Sonar positioning method and system for deep-sea oversize pipe joint installation

Abstract

The invention relates to the technical field of ocean engineering, and discloses a deep sea oversize pipe joint installation sonar positioning method, which comprises the following steps: S1, arranging a plurality of groups of sonar array modules; s2, generating a multi-source sonar cooperative detection strategy; s3, spatial relative position data of the pipe joints and the seabed datum points are collected in real time; s4, dynamically switching the detection mode combination of the sonar array; s5, generating a pipe joint pose adjusting instruction; s6, verifying the docking precision; s7, repeating the steps S3-S6; by adopting a multi-source sonar dynamic cooperative detection strategy, the problems that a traditional sonar system is poor in adaptability and insufficient in detection precision in a complex deep sea environment are solved; the limitation that a single or fixed-mode sonar is easy to fail in a specific environment is overcome; by introducing a trajectory dynamic compensation mechanism under fluid disturbance, the problem of positioning trajectory deviation caused by ocean current disturbance in the pipe joint sinking process is solved, it is ensured that obtained trajectory data truly reflect controllable movement of the pipe joint, and the accuracy of the final installation pose is improved.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, specifically to a method and system for sonar positioning of ultra-large deep-sea pipe sections. Background Technology

[0002] The precise installation of ultra-large deep-sea pipe sections (each weighing tens of thousands of tons and exceeding 100 meters in length) is a core component of major projects such as submarine tunnels, oil and gas transportation, and renewable energy hubs.

[0003] Currently, the docking of immersed tunnel segments generally adopts the method of satellite measurement towers. Satellite measurement towers are installed at both ends of the top of the segment to be immersed, which are higher than the water surface, to convert underwater positioning to above-water positioning. However, the deformation of the measurement tower affects the positioning accuracy, and the tower height is limited. Installation and disassembly are time-consuming and labor-intensive. The installation of segments without measurement towers has always been a key technology for the installation and positioning of immersed tunnels that has not been broken through.

[0004] Unlike the measurement tower method, which uses real-time kinematic (RTK) technology for underwater positioning, the installation of pipe sections without a measurement tower primarily employs optical or acoustic methods. For optical methods, water disturbance during docking causes turbidity, making it difficult to guarantee positioning accuracy, and sometimes even preventing successful positioning. While underwater acoustic positioning is not affected by this, it is susceptible to environmental factors such as temperature, salinity, and depth, resulting in poor accuracy and reliability.

[0005] Chinese patent discloses a sonar positioning method and system for installing immersed tunnel segments (authorization announcement number).

[0006] CN117452413B) This patented technology improves the reliability and accuracy of sonar positioning by constraining the sonar positioning signal through a pre-configured sound source array during the docking and positioning stage.

[0007] However, it has certain drawbacks:

[0008] 1. The tower body is prone to deformation and instability under the impact of strong water currents in the deep sea, and the turbid water causes frequent signal interruptions. Especially at water depths of more than 40 meters, the anti-interference capability of the measuring tower drops sharply, and the reliability of the pipe section position data deteriorates drastically during the sinking stage, which cannot meet the continuous positioning requirements in the complex environment of the deep sea.

[0009] 2. The reliance on a single sound source device for positioning during the docking phase has fundamental limitations. Sonar signals are easily affected by turbulent noise and multipath effects, resulting in significant fluctuations in positioning results. Due to the lack of a sound source spatial configuration constraint mechanism, it is impossible to identify and eliminate abnormal data. When the pipe section spacing enters the critical docking range (<5 meters), millimeter-level positioning deviations will directly lead to misalignment of the pipe section end faces, severely damaging the hydraulic pressure sealing and threatening the overall safety of the tunnel. Summary of the Invention

[0010] The present application aims to provide a deep-sea extra-large pipe section installation sonar positioning method and system to solve the problems in the background art.

[0011] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0012] The deep-sea extra-large pipe section installation sonar positioning method comprises the following steps:

[0013] S1, symmetrically arranging a plurality of groups of sonar array modules at the head and tail of the pipe section to be installed, each group of array modules containing sonar sensors of at least three different detection modes;

[0014] S2, generating a multi-source sonar cooperative detection strategy according to the environmental characteristics of the installation sea area, and activating the corresponding sonar sensor combination;

[0015] S3, collecting the spatial relative position data of the pipe section and the seabed reference point in real time, and generating the three-dimensional attitude information of the pipe section through a multi-source data fusion algorithm;

[0016] S4, dynamically switching the detection mode combination of the sonar array based on the rate of change of the sinking speed of the pipe section and the signal-to-noise ratio of the sonar signal, and simultaneously starting the dynamic compensation algorithm of the pipe section motion trajectory;

[0017] S5, generating a pipe section attitude adjustment instruction according to the deviation value of the compensated trajectory data and the preset installation path;

[0018] S6, executing the pipe section attitude adjustment through a hydraulic fine adjustment mechanism, and synchronously verifying the butt joint accuracy of the adjusted pipe section and the adjacent installed pipe section;

[0019] S7, repeating steps S3-S6 until the pipe section installation error is less than a preset threshold.

[0020] As a further scheme of the present application, the sonar sensors of different detection modes in S1 include:

[0021] a side-scan sonar for wide-area scanning;

[0022] a multi-beam sonar for high-precision ranging;

[0023] a three-dimensional imaging sonar for obstacle identification.

[0024] As a further scheme of the present application, the generation logic of the cooperative detection strategy in S2 is:

[0025] When the water turbidity is detected to exceed a set value, the side-scan sonar is turned off and the transmission power of the multi-beam sonar is increased;

[0026] When a seabed obstacle is identified, the three-dimensional imaging sonar is started for local fine scanning.

[0027] As a further scheme of the present application: the trigger condition of mode switching in S4 includes:

[0028] The rate of change of the sinking speed of the pipe section exceeds a set threshold;

[0029] The signal-to-noise ratio of the sonar signal is continuously lower than a set value.

[0030] As a further scheme of the present application: the dynamic compensation algorithm in S4 specifically includes:

[0031] Establishing a fluid dynamics model in the sinking process of the pipe section;

[0032] According to the real-time collected flow rate and flow direction data, predicting the spatial position offset of the pipe section;

[0033] In the sonar positioning data, the offset is inversely superimposed to generate a compensated trajectory.

[0034] As a further scheme of the present application: the butt joint accuracy verification in S6 includes:

[0035] Acoustic reflection targets are arranged at the butt joint end faces of adjacent pipe sections;

[0036] The end face misalignment amount is calculated through the time difference of acoustic wave transmission across the pipe sections.

[0037] A deep-sea large pipe section installation sonar positioning system, comprising:

[0038] A multi-modal sonar array module is arranged at the head and tail of the pipe section, and includes independently startable and stoppable side-scan sonar, multi-beam sonar and three-dimensional imaging sonar;

[0039] A trajectory dynamic compensation operation module, which internally has a fluid disturbance and pipe section motion coupling analysis model;

[0040] A hydraulic fine adjustment control module, which receives a position adjustment instruction and drives a pipe section positioning mechanism;

[0041] An installation accuracy verification module, which realizes butt joint face misalignment detection through cross-pipe acoustic ranging.

[0042] As a further scheme of the present application: the multi-modal sonar array module adopts a modular packaging design, and each sonar sensor is connected to the pipe section surface through a magnetic attraction type interface.

[0043] As a further scheme of the present application: the trajectory dynamic compensation operation module includes an inertial measurement unit for collecting pipe section angular acceleration data to assist in offset prediction.

[0044] Compared with the prior art, the present application has the following beneficial effects:

[0045] 1. The present application effectively solves the problems of poor adaptability and insufficient detection accuracy of traditional sonar systems in complex deep-sea environments by adopting a multi-source sonar dynamic cooperative detection strategy. The strategy combines the deployment of wide-area scanning, high-precision ranging, and obstacle recognition sonars, and dynamically adjusts the activated sonar combination and working mode based on real-time environmental characteristics (such as water turbidity and obstacle distribution), significantly improving the detection robustness and data integrity in harsh or complex seabed terrain conditions, and overcoming the limitations of single or fixed mode sonars in specific environments (such as low visibility waters).

[0046] 2. The present application effectively solves the problem of positioning trajectory deviation caused by ocean current disturbance during the sinking process of the pipe joint by introducing a trajectory dynamic compensation mechanism under fluid disturbance. The mechanism establishes a fluid dynamics model for the sinking of the pipe joint, combines real-time collected fluid environment data to predict the spatial position deviation of the pipe joint, and performs real-time reverse compensation in the sonar positioning data, while using the motion data collected by the inertial measurement unit to enhance the prediction accuracy, thereby actively removing the influence of external fluid dynamic disturbance on the positioning results, ensuring that the obtained trajectory data truly reflects the controllable motion of the pipe joint, and significantly improving the accuracy of the final installation pose. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 The flowchart of the deep-sea large pipe joint installation sonar positioning method. DETAILED DESCRIPTION

[0048] Please refer to Figure 1 In the embodiment of the present application, the deep-sea large pipe joint installation sonar positioning method comprises the following steps:

[0049] S1, symmetrically arranging multiple groups of sonar array modules at the head and tail of the pipe joint to be installed, each group of array modules containing at least three different detection mode sonar sensors;

[0050] The different detection mode sonar sensors include: side scan sonar for wide-area scanning, multi-beam sonar for high-precision ranging, and three-dimensional imaging sonar for obstacle recognition;

[0051] The coverage range of the side scan sonar is:

[0052] R cs =P cs ×T cs

[0053] Where: R cs represents the coverage range of the side scan sonar, in square meters (m 2 ); P cs is the power of the side scan sonar, in watts (W); T csis the working time of the side scan sonar, in seconds (s); for example, when the side scan sonar power is 500 W and the working time is 10 s, the coverage range is 500 W x 10 s = 5000 m 2 ;

[0054] The ranging accuracy of the multi-beam sonar is:

[0055]

[0056] wherein σ mb is the ranging accuracy of the multi-beam sonar, in meters (m); c is the sound speed, which is about 1500 meters / second (m / s) in seawater; t mb is the round-trip time of the sonar signal, for example, if the round-trip time is 0.1 second, the value of this part is 1500 m / s x 0.1 s = 150 m; is the square root of the bandwidth of the multi-beam sonar signal;

[0057] The imaging resolution of the three-dimensional imaging sonar is:

[0058]

[0059] wherein d ts represents the imaging resolution, in meters (m); λ ts is the working wavelength of the three-dimensional imaging sonar, in meters (m); for example, if the working frequency of the sonar is 100 kHz and the sound speed is 1500 m / s, the wavelength θ ts is the sonar beam incidence angle, assuming the incidence angle is 30°, then sin(30°) = 0.5;

[0060] S2. According to the environmental characteristics of the preset installation sea area, a multi-source sonar cooperative detection strategy is generated, and the corresponding sonar sensor combination is activated;

[0061] The generation logic of the cooperative detection strategy is: when it is detected that the water turbidity exceeds the set value, the side scan sonar is turned off and the transmission power of the multi-beam sonar is increased; when the seabed obstacle is identified, the three-dimensional imaging sonar is started for local fine scanning;

[0062] S3. Real-time collection of spatial relative position data of the pipe section and the seabed reference point, generation of pipe section three-dimensional attitude information through multi-source data fusion algorithm;

[0063] S4. Based on the change rate of the pipe section sinking speed and the signal-to-noise ratio of the sonar signal, the detection mode combination of the sonar array is dynamically switched, and the pipe section motion trajectory dynamic compensation algorithm is started at the same time;

[0064] The triggering conditions of mode switching include: the rate of change of the sinking speed of the pipe node exceeds a set threshold; the signal-to-noise ratio of the sonar signal is continuously lower than a set value for a certain time;

[0065] The dynamic compensation algorithm specifically includes: establishing a fluid dynamics model in the sinking process of the pipe node; predicting the spatial position offset of the pipe node according to the real-time collected flow rate and flow direction data; and reversely superimposing the offset in the sonar positioning data to generate a compensated trajectory;

[0066] The motion equation of the pipe node is:

[0067]

[0068] Wherein, r is the position vector of the pipe node, which changes with time t and represents the position of the pipe node in the three-dimensional space; m is the mass of the pipe node, with the unit of kilogram (kg); is the acceleration vector of the pipe node, i.e. the second-order derivative of the position vector with respect to time; is the damping matrix, which is related to the position and velocity of the pipe node and reflects the damping effect of the fluid on the motion of the pipe node; is the velocity vector of the pipe node; K(r) is the stiffness matrix, which is related to the position of the pipe node and reflects the elastic restoring force and other characteristics of the pipe node in the fluid; F ext is the external fluid force vector, including the thrust of the ocean current on the pipe node, etc.

[0069] The offset calculation formula is:

[0070]

[0071] Wherein, Δr is the spatial position offset of the pipe node, with the unit of meter (m); v current (t) is the flow rate vector changing with time, with the unit of meter per second (m / s); for example, in the time interval t0 to t1=10s, the flow rate vector is a constant value of 0.5m / s (the actual situation may be variable), and the offset is

[0072] The compensated trajectory calculation formula is:

[0073] r compensated =r sonar -Δr

[0074] Wherein, r compensated is the compensated trajectory vector, r sonar is the original sonar positioning data vector. For example, the original sonar positioning data is the position vector (10m, 5m, 3m), the offset vector is (1m, 0.5m, 0.3m), and the compensated trajectory vector is (10m-1m, 5m-0.5m, 3m-0.3m)=(9m, 4.5m, 2.7m);

[0075] Relationship between angular acceleration and attitude change:

[0076]

[0077] Where: a is the angular acceleration vector, unit rad / s 2 (rad / s 2 ); θ is the attitude angle of the pipe section, unit rad, the angular velocity ω = ∫a dt can be obtained by integrating the angular acceleration, unit rad / s (rad / s), and further integrating to obtain the attitude angle change: θ = ∫ωdt, for example, if the angular acceleration is constant 0.1 rad / s 2 , the angular velocity is If the initial attitude angle is 0, the attitude angle changes to

[0078] S5, generating pipe section pose adjustment instructions according to the deviation value of the compensated trajectory data and the preset installation path;

[0079] S6, executing pipe section pose adjustment through a hydraulic fine adjustment mechanism, and synchronously verifying the butt joint accuracy of the adjusted pipe section and the adjacent installed pipe section;

[0080] The butt joint accuracy verification includes: arranging acoustic reflection targets on the butt joint end faces of adjacent pipe sections; and calculating the end face misalignment amount through the cross-pipe section acoustic wave transmission time difference;

[0081] S7, repeating steps S3-S6 until the pipe section installation error is less than a preset threshold.

[0082] A deep-sea large pipe section installation sonar positioning system, comprising:

[0083] A multi-modal sonar array module is arranged at the head and tail of the pipe section, and includes a side-scan sonar, a multi-beam sonar and a three-dimensional imaging sonar which can be independently started and stopped;

[0084] The multi-modal sonar array module adopts a modular packaging design, and each sonar sensor is connected to the surface of the pipe section through a magnetic attraction interface;

[0085] A trajectory dynamic compensation operation module, which internally has a fluid disturbance and pipe section motion coupling analysis model;

[0086] The trajectory dynamic compensation operation module includes an inertial measurement unit for collecting pipe section angular acceleration data to assist in offset prediction;

[0087] A hydraulic fine adjustment control module receives pose adjustment instructions and drives the pipe section positioning mechanism;

[0088] An installation accuracy verification module realizes butt joint misalignment detection through cross-pipe section acoustic ranging.

[0089] To illustrate the technical effects of the present application, the following experiments are conducted for verification:

[0090] Experiment One

[0091] Purpose of the experiment: To verify the detection accuracy and adaptability of the multi-source sonar dynamic cooperative detection strategy under different environmental conditions.

[0092] Experimental conditions: Water turbidity: low turbidity (5 FTU), high turbidity (50 FTU);

[0093] Seafloor obstacle distribution: no obstacle, simple obstacle (a small amount of isolated obstacles), complex obstacle (densely distributed obstacles);

[0094] Experimental steps:

[0095] In the simulated deep-sea environment, low turbidity and high turbidity conditions are set respectively;

[0096] In the seafloor simulation, no obstacle, simple obstacle and complex obstacle distribution scenarios are set;

[0097] Under each environmental condition, single side-scan sonar, single multi-beam sonar, single three-dimensional imaging sonar and multi-source sonar cooperative detection strategy are used for detection respectively;

[0098] Record the detection accuracy (using seafloor topography restoration and obstacle recognition accuracy as indicators) of each detection method under different environments;

[0099] Experimental table

[0100]

[0101] Result analysis: From the table data, it can be seen that in the low turbidity and no obstacle environment, each single detection method can achieve good detection accuracy; but as the environmental conditions become complex (turbidity increases or obstacles increase), the accuracy of single detection method decreases significantly; while using multi-source sonar dynamic cooperative detection strategy, it can maintain high detection accuracy under all environmental conditions, especially in high turbidity and complex obstacle environment, the accuracy is improved significantly compared with single detection method.

[0102] Purpose of the experiment: To verify the correction effect of the trajectory dynamic compensation mechanism under fluid disturbance on the sinking trajectory of the pipe section.

[0103] Experimental conditions:

[0104] Flow rate: low flow rate (0.5 m / s), high flow rate (2 m / s);

[0105] Flow direction: stable flow direction (fluctuation range less than 10°), unstable flow direction (fluctuation range greater than 30°);

[0106] Experimental steps:

[0107] In the simulated deep-sea environment, low flow rate, high flow rate, stable flow direction, and unstable flow direction conditions are set respectively;

[0108] Under each fluid condition, multiple sinking experiments are performed on the pipe section, and the deviation of the actual trajectory of the pipe section from the expected trajectory is recorded when using trajectory compensation and not using trajectory compensation respectively;

[0109] At the same time, the flow rate, flow direction and angular acceleration data collected by the inertial measurement unit (IMU) during the sinking process of the pipe section are recorded for analyzing the effect of the compensation mechanism on trajectory correction;

[0110]

[0111]

[0112] Result analysis: By comparing the trajectory deviation before and after compensation, it can be seen that whether in low flow rate or high flow rate environment, whether in stable flow direction or unstable flow direction condition, after adopting the trajectory dynamic compensation mechanism, the sinking trajectory deviation of the pipe section is significantly reduced, and the compensation accuracy improvement rate is more than 70%, especially in the complex conditions of high flow rate and unstable flow direction, the compensation effect is more obvious; that is, through fluid-motion coupling modeling and real-time dynamic compensation, the influence of external fluid disturbance on positioning trajectory is effectively stripped, ensuring that the trajectory data can truly reflect the controllable motion of the pipe section, and improving the accuracy and reliability of the pipe section installation.

[0113] It is apparent to those skilled in the art that the application is not limited to the details of the foregoing exemplary embodiments, and that the application can be implemented in other concrete forms without departing from the spirit or essential characteristics of the application. Therefore, the embodiments should be considered as exemplary and non-limiting, and the scope of the application is defined by the appended claims rather than the above description, and it is intended to encompass all changes falling within the meaning and scope of the equivalent elements of the claims. Any reference signs in the claims should not be considered as limiting the claims to which they relate.

[0114] In addition, it should be understood that although the present specification is described in terms of embodiments, each embodiment does not contain only one independent technical solution, and the description manner of the specification is only for clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be properly combined to form other embodiments that those skilled in the art can understand.

Claims

1. A method for installing sonar for positioning ultra-large deep-sea pipe sections, characterized in that, Includes the following steps: S1. Multiple sets of sonar array modules are symmetrically arranged at both ends of the pipe section to be installed. Each set of array modules contains at least three sonar sensors with different detection modes. S2. Based on the environmental characteristics of the preset installation sea area, generate a multi-source sonar cooperative detection strategy and activate the corresponding sonar sensor combination. S3. Real-time acquisition of spatial relative position data between the pipe section and the seabed reference point, and generation of three-dimensional attitude information of the pipe section through multi-source data fusion algorithm; S4. Based on the rate of change of the sinking velocity of the tunnel segment and the signal-to-noise ratio of the sonar signal, dynamically switch the detection mode combination of the sonar array, and simultaneously start the dynamic compensation algorithm for the tunnel segment's motion trajectory. S5. Generate pipe section pose adjustment command based on the deviation between the compensated trajectory data and the preset installation path; S6. The position and posture of the pipe section are adjusted by the hydraulic fine-tuning mechanism, and the docking accuracy between the adjusted pipe section and the adjacent installed pipe section is verified simultaneously. S7. Repeat steps S3-S6 until the pipe section installation error is less than the preset threshold.

2. The method for installing sonar positioning on deep-sea extra-large pipe sections according to claim 1, characterized in that, The sonar sensors with different detection modes in S1 include: Side-scan sonar for wide-area scanning; Multibeam sonar for high-precision ranging; Three-dimensional imaging sonar for obstacle identification.

3. The method for installing sonar positioning on deep-sea extra-large pipe sections according to claim 1, characterized in that, The generation logic of the cooperative detection strategy in S2 is as follows: When the water turbidity exceeds the set value, the side-scan sonar is turned off and the transmission power of the multibeam sonar is increased; When an underwater obstacle is detected, a 3D imaging sonar is activated to perform a detailed local scan.

4. The method for installing sonar positioning on deep-sea extra-large pipe sections according to claim 1, characterized in that, The triggering conditions for mode switching in S4 include: The rate of change of the tunnel section's sinking velocity exceeds the set threshold. The signal-to-noise ratio of the sonar signal is continuously lower than the set value.

5. The method for installing sonar positioning on deep-sea extra-large pipe sections according to claim 1, characterized in that, The dynamic compensation algorithm in S4 specifically includes: Establish a fluid dynamics model for the pipe section sinking process; Based on real-time collected flow velocity and direction data, predict the spatial offset of the pipe section; The offset is superimposed in reverse onto the sonar positioning data to generate a compensated trajectory.

6. The method for installing sonar positioning on deep-sea extra-large pipe sections according to claim 1, characterized in that, The docking accuracy verification in S6 includes: Acoustic reflection targets are deployed on the docking end faces of adjacent pipe sections; The end face misalignment is calculated by the time difference of sound wave transmission across pipe sections.

7. A sonar positioning system for installing ultra-large deep-sea tunnel sections, used to implement the method described in any one of claims 1-6, characterized in that, include: The multimodal sonar array module is deployed at the beginning and end of the tube segment and includes a side-scan sonar, a multi-beam sonar, and a three-dimensional imaging sonar that can be started and stopped independently. The trajectory dynamic compensation calculation module has a built-in coupled analysis model of fluid disturbance and pipe section motion. The hydraulic fine-tuning control module receives posture adjustment commands and drives the pipe section positioning mechanism; Install an accuracy verification module to detect misalignment at the docking surface through cross-section acoustic ranging.

8. The deep-sea ultra-large pipe section installation sonar positioning system according to claim 7, characterized in that, The multimodal sonar array module adopts a modular packaging design, and each sonar sensor is connected to the surface of the tube section through a magnetic interface.

9. The deep-sea ultra-large pipe section installation sonar positioning system according to claim 7, characterized in that, The trajectory dynamic compensation calculation module includes an inertial measurement unit, which is used to collect pipe section angular acceleration data to assist in offset prediction.

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