hull coordinate system.

[0026] As a preferred embodiment, the measuring module includes a GNSS locator and a compass; the control module is provided with a display unit for displaying the deviation; the control module includes a computer, and the display unit is a monitor of the computer; the control module and the measuring module use a wireless network for data transmission and communication.

[0027] Beneficial effects:

[0028] The positioning method for laying submarine pipelines with arc-shaped routing provided in this embodiment selects multiple monitoring points on a pipe-laying vessel, and sets a measurement module and a control module on the pipe-laying vessel, so that the actual position of each monitoring point can be obtained during the pipe-laying process; after determining the parameters of the arc-shaped routing, the theoretical track lines of the multiple monitoring points can be calculated according to the parameters of the arc-shaped routing and the monitoring points, and the theoretical track lines of different monitoring points are different; finally, the deviation between the actual position of the monitoring point and the theoretical track line is calculated, and an early warning is issued when the deviation exceeds a predetermined value, so that the pipe-laying vessel can lay the submarine pipeline along the optimal path on the arc-shaped routing.

[0029] With reference to the following description and the accompanying drawings, the specific embodiments of the present invention are disclosed in detail, indicating the manner in which the principles of the present invention can be adopted. It should be understood that the embodiments of the present invention are not limited in scope thereby.

[0030] Features described and / or illustrated with respect to one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments.

[0031] It should be emphasized that the term “include / comprises” when used herein refers to the presence of features, integers, steps or components, but does not exclude the presence or addition of one or more other features, integers, steps or components. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 A flowchart of the steps of a positioning method for laying a submarine pipeline for an arc-shaped route provided in this embodiment;

[0034] Figure 2 A schematic diagram of the construction of a pipe-laying vessel provided in this embodiment when laying pipes;

[0035] Figure 3 for Figure 2 A top view of

[0036] Figure 4 A schematic diagram of a designed route of a submarine pipeline provided in this embodiment;

[0037] Figure 5 for Figure 1 A schematic diagram of dividing the arc route into equal intervals in step S30;

[0038] Figure 6 Schematic diagram of the theoretical track line of each monitoring point.

[0039] Description of reference numerals:

[0040] 1. Pipe-laying vessel; 2. GNSS positioning instrument; 3. Compass; 4. Pipeline; 5. Stinger; 6. Sea surface; 7. Seabed; 8. Theoretical track line of mud impact point; 9. Theoretical track line of the end point of the stinger; 10. Theoretical track line of the pipeline welding point; O, center of the circle; A, starting point; B, end point; R0, radius; Z, mud impact point; T, end point of the stinger; H, pipeline welding point. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0042] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be another element centered thereon. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be another element centered thereon at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0044] See also Figures 1 to 6 The embodiment of the present application provides a positioning method for laying a submarine pipeline with an arc-shaped route, comprising the following steps:

[0045] Step S10: Select multiple monitoring points on the pipe-laying vessel 1 .

[0046] The pipe-laying vessel 1 is used for laying submarine pipelines, and the positions of the plurality of monitoring points on the pipe-laying vessel 1 are different. Figure 4 As shown, the designed route of the submarine pipeline is an arc route. The pipe-laying vessel 1 is provided with a measuring module and a control module.

[0047] Step S20: Determine the parameters of the arc routing.

[0048] The parameters of the arc route include the center O, the radius R0, the starting point A and the end point B, that is, the shape of the designed route is an arc segment from point A to point B.

[0049] Step S30: Calculate theoretical track lines of multiple monitoring points.

[0050] Step S40: using the measurement module and the control module to obtain the actual position of each monitoring point.

[0051] Step S50: Calculate the deviation between the actual position and the theoretical track line, and issue a warning when the deviation exceeds a predetermined value.

[0052] The positioning method for laying submarine pipelines for arc-shaped routes provided in this embodiment selects multiple monitoring points on the pipe-laying vessel 1, and sets a measurement module and a control module on the pipe-laying vessel 1, so that the actual position of each monitoring point can be obtained during the pipe-laying process; after determining the parameters of the arc-shaped route, the theoretical track lines of the multiple monitoring points can be calculated according to the parameters of the arc-shaped route and the monitoring points, and the theoretical track lines of different monitoring points are different; finally, the deviation between the actual position of the monitoring point and the theoretical track line is calculated, and an early warning is issued when the deviation exceeds a predetermined value, so that the pipe-laying vessel 1 can lay the submarine pipeline along the optimal path on the arc-shaped route.

[0053] It should be noted that the order of step S10, step S20 and step S30 is not fixed and can be adjusted as needed, and these three steps can be completed before pipe laying. Step S40 and step S50 are performed during the pipe laying process.

[0054] In this embodiment, the number of monitoring points is preferably 3. Too few monitoring points will lead to inaccurate monitoring. For example, when there are 2 monitoring points, if a large deviation occurs during the operation of the pipe-laying vessel 1, the positions of the two monitoring points may not show obvious deviations, so that the operation cannot be stopped in time, resulting in the pipe-laying path not meeting the requirements. Too many monitoring points will increase the monitoring cost and is not conducive to improving construction efficiency.

[0055] In step S10, the pipe-laying vessel 1 is provided with a pipe 4 for pipe-laying. Figure 2 and Figure 3 As shown, the pipe-laying vessel 1 is located on the sea surface 6. The monitoring points include a mud point Z, which is the position where the pipeline 4 contacts the seabed 7 when the pipe-laying vessel 1 lays the pipe. The theoretical track line of the mud point Z completely coincides with the arc route.

[0056] In step S30, Figure 5 As shown, points are evenly selected from the starting point A on the arc route in an equally spaced manner, and the central angle corresponding to the equally spaced interval is recorded as The smaller the point interval is, the more the trajectory coincides with the design route. When the number of points n tends to infinity, the trajectory completely coincides with the design route.

[0057] Among them, the equal division interval methods include equal central angle, equal arc length, and equal chord length. The angle of each portion divided by the equal central angle method is recorded as , the length of each arc divided by equal arc length is recorded as , the length of each chord divided by equal chord length is recorded as , then the central angle The calculation formula is:

[0058] ;

[0059] In step S30, the center of the arc route is obtained according to the arc route design coordinates. ,starting point ,end , the radius of the arc routing is , then the i-th sampling point The calculation formula is: .

[0060] in, According to the sampling point The theoretical track line of the mud point Z is obtained. When i=0, the sampling point is the starting point A; using the rounding down formula, n is the maximum number of sampling points, so that the point on the arc does not exceed the end point B.

[0061] Specifically, are the azimuths of OA and OB respectively, and the calculation method is:

[0062] ;

[0063] in, ;

[0064] ;

[0065] in, .

[0066] In step S10, the pipe-laying vessel 1 is provided with a stinger 5 for carrying the pipeline 4, and the pipeline 4 on the pipe-laying vessel 1 enters the sea through the stinger 5. The monitoring point also includes the stinger endpoint T. The position of the stinger 5 and the pipe-laying vessel 1 is relatively fixed. Accordingly, in step S30, the i-th sampling point on the theoretical track line of the stinger endpoint T is The calculation formula is: .

[0067] in, Represents the distance from the mud landing point Z to the end point T of the stinger in the hull coordinate system; Represents the angle from the mud landing point Z to the end point T of the stinger in the hull coordinate system; For The tangent azimuth of the arc at the point.

[0068] Specifically, and The calculation formula is .in, is the coordinate of the mud impact point Z in the hull coordinate system, is the coordinate of the end point T of the stinger in the hull coordinate system. The coordinates of each monitoring point are known quantities and can be obtained by measuring on the pipe-laying vessel 1 using a steel ruler or a total station.

[0069] More specifically, The calculation formula is This formula has taken into account the different traveling directions of the pipe-laying vessel 1 and made a judgment in the system program.

[0070] when When , the sampling point is the end point B, then .

[0071] In step S10, the monitoring points also include a pipeline welding point H. The three monitoring points are all related to the pipeline 4 and are the positions of the pipeline 4 in different states, which can better monitor the actual position and prevent the pipe-laying vessel 1 from shifting. For a single pipeline 4, it moves along the track of the pipe-laying vessel 1, the stinger 5, the sea surface 6, and the seabed 7. When a pipeline 4 completes the installation on the seabed 7, a new pipeline 4 needs to be welded at the pipeline welding point H of the pipe-laying vessel 1.

[0072] In step S30, the i-th sampling point on the theoretical trajectory of the pipeline welding point H is The calculation formula is: .

[0073] in, Indicates the distance from the mud landing point Z to the pipeline welding point H in the hull coordinate system; Indicates the angle from the mud landing point Z to the pipeline welding point H in the hull coordinate system; For The tangent azimuth of the arc at the point.

[0074] Specifically, and The calculation formula is .in, is the coordinate of the mud impact point Z in the hull coordinate system, is the coordinate of the pipeline welding point H in the hull coordinate system.

[0075] In this embodiment, if Figure 6 As shown, all The line segment connecting the points in sequence is the theoretical track line of the mud impact point 8; The line segment connecting the points in sequence is the theoretical track line 9 of the end point of the stinger; The line segment connecting the points in sequence is the theoretical track line 10 of the pipeline welding point.

[0076] In this embodiment, the measurement module may include a GNSS locator 2 and a compass 3, wherein GNSS stands for Global Navigation Satellite System. The GNSS locator 2 is used to monitor the actual positions of the plurality of monitoring points. The compass 3 is used to measure the heading of the pipe-laying vessel 1. The compass 3 and the GNSS locator 2 complement each other in the navigation system and jointly provide accurate navigation information; the compass 3 provides basic heading indications in the absence of a signal from the GNSS locator 2, while the GNSS locator 2 provides accurate position information of the monitoring point when there is a signal, and the combination of the two can improve the reliability and accuracy of navigation.

[0077] In this embodiment, the control module can calculate the theoretical track line of each monitoring point according to the parameters of the monitoring point and the arc route. The control module is connected to the measurement module, and is used to receive the actual position and heading measured by the measurement module, and solve the position relationship between the actual position of each monitoring point and the theoretical track line, calculate the deviation between the actual position and the theoretical track line, and issue an early warning when the deviation exceeds a predetermined value. The control module is provided with a display unit for displaying the deviation and adjusting the ship's position.

[0078] Preferably, the control module is a computer, and the display unit is a display of the computer. The control module and the measuring module use a wireless network for data transmission and communication, and transmit the position of the pipe-laying vessel 1 and the deviation of each monitoring point and the alarm information to the command center. The computer includes modules such as data receiving and sending, storage, processing and alarm, and has a complete data processing system.

[0079] In step S50, when the deviation of the monitoring point exceeds a predetermined value, an alarm is given, and the alarm information and the deviation are synchronously transmitted to the command center so as to adjust the ship position in time. The advantages and positive effects of the present invention are as follows:

[0080] 1) During the pipe-laying operation, the computer receives data from the GNSS positioner 2 and the compass 3, calculates the actual position changes of each monitoring point in real time, and monitors the position and dynamics of the ship in real time;

[0081] 2) Before the pipe-laying operation, the theoretical track line of each monitoring point is calculated in advance based on the coordinates of the monitoring point in the hull coordinate system and the parameters of the arc route, which can be regarded as the design route of each monitoring point during the pipe-laying operation;

[0082] 3) Through wireless data transmission and communication, when the deviation exceeds the preset value, the alarm information and deviation amount will be broadcast in real time to adjust the ship's position in time, ensure that the ship is laid according to the designed route, and facilitate coordinated command operations.

[0083] The present invention can monitor the position change of the pipe-laying vessel 1 in real time and can calculate the theoretical track line in advance, thereby ensuring that the pipe-laying vessel 1 lays the submarine pipeline along the optimal path on the arc route, making it easier to coordinate the operation and having important engineering application value and economic benefits.

[0084] Furthermore, in the description of this specification, unless otherwise specified, “plurality” means two or more.

[0085] Any numerical value cited herein includes all values ​​of lower and upper values ​​that increase by one unit from the lower limit to the upper limit, and there is at least a two-unit interval between any lower value and any higher value. For example, if the value of the quantity of a component or a process variable (such as temperature, pressure, time, etc.) is set forth to be from 1 to 90, preferably from 20 to 80, and more preferably from 30 to 70, the purpose is to illustrate that values ​​such as 15 to 85, 22 to 68, 43 to 51, 30 to 32 are also explicitly listed in the specification. For values ​​less than 1, one unit is appropriately considered to be 0.0001, 0.001, 0.01, 0.1. These are merely examples that are intended to be clearly expressed, and it can be considered that all possible combinations of numerical values ​​listed between the lowest value and the highest value are clearly set forth in the specification in a similar manner.

[0086] Unless otherwise indicated, all ranges include the endpoints and all numbers between the endpoints. "About" or "approximately" used with a range applies to both endpoints of the range. Thus, "about 20 to 30" is intended to cover "about 20 to about 30", including at least the specified endpoints.

[0087] All articles and references disclosed, including patent applications and publications, are incorporated herein by reference for all purposes. The term "consisting essentially of..." to describe a combination should include the identified elements, ingredients, parts or steps and other elements, ingredients, parts or steps that do not substantially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe a combination of elements, ingredients, parts or steps herein also contemplates embodiments that consist essentially of these elements, ingredients, parts or steps. By using the term "may", it is intended to indicate that any attribute described that "may" include is optional.

[0088] Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure "one" or "an" used to describe an element, ingredient, part or step is not intended to exclude other elements, ingredients, parts or steps.

[0089] It should be understood that the above description is for illustration and not for limitation. Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but should be determined with reference to the appended claims and the full scope of equivalents possessed by such claims. For the purpose of comprehensiveness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the preceding claims is not intended to be a waiver of the subject matter, nor should it be considered that the inventors did not consider the subject matter to be part of the disclosed inventive subject matter.

Claims

1. A positioning method for laying arc-shaped submarine pipelines, characterized in that: The following steps are involved: Select multiple monitoring points on the pipe-laying vessel; the pipe-laying vessel is used to lay submarine pipelines, and the multiple monitoring points are located at different positions on the pipe-laying vessel; the designed route of the submarine pipeline is an arc route; the pipe-laying vessel is provided with a measurement module and a control module; Determine the parameters of the arc route; the parameters of the arc route include the center, radius, starting point and end point; Calculating theoretical track lines of a plurality of the monitoring points; Using the measurement module and the control module to obtain the actual position of each of the monitoring points; The deviation between the actual position and the theoretical track line is calculated, and an early warning is issued when the deviation exceeds a predetermined value.

2. The positioning method for laying submarine pipelines for arc-shaped routes according to claim 1 is characterized in that: In the step of selecting multiple monitoring points on the pipe-laying vessel, the pipe-laying vessel is provided with a pipeline for pipe-laying; the monitoring points include a mud point, which is a position where the pipeline contacts the seabed when the pipe-laying vessel is laying the pipe; and the theoretical track line of the mud point completely coincides with the arc route.

3. The positioning method for laying submarine pipelines for arc-shaped routes according to claim 2 is characterized in that: In the step of calculating the theoretical track lines of the plurality of monitoring points, points are evenly selected from the starting point A on the arc route in an equally spaced manner, and the central angle corresponding to the equally spaced interval is recorded as ; According to the arc routing design coordinates, the center of the arc routing is obtained The coordinates are ,starting point The coordinates are ,end The coordinates are , the radius of the arc routing is , then the i-th sampling point The calculation formula is: ; in, ;in, According to the sampling point The theoretical track line of the mud impact point is obtained.

4. The positioning method for laying submarine pipelines for arc-shaped routes according to claim 3 is characterized in that: are the azimuths of OA and OB respectively, and the calculation method is: ； in, ; ； in, .

5. The positioning method for laying submarine pipelines for arc-shaped routes according to claim 3 is characterized in that: In the step of selecting a plurality of monitoring points on the pipe-laying vessel, the pipe-laying vessel is provided with a stinger for carrying the pipeline, and the monitoring points also include end points of the stinger; In the step of calculating the theoretical track lines of the plurality of monitoring points, the stinger end point coordinate The calculation formula is: ;in, Indicates the distance from the mud landing point to the end point of the stinger in the hull coordinate system; Represents the angle from the mud landing point to the end point of the stinger in the hull coordinate system; For The tangent azimuth of the arc at the point.

6. The positioning method for laying submarine pipelines for arc-shaped routes according to claim 5 is characterized in that: In the step of calculating the theoretical track lines of the plurality of monitoring points, ;in, is the coordinate of the mud impact point in the hull coordinate system, is the coordinate of the endpoint of the stinger in the hull coordinate system.

7. The positioning method for laying submarine pipelines for arc-shaped routes according to claim 5 is characterized in that: In the step of calculating the theoretical track lines of the plurality of monitoring points, .

8. The positioning method for laying submarine pipelines for arc-shaped routes according to claim 5, characterized in that: In the step of selecting a plurality of monitoring points on the pipe-laying vessel, the monitoring points also include pipeline welding points; in the step of calculating the theoretical track lines of the plurality of monitoring points, the pipeline welding points coordinate The calculation formula is: ;in, Indicates the distance from the mud landing point to the pipeline welding point in the hull coordinate system; Indicates the angle from the mud landing point to the pipeline welding point in the hull coordinate system; For The tangent azimuth of the arc at the point.

9. The positioning method for laying submarine pipelines for arc-shaped routes according to claim 8, characterized in that: In the step of calculating the theoretical track lines of the plurality of monitoring points, ;in, is the coordinate of the mud impact point in the hull coordinate system, is the coordinate of the pipeline welding point in the hull coordinate system.

10. The positioning method for laying submarine pipelines for arc-shaped routes according to claim 1, characterized in that: The measuring module includes a GNSS locator and a compass; the control module is provided with a display unit for displaying the deviation; the control module includes a computer, and the display unit is a display of the computer; the control module and the measuring module use a wireless network for data transmission and communication.

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