Immersed tube floating transportation and sinking real-time visual monitoring system combining GPS and inertial navigation

Abstract

The invention discloses a GPS and inertial navigation combined immersed tube floating transportation and immersion real-time visual monitoring system, which comprises a monitoring assembly, the monitoring assembly comprises at least two GNSS receivers and an attitude measuring instrument, the GNSS receivers monitor the position of an immersed tube in real time in an RTK positioning mode, and the attitude measuring instrument is used for measuring the attitude of the immersed tube in real time; and the visualization module comprises a software interface, a model management unit, an import module, a graphic rendering module, a data acquisition module and a real-time data generation module. According to the invention, real-time floating transportation sinking docking data can be provided, a visual simulation video of the whole process can be provided, and more complete and more reliable data can be provided for a construction party, so that real-time feedback information can be provided, and the construction precision can be ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of visual monitoring, and particularly relates to a three-dimensional attitude real-time visual monitoring system for the floating and sinking of immersed tube sections combined with GPS and inertial navigation. Background Art

[0002] In the installation of immersed tube sections for immersed tube tunnel projects, the floating transportation distance is very long, and there are many uncertain factors in the intermediate process, including weather, wind direction, communication, positioning, water flow, etc. There may be yaw, abnormal attitude or even grounding accidents. Summary of the Invention

[0003] Aiming at the deficiencies existing in the prior art, the purpose of the present invention is to provide a three-dimensional attitude real-time visual monitoring system for the floating transportation of immersed tube sections combined with GPS and inertial navigation, which can provide real-time data for sinking and docking, and give a visual simulation video of the whole process, providing more complete and reliable data to the construction party to provide real-time feedback information and ensure construction accuracy. To achieve the above-mentioned purpose and other advantages of the present invention, there is provided a three-dimensional attitude real-time visual monitoring system for the floating transportation of immersed tube sections combined with GPS and inertial navigation, including: A monitoring component, the monitoring component includes at least two GNSS receivers and an attitude measuring instrument. The GNSS receivers monitor the position of the immersed tube in real time through the RTK positioning mode, and the attitude measuring instrument is used to measure the attitude of the immersed tube in real time; in this application, since the measured coordinates of the immersed tube GNSS are closely related to the attitude, the two can complement and correct each other, which can improve the measurement accuracy and reliability. The combination of GPS and inertial navigation methods is realized, not only relying on one measurement method, but also the accuracy control level of the whole floating, sinking and docking is much higher than the current general method.

[0004] A visualization module, the visualization module includes a software interface, a model management unit, and an import, a graphics rendering module, a data acquisition module, and a real-time data generation module; Among them, the data acquisition module is used to monitor the immersed tube database and query the immersed tube database in real time. Once new data is generated, it will notify the system and transfer the latest data to the system, or it will not actively notify the system, and the system will query the immersed tube database in real time according to the playback time specified by the current user and obtain relevant information; The real-time data generation module is based on the data acquisition module and is used to dynamically output construction-related data to guide construction. Through the visualization module, real-time data for sinking and docking can be provided, and a visual simulation video of the whole process can be given to assist other on-site measurement methods and the underwater actual measurement of divers, providing more complete and reliable data to the construction party to provide real-time feedback information and ensure construction accuracy. Description of the Drawings

[0005] Figure 1 Schematic diagram of the composition and associated features of a real-time visual monitoring system for the three-dimensional attitude of a floating immersed tube section by combining GPS and inertial navigation according to the present invention; Figure 2 Schematic diagram of the layout structure of monitoring equipment for a real-time visual monitoring system for the three-dimensional attitude of a floating immersed tube section by combining GPS and inertial navigation according to the present invention; Figure 3 Schematic diagram of the model management tree structure of a real-time visual monitoring system for the three-dimensional attitude of a floating immersed tube section by combining GPS and inertial navigation according to the present invention; Figure 4 Schematic diagram of the typical three-dimensional rendering program structure of a real-time visual monitoring system for the three-dimensional attitude of a floating immersed tube section by combining GPS and inertial navigation according to the present invention; Figure 5 Schematic diagram of the integration with the data acquisition module in two modes of a real-time visual monitoring system for the three-dimensional attitude of a floating immersed tube section by combining GPS and inertial navigation according to the present invention; Figure 6 Terminal output content and software module diagram of a real-time visual monitoring system for the three-dimensional attitude of a floating immersed tube section by combining GPS and inertial navigation according to the present invention. Detailed implementation manners

[0006] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0007] Referring to Figure 1 , a real-time visual monitoring system for the three-dimensional attitude of a floating immersed tube section by combining GPS and inertial navigation. Generally, the monitoring system includes two types of states: the monitoring during the floating process of the tube section and the monitoring during the sinking process. The monitoring contents include: i) the acquisition of the position and attitude characteristic data of the tube section; ii) the network database (cache), the dynamic storage of monitoring data and its remote automatic transmission; iii) the terminal real-time visualization and safety evaluation.

[0008] The monitored state parameters of the tube section include: i) the planar trajectory, attitude, and freeboard during the floating process of the tube section; ii) the planar position, sinking depth, sinking state, and the relationship with the front and rear tube sections during the sinking and docking process of the tube section.

[0009] The schematic diagram of the composition and associated features of the visual monitoring system is as Figure 1 shown.

[0010] As Figure 2As shown in the figure, 2 GNSS receivers are arranged at the front and rear towers of each immersed tube, for a total of 4 GNSS receivers. An attitude measuring instrument is installed at the immersed tube part near the main tower (to facilitate the installation of the attitude measuring instrument). The GNSS receivers monitor the position of the immersed tube in real time through the RTK positioning mode, and the attitude measuring instrument is used to measure the attitude of the immersed tube in real time. Since the measured coordinates of the immersed tube GNSS are closely related to the attitude, the two can complement and correct each other, improving the accuracy and reliability of the measurement.

[0011] The visualization module is an independent executable application program, which consists of the following subroutines.

[0012] (1) Software interface: The main interface of the application program, based on Windows Form technology.

[0013] (2) Model management and import: Establish a set of extensible model management system and import function implementation, and configure the model information in detail based on the externally configurable psm file.

[0014] The establishment of the 3D model of the immersion site will greatly improve the visualization of the floating and immersion process. In order to improve the authenticity of the visualization, it is necessary to establish not only the immersed tube model of the actual monitoring, but also the related tower racks, cables, dry docks, foundation trenches and surrounding environmental facilities.

[0015] However, if the relevant model information is constructed in the application program, it will directly lead to a significant increase in the coupling between the application program and the model information, and thus the application program will not be able to achieve extensibility.

[0016] This module will solve the above two problems: i) Manage a large number of 3D models; ii) Decouple the model information and the application program.

[0017] To solve the second problem, it is proposed to configure all the information of the 3D models independently outside the application program. Outside the application program, an XML extensible text file is provided to configure the model information. And in this file, the immersed tube and the related tower racks, cables, dry docks, foundation trenches and surrounding environmental facilities are managed through a tree structure to improve the data management efficiency and the scalability of the model, so as to solve the first problem.

[0018] In the system, an additional PSM file method is proposed to configure model information. A PSM is a text file, which is actually an XML file of Microsoft. XML (Extensible Markup Language) is a markup language used to mark electronic files to make them have a structural markup language, mark data, define data types, and is a source language that allows users to define their own markup language. This file is released to the end user together with the application, and the project party determines the specific information in this text file. The schematic diagram of the model management tree structure is as Figure 3 shown When the model tree is established in the external PSM file, it is relatively simple to import it into the application to create corresponding objects. The application reads each XML node in sequence, directly reads the information on the node, and constructs the corresponding C# object.

[0019] (3)Graphics rendering module: Quickly and efficiently realizing the rendering of 3D models is one of the key modules of the entire program, and it is built based on the VTK third-party program library.

[0020] The graphics rendering platform is also called a renderer. Building a fully functional renderer from scratch will consume a lot of manpower and material resources, so an open-source renderer becomes the consideration target of this project.

[0021] The adopted 3D rendering program structure is as Figure 4 shown.

[0022] The external application module organizes the 3D data into a data structure recognizable by the rendering engine according to the requirements of the rendering engine, and then passes it to the rendering engine; the rendering engine calls the device management module as needed; finally, the virtual device that encapsulates hardware APIs such as DirectX and OpenGL draws the 3D graphics on the screen.

[0023] Among them, the role of the rendering engine is to provide the ability to efficiently display large scenes; its purpose is to minimize the processing process, minimize the time and memory spent by the GPU, and at the same time meet our requirements for graphic quality within a limited time range.

[0024] The device management module maintains the 3D data passed from the rendering engine, such as meshes and textures. It is the only way to call the virtual device. The virtual device is a wrapper for graphics APIs such as DirectX and OpenGL, and generally requires being short and efficient. The device management module has a strategy for what rendering data to pass to the virtual device. For example, if two objects to be rendered have the same material, then the device management module will not reset the material data between rendering these two objects because state switching is very GPU resource-consuming; in addition, the device management module can also merge many small objects into one object, thus improving the efficiency of the GPU. The device management module also has functions such as managing GPU resources and releasing memory.

[0025] (4)Data acquisition module integration and model drive This sub-module is the core of the entire program and also the data source for data analysis and guiding construction. This module will directly access the immersed tube real-time database.

[0026] When the system is running in the real-time monitoring mode, the data acquisition module will monitor the immersed tube database every 100 ms (the program-set time interval density). Once new data is generated, it will notify the system and transfer the latest data to the system. When the system is running in the playback monitoring model, the data acquisition model will not actively notify the system, and the system will query the immersed tube database in real time according to the playback time specified by the current user and obtain relevant information. The integration schematic diagrams of the two modes with the data acquisition module are as Figure 5 shown.

[0027] Regardless of which model the system is in, when the system receives the real-time immersed tube information passed from the network database, the system defines relevant data interfaces for this data to obtain the operation information of the immersed tube. It includes on which section of the immersed tube the current data is, the starting point of the immersed tube, the ending point of the immersed tube, the inclination angle, the current time, the maximum inclination angle, etc.

[0028] (5)Real-time data generation: This sub-module is based on the data acquisition module and can dynamically output construction-related data to guide construction. It is one of the key modules of the system.

[0029] After a series of mathematical, surveying, and logical processes on multi-source data, technical materials for evaluating the floating and sinking states and safety risks of the pipe sections are obtained. These materials need to be output in various forms such as videos, curve graphs, technical tables, and texts on the terminal display of the control center to achieve real-time visualization and multi-department sharing. As Figure 6 shown.

[0030] The number of devices and the processing scale described here are used to simplify the description of the present invention, and it is obvious to those skilled in the art for the application, modification, and variation of the present invention.

[0031] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those skilled in the art, additional modifications can be easily achieved. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details and the examples shown and described herein.

Claims

1. A real-time visual monitoring system for floating and sinking of submerged tubes combining GPS and inertial navigation, characterized in that: include: A monitoring component, the monitoring component includes at least two GNSS receivers and an attitude measuring instrument, the GNSS receiver monitors the position of the immersed tube in real time through an RTK positioning mode, and the attitude measuring instrument is used to measure the attitude of the immersed tube in real time; A visualization module, which includes a software interface, a model management unit and import, a graphics rendering module, a data acquisition module, and a real-time data generation module; The data acquisition module is used to monitor the immersed tube database and query the immersed tube database in real time. Once new data is generated, the system will be notified and the latest data will be transmitted to the system, or the system will not be notified actively and the system will query the immersed tube database in real time and obtain relevant information according to the playback time specified by the current user. The real-time data generation module is based on the data acquisition module and is used to dynamically output construction-related data to guide the construction.

2. A real-time visual monitoring system for floating and sinking of submerged tubes combining GPS and inertial navigation as claimed in claim 1, characterized in that: The monitoring components also include a local database, a measurement agent, a measurement data service and a central database.

3. A real-time visual monitoring system for floating and sinking of submerged tubes combining GPS and inertial navigation as claimed in claim 2, characterized in that: The pipe segment status parameters monitored by the monitoring component include: The plane trajectory, posture, freeboard of the pipe section during floating, the plane position, sinking depth, sinking status of the pipe section during sinking and docking, and the relationship with the front and rear pipe sections.

4. A real-time visual monitoring system for floating and sinking of submerged tubes combining GPS and inertial navigation as claimed in claim 1, characterized in that: The model management unit and import are specifically to establish a set of scalable model management system and import function implementation, and to configure the model information in detail based on an externally configurable psm file.

5. A real-time visual monitoring system for floating and sinking of submerged tubes combining GPS and inertial navigation as claimed in claim 4, characterized in that: In the psm file, immersed tubes and related towers, cables, trunk rafts, foundation trenches and surrounding environmental facilities are managed through a tree structure.

6. A real-time visual monitoring system for floating and sinking of submerged tubes combining GPS and inertial navigation as claimed in claim 1, characterized in that: The graphics rendering module includes a renderer, a device management module connected to the renderer by signal, and a virtual device connected to the device management module by signal. The renderer includes a rendering engine.

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