Dredging protection real-time monitoring system adjacent to submarine pipeline

Abstract

The invention discloses a dredging protection real-time monitoring system adjacent to a submarine pipeline, belongs to the technical field of submarine pipeline safety protection, and is mainly used for solving the problem that the submarine pipeline is damaged due to improper distance control in the dredging operation process. According to the system, a GPS positioning module is arranged on a dredger, a plurality of acoustic distance measuring devices are arranged along a pipeline, a central processing unit and an audible and visual alarm are arranged in a control room, the position and distance data of the dredger are collected in real time, the shortest horizontal distance and the actually-measured space distance between the dredger and the axis of the pipeline are calculated, and an alarm is given out when the distance is smaller than 250 m. And meanwhile, data are uploaded to a shore-based monitoring center through the wireless transmission module, so that active protection and remote monitoring of the submarine pipeline in dredging operation are realized.

Description

Technical Field

[0001] This invention relates to the field of subsea pipeline safety protection technology. More specifically, this invention relates to a real-time monitoring system for dredging protection near subsea pipelines. Background Technology

[0002] During dredging operations near subsea pipelines, there is a risk of mechanical damage or leakage to the pipeline due to improper control of the safety distance between the construction vessel and the pipeline. Traditional monitoring methods mainly rely on comparing the vessel's positioning system with the pre-set pipeline path's planar position. This method can only estimate the horizontal distance between the vessel and the pipeline's theoretical axis, and cannot reflect the actual distance in three-dimensional space. Since subsea pipelines often have local suspensions, varying burial depths, or deviations between the actual route and the design coordinates, relying solely on horizontal distance to judge safety may lead to misjudgments. In addition, the dredging operation environment is complex, affected by factors such as ocean currents, waves, and visibility, making it difficult for operators to continuously judge the actual distance based on experience.

[0003] On the other hand, although methods for distance monitoring using acoustic ranging already exist, they still have several limitations in practical applications. For example, a single ranging device is prone to errors due to signal attenuation, multipath effects, or water noise interference; and there is a lack of a unified and efficient processing mechanism for effectively fusing data from multiple ranging devices to improve reliability. Furthermore, when high-precision positioning signals are unavailable or when partial equipment failures occur, the system often struggles to maintain effective monitoring capabilities and lacks emergency redundancy strategies.

[0004] Therefore, existing technologies have not yet developed a comprehensive monitoring system capable of integrating multi-source information, performing real-time data processing and anomaly detection, and possessing a certain degree of fault tolerance and emergency response capabilities. How to achieve continuous, reliable, and accurate distance determination without relying on human intervention remains a pressing technical problem to be solved in this field. Summary of the Invention

[0005] One objective of this invention is to provide a real-time monitoring system for dredging protection near subsea pipelines, including a GPS positioning module arranged on a dredging vessel, multiple acoustic ranging devices arranged parallel to the subsea crude oil pipeline, a central processing unit set in the control room of the dredging vessel, and an audible and visual alarm. Multiple acoustic ranging devices are evenly distributed along the axis of the seabed crude oil pipeline. Each acoustic ranging device includes an underwater acoustic wave transmitter and a receiver, used to measure the straight-line spatial distance between itself and the dredging vessel in real time. The GPS positioning module collects the real-time latitude and longitude coordinates of the dredging vessel once per second and sends the coordinate data to the central processing unit. The central processing unit has a built-in preset axis coordinate sequence of the subsea crude oil pipeline. The preset axis coordinate sequence consists of multiple coordinate points connected in sequence. The central processing unit is configured to: based on the received real-time coordinates of the dredging vessel, traverse the line segment formed by each adjacent coordinate point in the coordinate sequence, calculate the horizontal distance from the real-time coordinate to each line segment, and take the minimum value among all calculation results as its shortest horizontal distance to the pipeline axis. The central processing unit simultaneously receives the spatial straight-line distances sent by each acoustic ranging device and determines the minimum value as the real-time measured distance between the dredging vessel and the subsea pipeline. The central processing unit compares the calculated shortest horizontal distance with the real-time measured distance. If the real-time measured distance is less than 250 meters, the sound and light alarm is triggered. The central processing unit is also connected to a wireless transmission module, which transmits real-time coordinates, alarm status, and distance data to the shore-based monitoring center.

[0006] Preferably, the central processing unit is also configured to: perform outlier filtering on the received spatial straight-line distances sent by each acoustic ranging device; Outlier screening includes: if the deviation of a certain spatial straight-line distance value from the arithmetic mean of multiple measurements in the current batch exceeds a preset threshold, then the value is determined to be an outlier and removed. After removing outliers, the central processing unit determines the minimum value among the remaining data as the real-time measured distance between the dredging vessel and the subsea pipeline.

[0007] Preferably, the central processing unit is also configured to: if the number of valid spatial straight-line distance data is less than a preset number after outlier filtering and outlier removal, then activate the redundancy judgment mode. In the redundancy judgment mode, the central processing unit adds a preset safety margin value to the calculated shortest horizontal distance, and the result is used as the virtual measured distance. The central processing unit compares the virtual measured distance with 250 meters. If the virtual measured distance is less than 250 meters, the sound and light alarm is triggered.

[0008] Preferably, the central processing unit also has built-in data on the burial depth of each location of the subsea crude oil pipeline; The central processing unit is configured as follows: The real-time coordinates of the dredging vessel are used to determine the corresponding pipeline axis position. The pipeline burial depth data at that position is then queried. Finally, a dynamic alarm threshold is calculated using the formula: Dynamic alarm threshold = Preset basic alarm threshold + Pipeline burial depth value × Safety factor. The central processing unit compares the real-time measured distance with the dynamic alarm threshold. If the real-time measured distance is less than the dynamic alarm threshold, the audible and visual alarm is triggered.

[0009] Preferably, the central processing unit is further configured as follows: Based on the known spacing between adjacent acoustic ranging devices D The acoustic ranging device detected the time difference Δ between the dredging vessel and the time difference Δ between the two. t Calculate the speed of the dredging vessel along the pipeline axis. v The calculation formula is: v = D / Δ t； The direction of movement is determined by the chronological order: if the first... i The acoustic ranging device preceded the first i If one acoustic ranging device detects the dredging vessel, the direction is from... i The acoustic ranging device points to the first i +1 acoustic ranging device; Based on movement speed v And direction, predicting the dredging vessel's position in the next time period Δ T Displacement within S = v ×Δ T And further predict its future location; Based on the future location, query the corresponding pipeline burial depth data and calculate the dynamic alarm threshold for that location. T dynamic ; The dynamic alarm threshold is calculated by comparing the real-time measured distance or virtual measured distance with the future location. T dynamic If the value is less than the dynamic alarm threshold, the comparison is made. T dynamic If so, the sound and light alarm will be triggered in advance.

[0010] Preferably, based on the moving speed v Predicting dredging vessels in Δt Future position P after time 预测 At the same time, the central processing unit records the actual position P of the dredging vessel at the current time T0. 实际0 ; In experience Δt At time T1, the central processing unit again uses the GPS positioning module to obtain the actual position P of the dredging vessel at time T1. 实际1 ; Calculate P 预测 With P 实际1 The deviation between them is ΔP = |P 预测 -P 实际1 |; Compare the deviation value ΔP with the preset allowable deviation threshold P. 阈值 Comparison: If ΔP≤P 阈值 If the prediction is deemed accurate, maintain the current prediction model parameters; if ΔP>P 阈值 If a prediction is found to be biased, a calibration mode is initiated. In calibration mode, the central processing unit introduces a calibration coefficient α into the velocity prediction model based on the deviation value ΔP and direction, which is used for subsequent displacement prediction calculations. The corrected displacement calculation formula is: S 校准后 = α×v×Δt The calibration coefficient α is calculated as follows: α = P 阈值 / ΔP, and when α>1, take α=1.

[0011] Preferably, the central processing unit is also configured to execute a GPS signal failure emergency response procedure: Continuously monitor the signal status of the GPS positioning module; When the GPS signal is detected to be continuously lost for more than a preset time threshold, the emergency response mode is automatically activated. In emergency response mode, the central processing unit: Stop calculating the shortest horizontal distance from the pipe axis; It then continuously receives and filters spatial straight-line distance data sent by various acoustic ranging devices; The minimum straight-line distance obtained after screening will be used as the emergency decision distance; Compare the emergency decision-making distance with the preset emergency alarm threshold; If the emergency decision-making distance is less than the emergency alarm threshold, the audible and visual alarm will be triggered to issue an emergency alarm that differs from the normal alarm mode.

[0012] Preferably, in emergency response mode, the central processing unit is also configured as follows: Obtain historical average burial depth data for the pipeline section corresponding to the current dredging vessel. h ; Based on the emergency decision distance D 应急 and the historical average burial depth h The estimated horizontal distance between the dredging vessel and the subsea pipeline is calculated based on geometric relationships. L 估算 The calculation formula is: ; The central processing unit will calculate the results. L 估算 Compared with the emergency alarm threshold, if L 估算If the value is below the emergency alarm threshold, an emergency alarm will be triggered.

[0013] Preferably, the central processing unit is also configured to execute a dynamic correction process for the pipeline axis model: The central processing unit records a high-precision GPS trajectory coordinate sequence of the dredging vessel during normal navigation and without triggering an alarm. Simultaneously record the filtered spatial straight-line distance data reported by each acoustic ranging device during this time period; Based on the GPS trajectory coordinates and acoustic ranging data, the central processing unit uses the least squares method or equivalent algorithm to perform inversion calculations to determine the actual axis position of the subsea pipeline that best matches the current measurement data. The actual axis position obtained by inversion calculation is compared with the preset axis coordinate sequence. If the deviation exceeds the allowable tolerance, a pipeline offset warning is generated and the newly calculated axis data is used as an auxiliary reference coordinate system for subsequent shortest horizontal distance calculation, or the user is prompted to update the preset axis coordinate sequence.

[0014] Preferably, when the central processing unit executes the dynamic correction process for the pipeline axis model, it is also configured to: Confidence assessment of the GPS trajectory coordinates and acoustic ranging data used for inversion calculation; The confidence assessment is based on at least the following parameters: GPS positioning accuracy factor, signal strength and consistency of acoustic ranging data, and the angle between the dredging vessel's trajectory and the preset pipe axis direction. Inversion calculations are performed only on data segments with a confidence level higher than a preset threshold. The actual pipeline location results calculated from multiple pipelines based on high-confidence data segments from different time batches are weighted and fused to generate the final calibrated pipeline axis model. The weights are allocated based on the confidence level and freshness of each data segment. The central processing unit uses the calibrated tube axis model to replace the original preset axis coordinate sequence for subsequent shortest horizontal distance calculation.

[0015] The present invention has at least the following beneficial effects: First, this invention achieves a dual monitoring mechanism for the distance between the dredging vessel and the subsea pipeline through the coordinated operation of a GPS positioning module and multiple acoustic ranging devices. The central processing unit accurately determines the relative position of the vessel and the pipeline by calculating the shortest horizontal distance and the real-time measured distance. When the distance is less than 250 meters, an audible and visual alarm promptly sounds, reminding operators to take evasive action. The wireless transmission module uploads relevant data to the shore-based monitoring center, enabling remote monitoring. This design improves the accuracy and reliability of monitoring, providing an effective protection for subsea pipelines.

[0016] Secondly, by adding an outlier filtering function, this invention enables the system to identify and eliminate erroneous data caused by signal interference or equipment malfunction, thereby improving the accuracy of distance measurements. Data filtering employs an arithmetic mean and preset thresholds to ensure that only reliable data is used in the final decision-making process. This data processing method enhances the system's anti-interference capability in complex marine environments, reduces the possibility of false alarms, and makes monitoring results more credible.

[0017] Third, the introduction of the redundancy judgment mode in this invention ensures that the system can still maintain basic functions when some measurement data fails. By combining GPS positioning data and preset safety margins, the system can provide continuous distance monitoring assurance. This design improves the system's fault tolerance and reliability, avoids monitoring interruptions caused by missing local data, and provides an additional layer of protection for engineering safety.

[0018] Fourth, the dynamic alarm threshold setting of this invention enables the system to adjust the safety distance requirements according to the actual burial depth of the pipeline, improving the adaptability and accuracy of monitoring. By considering the differences in burial depth in different pipeline sections, the system can more accurately assess operational risks, avoiding unreasonable alarms that may be caused by a single threshold, and making safety protection measures more scientific and reasonable.

[0019] Fifth, by calculating the dredging vessel's speed and direction, the system can predict the vessel's future position and assess risks in advance. This predictive function provides operators with more reaction time, transforming safety protection from reactive alarms to proactive warnings. By combining this with pipeline burial depth data indicating the future location, the system can more accurately identify potential hazards, improving proactive protection.

[0020] Sixth, the introduction of the predictive calibration mechanism in this invention improves the accuracy of displacement prediction. By comparing the predicted position with the actual position, the system can automatically adjust the prediction model parameters, reducing errors caused by changes in the ship's motion state. This adaptive calibration function ensures the reliability of the prediction results, enabling the system to better adapt to different operating conditions.

[0021] Seventh, the GPS signal failure emergency response procedure of this invention ensures that the system can still maintain basic monitoring functions when the positioning signal is interrupted. By switching to acoustic ranging data as the primary decision-making basis, the system provides continuous security. This design improves the reliability and robustness of the system and avoids total functional failure due to a single point of failure.

[0022] Eighth, by combining acoustic ranging data and historical burial depth information, this invention enables the system to estimate horizontal distances even when GPS fails. This geometric calculation method provides relatively accurate distance judgments, maintaining monitoring capabilities in emergency situations. This design enhances the system's adaptability, ensuring effective safety protection under various operating conditions.

[0023] Ninth, the dynamic correction function of the pipeline axis model in this invention continuously calibrates the theoretical position using actual measurement data, improving the accuracy of pipeline position data. Inversion calculations and deviation analysis can promptly identify differences between the actual and designed pipeline positions, providing a more reliable reference for operations. This self-optimization capability enhances the system's accuracy and adaptability.

[0024] Tenth, the confidence assessment mechanism of this invention ensures the data quality used for model calibration. By weighted fusion of the results from multiple high-confidence data segments, the accuracy of the pipeline axis model is improved. This data quality control method reduces the impact of random errors, making the model calibration results more reliable and further improving the measurement accuracy of the entire monitoring system.

[0025] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0026] Figure 1 This is a flowchart illustrating the real-time monitoring system for dredging protection of adjacent subsea pipelines, which is one of the technical solutions of the present invention. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0028] It should be noted that, unless otherwise specified, the experimental methods described in the following embodiments are all conventional methods, and the reagents and materials described are all commercially available unless otherwise specified. In the description of this invention, the orientation or positional relationship indicated by the terms is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0029] like Figure 1 As shown, the present invention provides a real-time monitoring system for dredging protection near a submarine pipeline, including a GPS positioning module arranged on a dredging vessel, multiple acoustic ranging devices arranged parallel to the submarine crude oil pipeline, a central processing unit set in the control room of the dredging vessel, and an audible and visual alarm. Multiple acoustic ranging devices are evenly distributed along the axis of the seabed crude oil pipeline. Each acoustic ranging device includes an underwater acoustic wave transmitter and a receiver, used to measure the straight-line spatial distance between itself and the dredging vessel in real time. The GPS positioning module collects the real-time latitude and longitude coordinates of the dredging vessel once per second and sends the coordinate data to the central processing unit. The central processing unit has a built-in preset axis coordinate sequence of the subsea crude oil pipeline. The preset axis coordinate sequence consists of multiple coordinate points connected in sequence. The central processing unit is configured to: based on the received real-time coordinates of the dredging vessel, traverse the line segment formed by each adjacent coordinate point in the coordinate sequence, calculate the horizontal distance from the real-time coordinate to each line segment, and take the minimum value among all calculation results as its shortest horizontal distance to the pipeline axis. The central processing unit simultaneously receives the spatial straight-line distances sent by each acoustic ranging device and determines the minimum value as the real-time measured distance between the dredging vessel and the subsea pipeline. The central processing unit compares the calculated shortest horizontal distance with the real-time measured distance. If the real-time measured distance is less than 250 meters, the sound and light alarm is triggered. The central processing unit is also connected to a wireless transmission module, which transmits real-time coordinates, alarm status and distance data to the shore-based monitoring center. Specifically, in this embodiment, the GPS positioning module can be a high-precision multi-band receiver, whose data acquisition frequency can be set to once per second, or adjusted to 0.5 times per second or twice per second according to actual needs. The acoustic ranging device can be a combination of underwater acoustic transducers based on the ultrasonic pulse principle. Each device includes an underwater acoustic wave transmitter and a receiver. The shell material can be stainless steel or titanium alloy to resist seawater corrosion. The acoustic ranging device is fixed to the seabed on both sides of the submarine pipeline by a special bracket. The installation spacing can be selected between 500 meters and 1000 meters, preferably 750 meters. The central processing unit can be an industrial-grade embedded computer, installed in a standard cabinet in the control room of the dredging vessel. This unit has a preset axis coordinate sequence of the subsea crude oil pipeline. The distance between adjacent coordinate points in the sequence can be set to 50 meters to 100 meters. Based on the received real-time coordinates of the dredging vessel, the central processing unit uses a vertical segment projection algorithm to calculate the shortest horizontal distance from the real-time coordinates to each line segment of the pipeline axis. At the same time, the unit receives spatial straight-line distance data transmitted by each acoustic ranging device through armored submarine cables. The number of cable cores can be four or six. The central processing unit compares the received distance data and takes the minimum value as the real-time measured distance. The central processing unit compares the calculated shortest horizontal distance with the real-time measured distance. When the real-time measured distance is less than 250 meters, it triggers an audible and visual alarm. The alarm threshold can also be adjusted to 200 meters or 300 meters according to the actual working conditions. The audible and visual alarm can be a waterproof composite alarm device, installed in a prominent position in the control room of the dredging vessel. The central processing unit is also connected to a wireless transmission module, which can be a 4G or 5G mobile communication module. Through the antenna installed on the top of the bridge of the dredging vessel, the real-time coordinates, alarm status and distance data are uploaded to the shore-based monitoring center. In this embodiment, real-time monitoring of the distance between the dredging vessel and the subsea pipeline is achieved through multi-source data fusion processing. The GPS positioning module provides the vessel's position information, the acoustic ranging device provides spatial distance data, the central processing unit performs comprehensive data analysis, the audible and visual alarm provides on-site warnings, and the wireless transmission module enables remote monitoring. This configuration can improve the reliability of the monitoring system and provide technical support for the safety protection of the subsea pipeline during dredging operations.

[0030] In another embodiment of the present invention, the central processing unit is further configured to: perform outlier filtering on the received spatial straight-line distances sent by each acoustic ranging device; Outlier screening includes: if the deviation of a certain spatial straight-line distance value from the arithmetic mean of multiple measurements in the current batch exceeds a preset threshold, then the value is determined to be an outlier and removed. After removing outliers, the central processing unit determines the minimum value among the remaining data as the real-time measured distance between the dredging vessel and the subsea pipeline. Specifically, in this embodiment, outlier screening includes calculating the arithmetic mean of multiple measurements in the current batch. The batch data can be set to 5 to 10 consecutive sampled values. If the deviation of a certain spatial straight-line distance value from the arithmetic mean exceeds a preset threshold, which can be set to 15% or 20%, then the value is determined to be an outlier and removed. The central processing unit can use a moving average algorithm to process the data stream, and the algorithm window size can be set to 8 sampling points. During data processing, the central processing unit can use the standard deviation calculation method to assist in the identification of outliers. When a certain distance value deviates from the average value by more than 2 times the standard deviation, the system automatically marks it as an outlier. After the outlier is removed, the system recalculates the arithmetic mean and standard deviation of the remaining data for a second round of screening to ensure data reliability. The data processing cycle can be synchronized with the data acquisition cycle, that is, an outlier screening process is completed once per second. After outlier filtering, the central processing unit determines the minimum value among the remaining valid data as the real-time measured distance between the dredging vessel and the subsea pipeline. This minimum value selection algorithm runs continuously to ensure the real-time output results. The central processing unit can use an industrial-grade embedded computer to implement these algorithms. The computer is installed in a standard cabinet in the control room of the dredging vessel and connected to various measuring devices via cables. This outlier screening mechanism can effectively identify measurement errors caused by signal interference, temporary equipment failures, or changes in the marine environment, improving the reliability and accuracy of distance data. Through multiple data verifications and real-time processing, the system can maintain stable monitoring performance in complex marine environments, providing more reliable safety assurance for dredging operations.

[0031] In another embodiment of the present invention, the central processing unit is further configured to: if the number of valid spatial straight-line distance data is less than a preset number after outlier filtering and outlier removal, then activate the redundancy judgment mode. In the redundancy judgment mode, the central processing unit adds a preset safety margin value to the calculated shortest horizontal distance, and the result is used as the virtual measured distance. The central processing unit compares the virtual measured distance with 250 meters. If the virtual measured distance is less than 250 meters, the sound and light alarm is triggered. Specifically, in this embodiment, the preset number can be set to 3 or 4 valid data points. The specific value can be adjusted according to the total number of acoustic ranging devices. In the redundancy judgment mode, the central processing unit adds a preset safety margin value to the calculated shortest horizontal distance. The safety margin value can be set to 50 meters or 100 meters, and the result is used as the virtual measured distance. The central processing unit can use an industrial-grade embedded computer to implement the redundancy judgment function. The computer is installed in a standard cabinet in the control room of the dredging vessel. The safety margin value can be set based on the statistical analysis of historical operation data, or it can be adjusted according to the importance level of the pipeline. The central processing unit monitors the number of valid data in real time. When the number of valid data is lower than the threshold, it automatically switches to the redundancy judgment mode and automatically returns to the normal monitoring mode after the data is recovered. In the redundancy judgment mode, the central processing unit compares the virtual measured distance with 250 meters. If the virtual measured distance is less than 250 meters, the audible and visual alarm is triggered. The audible and visual alarm can be a waterproof composite alarm device, which is installed in a prominent position in the control room of the dredging vessel. At the same time, the system uploads the redundancy judgment mode status information to the shore-based monitoring center through a wireless transmission module. This module can be a 4G or 5G mobile communication module. This redundant judgment mechanism can maintain the system's monitoring function in the event of partial measurement equipment failure or data anomaly. By combining GPS positioning data with safety margin calculation, it provides continuous distance monitoring assurance. This design enhances the system's reliability in complex marine environments, ensuring that the safety protection of the subsea pipeline during dredging operations is not interrupted due to the loss of local data, and providing an additional layer of protection for project safety.

[0032] In another embodiment of the present invention, the central processing unit also has built-in data on the burial depth of each location of the subsea crude oil pipeline. The central processing unit is configured as follows: The real-time coordinates of the dredging vessel are used to determine the corresponding pipeline axis position. The pipeline burial depth data at that position is then queried. Finally, a dynamic alarm threshold is calculated using the formula: Dynamic alarm threshold = Preset basic alarm threshold + Pipeline burial depth value × Safety factor. The central processing unit compares the real-time measured distance with the dynamic alarm threshold. If the real-time measured distance is less than the dynamic alarm threshold, the audible and visual alarm is triggered. Specifically, in this embodiment, the burial depth data can be obtained through preliminary seabed geological exploration. The storage format can adopt the vector data format commonly used in geographic information systems, and the data accuracy can be controlled within 0.1 meters. The central processing unit determines the corresponding pipeline axis position based on the real-time coordinates of the dredging vessel, and uses a nearest neighbor interpolation algorithm to query the pipeline burial depth data at that location. The central processing unit calculates the dynamic alarm threshold according to a formula: the dynamic alarm threshold equals the preset basic alarm threshold plus the pipeline burial depth multiplied by a safety factor. The preset basic alarm threshold can be set to 200 meters or 250 meters, and the safety factor can be 0.5 or 1.0. During the calculation process, the central processing unit acquires the burial depth data of the current pipeline location in real time. This data update frequency is synchronized with the GPS positioning data, both being updated once per second. The dynamic alarm threshold... The calculation result is rounded to one decimal place. The central processing unit compares the real-time measured distance with the dynamic alarm threshold. If the real-time measured distance is less than the dynamic alarm threshold, an audible and visual alarm is triggered. The audible and visual alarm can be a waterproof type and installed in a prominent position in the control room of the dredging vessel. The system also uploads the dynamic alarm threshold calculation result to the shore-based monitoring center via a wireless transmission module. The transmission interval can be set to once per second or once every 5 seconds. This dynamic alarm threshold calculation method can adjust the safety distance requirement according to the actual burial depth of the pipeline, making the monitoring system adaptable to the pipeline protection needs of different sections. By considering the pipeline burial depth factor, the system can more accurately assess the potential risks of dredging operations to the pipeline, improve the accuracy and adaptability of safety monitoring, and provide more scientific and reasonable protection measures for subsea pipelines.

[0033] In yet another embodiment of the invention, the central processing unit is further configured as follows: Based on the known spacing between adjacent acoustic ranging devices D The acoustic ranging device detected the time difference Δ between the dredging vessel and the time difference Δ between the two. t Calculate the speed of the dredging vessel along the pipeline axis. v The calculation formula is: v = D / Δ t； The direction of movement is determined by the chronological order: if the first... i The acoustic ranging device preceded the first i If one acoustic ranging device detects the dredging vessel, the direction is from... i The acoustic ranging device points to the first i +1 acoustic ranging device; Based on movement speed v And direction, predicting the dredging vessel's position in the next time period Δ T Displacement within S = v ×Δ T And further predict its future location; Based on the future location, query the corresponding pipeline burial depth data and calculate the dynamic alarm threshold for that location. T dynamic ; The dynamic alarm threshold is calculated by comparing the real-time measured distance or virtual measured distance with the future location. T dynamic If the value is less than the dynamic alarm threshold, the comparison is made. T dynamic If so, the sound and light alarm will be triggered in advance; Specifically, in this embodiment, the spacing between adjacent acoustic ranging devices D It can be set to 500 meters to 1000 meters, with a time difference. Δt The unit is seconds, and the movement speed is... v The calculation formula is v equal D Divide by Δt The direction of movement is determined by the chronological order. If the first... i The acoustic ranging device preceded the first i+1 If an acoustic ranging device detects a dredging vessel, then the direction is from the first... i The acoustic ranging device points to the first i+1 An acoustic ranging device, with a central processing unit based on the moving speed. v And direction, predicting the dredging vessel in the next time period ΔT Displacement within S equal v Multiply ΔT ,in ΔT It can be set to 30 seconds or 60 seconds, based on displacement. S Based on the current vessel position, the central processing unit (CPU) calculates the future coordinates of the dredging vessel. This CPU can utilize an industrial-grade embedded computer to perform these calculations. The computer is installed in a standard cabinet within the dredging vessel's control room and connected to various measuring devices via cables. Based on the predicted future position, the CPU queries the corresponding pipeline burial depth data and calculates the dynamic alarm threshold for that position. T dynamic The formula for calculating the dynamic alarm threshold is: T dynamic The calculation equals the preset basic alarm threshold plus the pipeline burial depth multiplied by a safety factor. The preset basic alarm threshold can be set to 200 meters, and the safety factor can be 0.5. The central processing unit will then compare the real-time measured distance or virtual measured distance with the dynamic alarm threshold for the future location. T dynamic If the value is less than the dynamic alarm threshold, the comparison is made. T dynamic If the ship's movement is detected, the audible and visual alarm will be triggered in advance. This predictive alarm method based on the ship's movement status can identify potential safety risks in advance, providing operators with a longer reaction time. By calculating the ship's speed and direction, the system can predict the future position and adjust the alarm threshold accordingly. The system can better adapt to the dynamic operating environment of the ship, improve the initiative and predictability of the protection of the subsea pipeline, and provide more comprehensive safety protection for dredging operations.

[0034] In another embodiment of the invention, based on the moving speed v Predicting dredging vessels in Δt Future position P after time 预测 At the same time, the central processing unit records the actual position P of the dredging vessel at the current time T0. 实际0 ; In experience Δt At time T1, the central processing unit again uses the GPS positioning module to obtain the actual position P of the dredging vessel at time T1. 实际1 ; Calculate P 预测 With P 实际1 The deviation between them is ΔP = |P 预测 -P 实际1 |; Compare the deviation value ΔP with the preset allowable deviation threshold P. 阈值 Comparison: If ΔP≤P 阈值 If the prediction is deemed accurate, maintain the current prediction model parameters; if ΔP>P 阈值 If a prediction is found to be biased, a calibration mode is initiated. In calibration mode, the central processing unit introduces a calibration coefficient α into the velocity prediction model based on the deviation value ΔP and direction, which is used for subsequent displacement prediction calculations. The corrected displacement calculation formula is: S 校准后 = α×v×Δt The calibration coefficient α is calculated as follows: α = P 阈值 / ΔP, and when α>1, take α=1; Specifically, in this embodiment, the time interval Δt It can be set to 30 seconds or 60 seconds, actual position P 实际0 Location data is obtained through a GPS positioning module, which can use a high-precision multi-band receiver. The positioning data is updated once per second. The central processing unit will predict the location P. 预测 and actual position P 实际0 Simultaneously stored in internal memory, during the process Δt At time T1, the central processing unit again uses the GPS positioning module to obtain the actual position P of the dredging vessel at time T1. 实际1 The central processing unit calculates P 预测 With P 实际1 The deviation value ΔP between them is calculated by the formula ΔP = P 预测 With P 实际1 The Euclidean distance between them, and the allowable deviation threshold P 阈值 The threshold can be set to 50 meters or 100 meters, and can be adjusted according to the ship size and operational accuracy requirements. The central processing unit compares the deviation value ΔP with the preset allowable deviation threshold P. 阈值 Compare, if ΔP is less than or equal to P 阈值 If the prediction is deemed accurate, maintain the current prediction model parameters. If ΔP is greater than P... 阈值 If a prediction is found to be biased, a calibration mode is initiated. In calibration mode, the central processing unit introduces a calibration coefficient α into the velocity prediction model based on the bias value ΔP and the direction. The calibration coefficient α is calculated as α = P 阈值 Divide by ΔP, and when α is greater than 1, take α equal to 1. The corrected displacement calculation formula is S. 校准后 This is equal to α multiplied by v multiplied by Δt. The central processing unit can use an industrial-grade embedded computer to perform these calculations. The computer is installed in a standard cabinet in the control room of the dredging vessel. This predictive calibration mechanism can continuously optimize the prediction model through actual position data, improve the accuracy of displacement prediction, and by introducing calibration coefficients and deviation tolerance thresholds, the system can adaptively adjust prediction parameters to reduce prediction errors caused by changes in the vessel's motion state, providing more reliable position prediction and risk warning functions for dredging operations.

[0035] In another embodiment of the invention, the central processing unit is further configured to execute a GPS signal failure emergency response procedure: Continuously monitor the signal status of the GPS positioning module; When the GPS signal is detected to be continuously lost for more than a preset time threshold, the emergency response mode is automatically activated. In emergency response mode, the central processing unit: Stop calculating the shortest horizontal distance from the pipe axis; It then continuously receives and filters spatial straight-line distance data sent by various acoustic ranging devices; The minimum straight-line distance obtained after screening will be used as the emergency decision distance; Compare the emergency decision-making distance with the preset emergency alarm threshold; If the emergency decision-making distance is less than the emergency alarm threshold, the audible and visual alarm will be triggered to issue an emergency alarm that is different from the normal alarm mode. Specifically, in this embodiment, the central processing unit continuously monitors the signal status of the GPS positioning module. When it detects that the GPS signal has been continuously lost for more than a preset time threshold, which can be set to 10 seconds or 30 seconds, it automatically activates the emergency response mode. The GPS positioning module can be a high-precision multi-band receiver, with its antenna mounted on the top of the dredging vessel's bridge and connected to the central processing unit via a cable. In the emergency response mode, the central processing unit stops calculating the shortest horizontal distance to the pipeline axis and instead continuously receives and filters the spatial straight-line distance data sent by each acoustic ranging device. The acoustic ranging device can be a combination of underwater acoustic transducers based on the ultrasonic pulse principle, connected to the central processing unit via an armored submarine cable. The central processing unit filters outout values ​​in the received distance data. The filtering method can be a moving average algorithm, with the algorithm window size set to 5 sampling points, removing values ​​that deviate from the average value. For over 20% of the data, the central processing unit uses the minimum straight-line distance obtained after filtering as the emergency decision distance. This distance is compared with a preset emergency alarm threshold, which can be set to 200 meters or 150 meters. If the emergency decision distance is less than the emergency alarm threshold, an audible and visual alarm is triggered, emitting an emergency alarm that differs from the normal alarm mode. The audible and visual alarm can be a waterproof type, installed in a conspicuous location in the control room of the dredging vessel. Different combinations of sound and light can be used for the emergency alarm to distinguish it. This GPS signal failure emergency response mechanism can maintain basic monitoring functions even when the positioning signal is lost. It provides continuous distance monitoring through acoustic ranging data. The system design enhances reliability in complex marine environments, ensuring that the safety protection of the subsea pipeline during dredging operations will not completely fail due to GPS signal interruption, providing an additional layer of protection for project safety.

[0036] In another embodiment of the invention, in emergency response mode, the central processing unit is further configured as follows: Obtain historical average burial depth data for the pipeline section corresponding to the current dredging vessel. h ; Based on the emergency decision distance D 应急 and the historical average burial depth h The estimated horizontal distance between the dredging vessel and the subsea pipeline is calculated based on geometric relationships. L 估算 The calculation formula is: ; The central processing unit will calculate the results. L 估算 Compared with the emergency alarm threshold, if L 估算 If the value is below the emergency alarm threshold, an emergency alarm will be triggered. Specifically, in this embodiment, the historical average burial depth data can be derived from previous seabed geological exploration reports and stored in the internal database of the central processing unit. The data update cycle can be set to once per quarter or once per six months. The central processing unit determines the currently monitored pipeline section based on the location information of the acoustic ranging device and queries the historical average burial depth value of that section, which can be accurate to 0.1 meters. The central processing unit then determines the emergency decision distance D based on this value. 应急 Based on the historical average burial depth h, the estimated horizontal distance L between the dredging vessel and the subsea pipeline is calculated using geometric relationships. 估算 The calculation formula is L 估算 equals the square root of D 应急 The square of D minus the square of h, where D 应急 To calculate the minimum straight-line distance in space as measured by the acoustic ranging device, the central processing unit can use an industrial-grade embedded computer to perform these calculations. The computer is installed in a standard cabinet in the dredging vessel's control room and connected to the various measuring devices via cables. The central processing unit then processes the calculated L... 估算 Compared to the emergency alarm threshold, which can be set to 200 meters or 150 meters, if L 估算If the distance is less than the emergency alarm threshold, an emergency alarm will be triggered. Waterproof audible and visual alarm devices can be selected and installed in a conspicuous position in the control room of the dredging vessel. The emergency alarm adopts an audible and visual mode that is different from the normal alarm. The system also uploads the emergency status information to the shore-based monitoring center through a wireless transmission module. This horizontal distance estimation method based on geometric relationships can provide relatively accurate distance judgment when GPS signals fail. By combining acoustic ranging data and historical burial depth information, the monitoring capability of the system is maintained. This design enhances the reliability of the system in emergency situations and ensures that the safety protection of the subsea pipeline during dredging operations will not completely fail due to the interruption of positioning signals, providing an additional layer of protection for project safety.

[0037] In another embodiment of the invention, the central processing unit is further configured to execute a dynamic correction process for the pipeline axis model: The central processing unit records a high-precision GPS trajectory coordinate sequence of the dredging vessel during normal navigation and without triggering an alarm. Simultaneously record the filtered spatial straight-line distance data reported by each acoustic ranging device during this time period; Based on the GPS trajectory coordinates and acoustic ranging data, the central processing unit uses the least squares method or equivalent algorithm to perform inversion calculations to determine the actual axis position of the subsea pipeline that best matches the current measurement data. The actual axis position obtained by inversion calculation is compared with the preset axis coordinate sequence. If the deviation exceeds the allowable tolerance, a pipeline offset warning is generated and the newly calculated axis data is used as an auxiliary reference coordinate system for subsequent shortest horizontal distance calculation, or the user is prompted to update the preset axis coordinate sequence. Specifically, in this embodiment, the central processing unit records the high-precision GPS trajectory coordinate sequence of the dredging vessel under normal navigation conditions without triggering an alarm. The data recording frequency can be set to once per second or twice per second, and the coordinate accuracy can reach the centimeter level. Simultaneously, it records the filtered spatial straight-line distance data reported by each acoustic ranging device during this time period. The data storage format can be binary or text, and the storage capacity can support 30 consecutive days of operational data recording. Based on the GPS trajectory coordinates and acoustic ranging data, the central processing unit uses the least squares method or an equivalent algorithm to perform inversion calculations to determine the actual axis position of the subsea pipeline that best matches the current measurement data. During the inversion calculation process, the algorithm convergence tolerance can be set to 0.5 meters or 1.0 meters, and the upper limit of the number of iterations can be set to 100 or 200. The central processing unit can use an industrial-grade embedded computer to perform these calculations. Installed in a standard cabinet inside the dredging vessel's control room, the system connects to various measuring devices via cables. It compares the actual axis position obtained from the inversion calculation with a preset axis coordinate sequence. The allowable deviation tolerance can be set to 2 meters or 3 meters. If the deviation exceeds the tolerance, a pipeline offset warning is generated, and the newly calculated axis data is used as an auxiliary reference coordinate system for subsequent shortest horizontal distance calculations. Alternatively, the system may prompt the user to update the preset axis coordinate sequence. The system can display offset warning information through a human-machine interface, which can be installed on the control panel inside the dredging vessel's control room. This dynamic correction process for the pipeline axis model continuously calibrates the theoretical pipeline position using actual measurement data, improving the accuracy of pipeline position data. Through inversion calculation and deviation analysis, the system can promptly detect differences between the actual and designed pipeline positions, providing a more reliable pipeline position reference for dredging operations and enhancing the adaptability and accuracy of the entire monitoring system.

[0038] In another embodiment of the present invention, when the central processing unit executes the dynamic correction process of the pipeline axis model, it is further configured to: Confidence assessment of the GPS trajectory coordinates and acoustic ranging data used for inversion calculation; The confidence assessment is based on at least the following parameters: GPS positioning accuracy factor, signal strength and consistency of acoustic ranging data, and the angle between the dredging vessel's trajectory and the preset pipe axis direction. Inversion calculations are performed only on data segments with a confidence level higher than a preset threshold. The actual pipeline location results calculated from multiple pipelines based on high-confidence data segments from different time batches are weighted and fused to generate the final calibrated pipeline axis model. The weights are allocated based on the confidence level and freshness of each data segment. The central processing unit uses the calibrated tube axis model to replace the original preset axis coordinate sequence for subsequent shortest horizontal distance calculation. Specifically, in this embodiment, the confidence assessment is based on at least the following parameters: the GPS positioning accuracy factor can be set to a threshold of 2.0 or 3.0; the signal strength threshold of the acoustic ranging data can be set to 70 dB or 80 dB; the data consistency tolerance can be set to 0.5 meters or 1.0 meters; and the angle threshold between the dredging vessel's trajectory and the preset pipe axis direction can be set to 30 degrees or 45 degrees. The central processing unit calculates a comprehensive confidence score for each data segment, with the score ranging from 0 to 1. The central processing unit only performs inversion calculations on data segments with a confidence score higher than a preset threshold, which can be set to 0.7 or 0.8. Multiple actual pipeline location results calculated from inversions of high-confidence data segments based on different time batches are weighted and fused to generate the final calibrated pipe axis model. The weight allocation can be based on the confidence score and data freshness of each data segment. The freshness weight decays over time, and the decay coefficient can be set to 0.05 or 0.1 per day. The system can utilize an industrial-grade embedded computer to perform these calculations. The computer is installed in a standard cabinet within the dredging vessel's control room. The central processing unit uses a calibrated pipe axis model to replace the original preset axis coordinate sequence for subsequent shortest horizontal distance calculations. Model updates can be set weekly or bi-weekly, or dynamically triggered based on confidence scores. The system displays model calibration status and confidence indices via a human-machine interface (HMI), which can be installed on the control panel within the dredging vessel's control room. Before implementing a new model, operator confirmation is required, which can be done via a touchscreen or physical buttons. This dynamic pipe axis model correction method based on confidence assessment improves the reliability of pipe location data. By weighted fusion of inversion results from multiple high-quality data segments, the impact of random errors is reduced. This system design enhances the accuracy and stability of the pipe axis model, providing a more reliable pipe location reference for dredging operations and improving the measurement accuracy and adaptability of the entire monitoring system.

[0039] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details.

Claims

1. A real-time monitoring system for dredging protection adjacent to a subsea pipeline, characterized in that, The GPS positioning module arranged on the dredging ship, a plurality of acoustic ranging devices arranged in parallel with the seabed oil pipeline, a central processing unit arranged in the control room of the dredging ship, and an audible and visual alarm; The plurality of acoustic ranging devices are evenly arranged along the axis of the seabed oil pipeline, and each acoustic ranging device comprises an underwater sound wave transmitter and receiver for measuring the straight-line distance between the dredging ship and the acoustic ranging device in real time; The GPS positioning module collects the real-time latitude and longitude coordinates of the dredging ship at a frequency of 1 per second and sends the coordinate data to the central processing unit; The central processing unit is internally provided with a preset axis coordinate sequence of the seabed oil pipeline, the preset axis coordinate sequence is composed of a plurality of sequentially connected coordinate points, and the central processing unit is configured to: according to the received real-time coordinates of the dredging ship, traverse each adjacent coordinate point in the coordinate sequence to form a line segment, calculate the horizontal distance from the real-time coordinates to each line segment, and take the minimum value in all calculation results as the shortest horizontal distance from the real-time coordinates to the axis of the pipeline; The central processing unit simultaneously receives the straight-line distances sent by each acoustic ranging device, and determines the minimum value as the real-time measured distance between the dredging ship and the seabed pipeline; The central processing unit compares the calculated shortest horizontal distance with the real-time measured distance, and if the real-time measured distance is less than 250 meters, the audible and visual alarm is triggered to issue an alarm; The central processing unit is also connected with a wireless transmission module, and uploads the real-time coordinates, alarm state and distance data to the shore-based monitoring center through the wireless transmission module.

2. A real-time monitoring system for dredging protection of a pipeline in the vicinity of the sea bed according to claim 1, characterized in that, The central processing unit is also configured to: perform outlier screening on the straight-line distances received from each acoustic ranging device; The outlier screening includes: if the deviation of a straight-line distance value from the arithmetic mean of a plurality of measurement values in the current batch exceeds a preset threshold, the value is determined as an outlier and is excluded; After excluding the outliers, the central processing unit determines the minimum value in the remaining data as the real-time measured distance between the dredging ship and the seabed pipeline.

3. A real-time monitoring system for dredging protection of a pipeline in the vicinity of the sea bed according to claim 2, characterized in that, The central processing unit is also configured to: if the number of valid straight-line distance data after outlier screening and exclusion of outliers is less than a preset number, a redundancy judgment mode is started; In the redundancy judgment mode, the central processing unit adds a preset safety margin value to the calculated shortest horizontal distance, and the result is taken as a virtual measured distance; The central processing unit compares the virtual measured distance with 250 meters, and if the virtual measured distance is less than 250 meters, the audible and visual alarm is triggered to issue an alarm.

4. A real-time monitoring system for dredging protection of a pipeline in the vicinity of the sea bed according to claim 1, characterized in that, The central processing unit is also internally provided with buried depth data of each position point of the seabed oil pipeline; The central processing unit is configured to: determine the corresponding pipeline axis position of the dredging ship according to the real-time coordinates of the dredging ship, query the pipeline buried depth data at the position point, and then calculate a dynamic alarm threshold according to the formula: dynamic alarm threshold = preset basic alarm threshold + pipeline buried depth value × safety factor; The central processing unit compares the real-time measured distance with the dynamic alarm threshold, and if the real-time measured distance is less than the dynamic alarm threshold, the audible and visual alarm is triggered to issue an alarm.

5. A real-time monitoring system for dredging protection of a pipeline in the vicinity of the sea bed according to claim 2, characterized in that, The central processing unit is also configured to: According to the known arrangement distance between adjacent acoustic ranging devices D and the time difference Δ in which the acoustic ranging devices detect the dredging vessel t , the speed of movement of the dredging vessel in the direction of the pipeline axis is calculated v , the calculation formula is: v = D / Δ t； Wherein the moving direction is determined by the time sequence: if the first i acoustic ranging device detects the dredging ship earlier than the second i acoustic ranging device, the direction is from the first i acoustic ranging device to the second i acoustic ranging device; According to the moving speed v and direction, the displacement of the dredging vessel in the next time period Δ T is predicted S = v × Δ T and its future position is further predicted; According to the future position query corresponding pipe depth data, calculate the dynamic alarm threshold of the position T dynamic ; Comparing the real-time or virtual measured distance with the dynamic alarm threshold of the future position T dynamic If the comparison result is less than the dynamic alarm threshold, then triggering the audible and light alarm in advance. T dynamic ​ 6. A real-time monitoring system for dredging protection of a pipeline in the vicinity of the sea bed according to claim 5, characterized in that, In accordance with the moving speed v of the dredging vessel Δt , the central processing unit predicts the future position P 预测 of the dredging vessel at a future time T 实际0 ; At a time T1 after the elapsed time, the central processing unit again acquires the actual position P of the dredging vessel at the time T1 through the GPS positioning module Δt 实际1 ;​ Compute P 预测 The deviation value ΔP = |P 实际1 - P 预测 | between P 实际1 and P comparing the deviation value ΔP with a preset deviation allowance threshold value P 阈值 comparison is made If ΔP≤P 阈值 , the prediction is determined to be accurate, and the current prediction model parameters are maintained; if ΔP>P 阈值 , the prediction is determined to be inaccurate, and a calibration mode is started. In the calibration mode, the central processing unit introduces a calibration coefficient a into the speed prediction model according to the deviation value ΔP and the direction, which is used for subsequent displacement prediction calculation, and the modified displacement calculation formula is: S 校准后 = α×v×Δt , wherein the calculation method of the calibration coefficient a is: a = P 阈值 / ΔP, and when a>1, a=1.

7. A real-time monitoring system for dredging protection of a pipeline in the vicinity of the sea bed according to claim 1, characterized in that, The central processing unit is further configured to execute a GPS signal failure emergency response procedure: continuously monitor the signal state of the GPS positioning module; when it is identified that the GPS signal has been continuously lost for more than a preset time threshold, automatically start the emergency response mode; in the emergency response mode, the central processing unit: stops calculating the shortest horizontal distance from the pipeline axis; instead, continuously receives and filters the spatial straight-line distance data sent by each acoustic ranging device; takes the minimum spatial straight-line distance obtained after filtering as the emergency decision distance; compares the emergency decision distance with a preset emergency alarm threshold; if the emergency decision distance is less than the emergency alarm threshold, triggers the audible and visual alarm to issue an emergency alarm different from the normal alarm mode.

8. A real-time monitoring system for dredging protection of a pipeline in the vicinity of the sea bed according to claim 7, characterized in that, In the emergency response mode, the central processing unit is further configured to: obtaining historical average burying depth data of the pipeline section corresponding to the current dredging ship h ; According to the emergency decision distance D 应急 and the historical average burial depth h , the estimated horizontal distance between the dredging ship and the submarine pipeline is calculated according to geometric relationship L 估算 The calculation formula is: ; The central processing unit will compare the calculated L 估算 If the comparison with the emergency alarm threshold is L 估算 If the comparison with the emergency alarm threshold is 9. A real-time monitoring system for dredging protection of a pipeline in the vicinity of the sea bottom according to claim 1, characterized in that, The central processing unit is further configured to execute a pipeline axis model dynamic correction procedure: The central processing unit records a sequence of high-precision GPS trajectory coordinates of the dredging ship in normal navigation and without triggering the alarm state; synchronously records the filtered spatial straight-line distance data reported by each acoustic ranging device within the time period; The central processing unit inversely calculates the actual axis position of the submarine pipeline that best matches the current measurement data based on the GPS trajectory coordinates and the acoustic ranging data using the least squares method or an equivalent algorithm; compares the actual axis position obtained by the inverse calculation with a preset axis coordinate sequence, and if the deviation exceeds the allowable tolerance, generates a pipeline deviation warning and takes the newly calculated axis data as an auxiliary reference coordinate system for subsequent shortest horizontal distance calculation, or prompts the user to update the preset axis coordinate sequence.

10. A real-time monitoring system for dredging protection of a pipeline in the vicinity of a sea bottom according to claim 9, characterized in that, When the central processing unit executes the pipeline axis model dynamic correction procedure, it is further configured to: perform confidence assessment on the GPS trajectory coordinates and the acoustic ranging data used for inverse calculation; the confidence assessment is based on at least the following parameters: GPS positioning accuracy factor, signal strength and consistency of acoustic ranging data, and the included angle of the dredging ship's navigation trajectory relative to the preset pipeline axis direction; only perform inverse calculation on data segments with a confidence level higher than a preset threshold; weight and fuse multiple pipeline actual position results obtained by inverse calculation based on different batches of high-confidence data segments to generate a final calibrated pipeline axis model; wherein the weights are assigned according to the confidence level and data freshness of each data segment; The central processing unit uses the calibrated pipeline axis model to replace the original preset axis coordinate sequence for subsequent shortest horizontal distance calculation.

Images