A positioning method for laying submarine pipelines with arc routing

Abstract

The present application discloses a positioning method for laying submarine pipelines with an arc-shaped route, comprising the following steps: selecting multiple monitoring points on a 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-shaped route; the pipe-laying vessel is provided with a measurement module and a control module; determining the parameters of the arc-shaped route; the parameters of the arc-shaped route include the center, radius, starting point, and end point; calculating the theoretical track lines of the multiple monitoring points; using the measurement module and the control module to obtain the actual position of each monitoring point; calculating the deviation between the actual position and the theoretical track line, and issuing an early warning when the deviation exceeds a predetermined value. This positioning method for laying submarine pipelines with an arc-shaped route enables the pipe-laying vessel to lay the submarine pipeline along the optimal path on the arc-shaped route.

Description

Technical Field

[0001] This specification 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 a vital 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, enabling the transport of developed energy from one location to another. The main methods for laying submarine pipelines include: escrow, S-lay, J-lay, and reel-lay. The escrow method is suitable for shorter pipeline lengths and towing distances. S-lay has the largest pipe diameter and fastest laying speed, reel-lay has the smallest pipe diameter and uses flexible hoses, and J-lay has the slowest laying speed. S-lay is currently the most widely used method for laying submarine pipelines.

[0004] With the rapid increase in energy demand, the development of offshore oil and gas fields is expanding, with continued progress towards deeper waters. This is placing increasingly stringent technical demands on submarine pipeline laying. Among the numerous technical challenges faced, scholars at home and abroad have conducted extensive research, with the precise laying of pipelines along the designed route being one of their research areas. The designed route for a submarine pipeline is generally a straight line, an arc, or a combination of both. Pipe-laying vessels must navigate and lay the pipeline along the designed route, in a predetermined position and direction. For arc sections, the vessel's position and heading must be constantly adjusted to ensure the pipeline is laid within the arc.

[0005] It should be noted that the above technical background is merely provided to provide a clear and complete description of the technical solutions of this specification and to facilitate understanding by those skilled in the art. Simply because these solutions are described in the background technology section of this specification, it should not be assumed that the above technical solutions are well known to those skilled in the art. Summary of the Invention

[0006] In view of the deficiencies of the prior art, one 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 in the arc-shaped route.

[0007] To achieve the above objectives, the present disclosure provides a method for positioning a submarine pipeline for arc-shaped routing, comprising the following steps:

[0008] A plurality of monitoring points are selected on a pipe-laying vessel; the pipe-laying vessel is used for laying submarine pipelines, and the plurality of monitoring points are located at different positions on the pipe-laying vessel; the submarine pipeline is designed to have an arc-shaped route; and a measurement module and a control module are provided on the pipe-laying vessel;

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

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

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

[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 the 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 embodiment, in the step of calculating the theoretical trajectory of the plurality of monitoring points, points are evenly selected on the arc route starting from the starting point A 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, get the center of the arc routing ,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 further include the stinger endpoints; in the step of calculating the theoretical track lines of the plurality of monitoring points, the stinger endpoints The calculation formula is: ;in, represents 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 angle of the arc at the point.

[0022] As a preferred embodiment, 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 endpoint of the stinger in the hull coordinate system.

[0023] As a preferred embodiment, 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 angle of the arc at the point.

[0025] As a preferred embodiment, 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 in an arc-shaped route provided in this embodiment selects multiple monitoring points on a pipe-laying vessel and installs 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 the parameters of the arc-shaped route are determined, the theoretical trajectory lines of the multiple monitoring points can be calculated based on the parameters of the arc-shaped route and the monitoring points, and the theoretical trajectory lines of different monitoring points will be different. Finally, the deviation between the actual position of the monitoring point and the theoretical trajectory line is calculated. When the deviation exceeds a predetermined value, an early warning is issued, thereby enabling the pipe-laying vessel to lay the submarine pipeline along the optimal path on the arc-shaped route.

[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 employed. 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 / comprising" 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below 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 any creative labor.

[0033] Figure 1 This is a flowchart of the steps of a positioning method for laying submarine pipelines with an arc route provided in this embodiment;

[0034] Figure 2 This is 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 lines of each monitoring point.

[0039] Description of reference numerals:

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

[0041] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described 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 making creative efforts 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 referred to as being "connected to" another element, it may be directly connected to the other element or there may be another element centered thereon. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

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

[0044] See also Figures 1 to 6 The embodiment of the present application provides a positioning method for laying arc-shaped submarine pipelines, 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 locations 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 measurement 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 an early warning when the deviation exceeds a predetermined value.

[0052] The positioning method for laying submarine pipelines in an arc-shaped route 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 the parameters of the arc-shaped route are determined, the theoretical trajectory lines of the multiple monitoring points can be calculated based on the parameters of the arc-shaped route and the monitoring points, and the theoretical trajectory lines of different monitoring points will be different. Finally, the deviation between the actual position of the monitoring point and the theoretical trajectory line is calculated. When the deviation exceeds a predetermined value, an early warning is issued, 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 three. Too few monitoring points can lead to inaccurate monitoring. For example, if there are only two monitoring points, if a large deviation occurs during the operation of the pipelaying vessel 1, the positions of the two monitoring points may not show obvious deviation, and the operation cannot be stopped in time, resulting in the pipelaying path not meeting the requirements. Too many monitoring points will increase monitoring costs and is not conducive to improving construction efficiency.

[0055] In step S10, the pipe-laying vessel 1 is provided with a pipe 4 for laying pipes. 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 is laying 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 evenly spaced manner, and the central angle corresponding to the evenly spaced interval is recorded as The smaller the interval between the points, 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 methods include equal central angle, equal arc length, and equal chord length. The angle of each part 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 Obtain the theoretical track line of the mud impact point Z. 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. 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 between the mud landing point Z and the stinger endpoint T in the hull coordinate system; For The tangent angle 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 stinger endpoint T 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 pipeline welding point H. All three monitoring points are associated with pipeline 4 and represent the positions of pipeline 4 in different states. This allows for better monitoring of the actual position and prevents deviation of the pipelay vessel 1. A single pipeline 4 moves along a trajectory that links the pipelay vessel 1, stinger 5, sea surface 6, and seabed 7. After a pipeline 4 is installed on the seabed 7, a new pipeline 4 must be welded to the pipeline welding point H on the pipelay 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, represents the distance from the mud landing point Z to the pipeline welding point H in the hull coordinate system; Represents the angle between the mud landing point Z and the pipeline welding point H in the hull coordinate system; For The tangent angle 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 stinger endpoint; 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, where GNSS stands for Global Navigation Satellite System. GNSS locator 2 is used to monitor the actual positions of the plurality of monitoring points. Compass 3 is used to measure the heading of the pipe-laying vessel 1. Compass 3 and GNSS locator 2 complement each other in the navigation system, jointly providing accurate navigation information. Compass 3 provides basic heading indication in the absence of a GNSS locator 2 signal, while GNSS locator 2 provides precise location information of monitoring points when a signal is present. The combined use of the two can improve navigation reliability and accuracy.

[0077] In this embodiment, the control module is capable of calculating the theoretical track line for each monitoring point based on the parameters of the monitoring point and the arc route. The control module is connected to the measurement module and is configured to receive the actual position and heading measured by the measurement module, calculate the positional relationship between the actual position of each monitoring point and the theoretical track line, and calculate the deviation between the actual position and the theoretical track line. When the deviation exceeds a predetermined value, an early warning is issued. The control module is provided with a display unit for displaying the deviation for adjusting the ship's position.

[0078] Preferably, the control module is a computer, and the display unit is a monitor of the computer. The control module and the measurement module utilize a wireless network for data transmission and communication, transmitting the position of the pipe-laying vessel 1, the deviation of each monitoring point, and alarm information to the command center. The computer includes modules for data transmission and reception, storage, processing, and alarming, forming a complete data processing system.

[0079] In step S50, when the deviation of the monitoring point exceeds a predetermined value, an alarm is issued, and the alarm information and the deviation are synchronously transmitted to the command center so that the ship position can be adjusted 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, and calculates the actual position changes of each monitoring point in real time, thereby monitoring the ship's position and dynamics in real time;

[0081] 2) Before the pipe-laying operation, the theoretical track lines of each monitoring point are calculated based on the coordinates of the monitoring points in the ship's coordinate system and the parameters of the arc route. These can be regarded as the designed routes 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, which can be used to adjust the ship's position in time to ensure that the ship is laid according to the designed route, making it easier to coordinate and command operations.

[0083] The present invention can monitor the position changes 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 and command operations, and has 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 the lower and upper values ​​in increments of one unit from the lower value to the upper value, provided that there is at least a two-unit interval between any lower value and any higher value. For example, if the value of a component quantity or process variable (e.g., temperature, pressure, time, etc.) is stated to be from 1 to 90, preferably from 20 to 80, and more preferably from 30 to 70, it is intended to illustrate that values ​​such as 15 to 85, 22 to 68, 43 to 51, 30 to 32, etc. are also explicitly listed in this 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 intended to be clearly stated, and it is to be understood that all possible combinations of the values ​​listed between the minimum and maximum values ​​are explicitly stated in this specification in a similar manner.

[0086] Unless otherwise indicated, all ranges include the endpoints and all numbers between the endpoints. When used with a range, "about" or "approximately" 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 herein, including patent applications and publications, are incorporated herein by reference for all purposes. The term "consisting essentially of..." when describing a combination should include the identified elements, ingredients, components, or steps and other elements, ingredients, components, or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe a combination of elements, ingredients, components, or steps herein also contemplates embodiments consisting essentially of these elements, ingredients, components, or steps. By using the term "may," it is intended to indicate that any attribute described as "may" be 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 of "a" or "an" 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 rather with reference to the appended claims and the full scope of equivalents to which such claims are entitled. 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 from the foregoing claims is not intended to be a disclaimer of such subject matter, nor should it be assumed that the inventors did not consider such subject matter to be part of the disclosed inventive subject matter.

Claims

1. A positioning method for laying submarine pipelines with arc-shaped routing, characterized in that: The following steps are involved: A plurality of monitoring points are selected on a pipe-laying vessel; the pipe-laying vessel is used for laying submarine pipelines, and the plurality of monitoring points are located at different positions on the pipe-laying vessel; the submarine pipeline is designed to have an arc-shaped route; the pipe-laying vessel is provided with a measurement module and a control module; the pipe-laying vessel is provided with a pipe for laying the pipe and a stinger for supporting the pipe; the number of monitoring points is three, and the monitoring points include a mud point, a stinger end point, and a pipeline welding point; the mud point is the location where the pipeline contacts the seabed when the pipe-laying vessel lays the pipe; the three monitoring points are all related to the pipeline and represent the positions of the pipeline in different states; Determining parameters of the arc route; the parameters of the arc route include a center, a radius, a starting point, and an end point; Calculate the theoretical trajectory of multiple monitoring points; start from the starting point A on the arc route and evenly select points in an equally spaced manner, and the central angle corresponding to the equally spaced interval is recorded as The equal division interval method includes equal central angle equal division, equal arc length equal division, equal chord length equal division; 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: ; , According to the sampling point Get the theoretical track line of the mud impact point; are the azimuths of OA and OB respectively, and the calculation method is: ； ； Using the measurement module and the control module to obtain the actual position of each monitoring point; Calculating a deviation between the actual position and the theoretical track line, and issuing an early warning when the deviation exceeds a predetermined value; 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 computer monitor; the control module and the measuring module use a wireless network for data transmission and communication.

2. The positioning method for laying submarine pipelines for arc-shaped routes according to claim 1, characterized in that: In the step of selecting a plurality of monitoring points on the pipe-laying vessel, the theoretical track line of the mud impact point completely coincides with the arc-shaped route.

3. The positioning method for laying submarine pipelines for arc-shaped routes according to claim 1, characterized in that: In the step of calculating the theoretical track lines of the plurality of monitoring points, the stinger endpoint The calculation formula is: ;in, represents 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 angle of the arc at the point.

4. The positioning method for laying submarine pipelines for arc-shaped routes according to claim 3 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 landing point in the hull coordinate system, is the coordinate of the endpoint of the stinger in the hull coordinate system.

5. The positioning method for laying submarine pipelines with arc-shaped routing according to claim 3 is characterized in that: In the step of calculating the theoretical track lines of the plurality of monitoring points, .

6. The positioning method for laying submarine pipelines with arc-shaped routing according to claim 3 is characterized in that: In the step of calculating the theoretical trajectory 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 angle of the arc at the point.

7. The positioning method for laying submarine pipelines with arc-shaped routing according to claim 6, 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 landing point in the hull coordinate system, is the coordinate of the pipeline welding point in the hull coordinate system.

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