GNSS observation system and method based on offshore engineering platform

Abstract

The invention discloses a GNSS observation system and method based on an offshore engineering platform. The system comprises a hoop device, a first GNSS unit, a second GNSS unit, a third GNSS unit and an automatic seismic measurement device. The automatic vibration measuring device comprises a control unit, a vibration measuring mechanism, a horizontal adjusting mechanism and a waterproof cabinet. According to the observation system and method, the levelness of the vibration measurement mechanism can be automatically adjusted and recovered through the horizontal adjustment mechanism, so that the levelness of the vibration measurement mechanism can be kept in the long-term autonomous operation process, and manual maintenance on an offshore wind power platform is not needed regularly; by means of three-point setting of the first GNSS unit, the second GNSS unit and the third GNSS unit, multi-point coordinate measurement can be achieved, and therefore the position and angle change of a measurement point can be calculated conveniently.

Description

Technical Field

[0001] This invention relates to a GNSS observation system and method, and more particularly to a GNSS observation system and method based on a marine engineering platform. Background Technology

[0002] Currently, with the rapid development of the wind power sector and the abundance of nearshore wind resources, many offshore engineering platforms have been constructed near the coast. These platforms not only provide new space for the development of marine resources, but their advantageous location also makes them ideal sites for observing marine seismic activity. Therefore, installing observation systems on these platforms can leverage their stable structure and proximity to the coastline to improve the efficiency and accuracy of collecting marine seismic and displacement data. Furthermore, this innovative observation method facilitates rapid response to earthquakes and displacements, providing more timely data support for marine earthquake early warning systems, thereby reducing losses caused by earthquakes to some extent. However, existing seismic and displacement observation equipment requires regular manual maintenance after installation, which is inconvenient and resource-intensive due to its offshore location. Summary of the Invention

[0003] The purpose of this invention is to provide a GNSS observation system and method based on offshore engineering platforms, which can realize the automatic observation of vibration and displacement data of offshore engineering platforms and reduce manual maintenance costs.

[0004] Technical Solution: The GNSS observation system based on an offshore engineering platform described in this invention includes a clamping device, a first GNSS unit, a second GNSS unit, a third GNSS unit, and an automatic seismometry device. The automatic seismometry device includes a control unit, a vibration measurement mechanism, a leveling mechanism, and a waterproof cabinet. The clamping device is installed on the platform support column of the offshore engineering platform, and the leveling mechanism is installed on the clamping device, which cantilevered the leveling mechanism horizontally. The automatic seismometry device is installed on the leveling mechanism, which adjusts the levelness of the automatic seismometry device. The vibration measurement mechanism automatically finds north and monitors the vibration in real time. The waterproof cabinet is installed on the leveling mechanism, and the control unit and the vibration measurement mechanism are both located in the waterproof cabinet. The first GNSS unit, the second GNSS unit, and the third GNSS unit are used to realize multi-point coordinate measurement. The vibration measurement mechanism, the leveling mechanism, the first GNSS unit, the second GNSS unit, and the third GNSS unit are all electrically connected to the control unit.

[0005] Furthermore, the clamping device includes a detachable clamping unit, a cantilevered support arm, two telescopic diagonal brace units, and two short support arms; the detachable clamping unit includes an arc-shaped base plate and multiple arc-shaped connecting plates; the arc-shaped connecting plates are sequentially connected to form an arc-shaped plate chain, and the two ends of the arc-shaped plate chain are connected to the two ends of the arc-shaped base plate, thus forming a clamping ring for encircling the platform support column; a rotating support seat is provided in the middle of the outer side of the arc-shaped base plate, and a rotating hinge seat is rotatably installed on the rotating support seat; one end of the cantilevered support arm is pivotally hinged to the rotating hinge seat, and water... The leveling mechanism is fixedly installed on the other end of the cantilever support arm; two short support arms are respectively horizontally and vertically arranged on both sides of the cantilever support arm; a support extension plate is provided downward from the middle of the lower side of the arc-shaped base plate, and a lower support seat is provided at the lower end of the support extension plate; the lower ends of the two telescopic diagonal bracing units are ball-jointedly installed on the lower support seat, and the upper ends of the two telescopic diagonal bracing units are ball-jointedly installed on the two short support arms, so that the two telescopic diagonal bracing units provide adjustable support for the two short support arms, thereby realizing the horizontal installation of the leveling mechanism at the end of the cantilever support arm.

[0006] Furthermore, the horizontal adjustment mechanism includes a locking drive motor, a suspension seat, a suspension bracket, an upper hemisphere, a lower hemisphere, a pressing disc, and a locking drive unit; the suspension seat is horizontally fixed to the clamping device, and a cylindrical cavity is vertically provided at the center of the suspension seat; a first hinge ball hole is provided between the bottom of the suspension seat and the cylindrical cavity; the lower circular surface of the upper hemisphere is fixed at the center of the upper circular surface of the lower hemisphere, and the diameter of the upper hemisphere is smaller than the diameter of the lower hemisphere; the lower hemisphere is spherically hinged and installed in the first hinge ball hole, the upper hemisphere partially protrudes upward from the first hinge ball hole, and the spherical surface of the upper hemisphere is set as an anti-slip friction surface; in the cylindrical cavity... An internal thread is provided on the inner circumference of the cavity, and a pressing ring is screwed onto the internal thread. A pressing disc is rotatably installed on the lower part of the pressing ring. A swing limiting hole is provided at the center of the pressing disc. An arc-shaped slope is provided at the lower opening of the swing limiting hole. A friction pad for pressing against the spherical surface of the upper hemisphere is provided on the arc-shaped slope. The lower hemisphere protrudes downwards from the first hinge ball hole, and the suspension bracket is connected and fixed to the protruding spherical surface of the lower hemisphere. A locking drive motor is installed on the top surface of the suspension seat. The locking drive motor drives the pressing ring to rotate through the locking drive unit. The locking drive motor is driven and controlled by the control unit.

[0007] Furthermore, the suspension frame includes a suspension column, a measuring platform, a vibrator, and an initial adjustment unit. The upper end of the suspension column is fixed to the protruding spherical surface of the lower hemisphere, and the lower end of the suspension column is vertically installed through the waterproof cabinet. The measuring platform is located inside the waterproof cabinet, and the suspension column is vertically fixed through the center of the measuring platform. A columnar mounting cavity is provided inside the suspension column, and the vibrator is fixedly installed inside the columnar mounting cavity. The vibrator is driven and controlled by the control unit. The vibration measuring mechanism is set on the measuring platform. The initial adjustment unit is rotatably installed on the lower end of the suspension column below the bottom of the waterproof cabinet, and is used to initially adjust the vertical angle of the suspension column to achieve the leveling adjustment of the measuring platform.

[0008] Furthermore, the vibration measurement mechanism includes a rotary drive unit, a lifting drive unit, a seismometer, a limiting bracket, a rotating base, an electronic level, a north finder, and a lifting base. An adjustment groove is provided on the measurement platform, and a bottom window is provided at the center of the bottom of the adjustment groove. The rotating base is rotatably installed in the adjustment groove, and a lifting cavity is provided within the rotating base. The lifting base is horizontally installed in the lifting cavity, and three supporting cylinders of the same height are provided on the upper side of the lifting base. Three limiting holes communicating with the lifting cavity are provided on the upper side of the rotating base, and the three supporting cylinders are movably inserted into the three limiting holes. The seismometer is placed on the rotating base, and the conical heads of the three foot screws of the seismometer extend into the three limiting holes and are supported on the tops of the three supporting cylinders. The diameter of the limiting hole is smaller than the diameter of the cone base of the foot screw; the electronic level is horizontally embedded in the center of the top of the rotating base; the limiting bracket is mounted on the rotating base to limit the movement of the cone heads of the three foot screws of the seismometer within the range of the tops of the three supporting cylinders; the north finder is mounted on the limiting bracket, and when the center lines of the three foot screws of the seismometer coincide with the center lines of the three limiting holes, the north indicator of the seismometer also points to true north when the north finder points to true north; the rotation drive unit is mounted on the measuring platform to drive the rotating base to rotate; the lifting drive unit is mounted on the bottom of the rotating base to drive the lifting base to move up and down; both the rotation drive unit and the lifting drive unit are driven and controlled by the control unit, and the seismometer, electronic level, and north finder are all electrically connected to the control unit.

[0009] Furthermore, the rotary drive unit includes a rotary drive motor, a rotary drive gear, and a rotary drive gear ring; the lifting drive unit includes a lifting drive motor, a lifting drive gear, a lifting driven gear, and a lifting drive cylinder; a limit ring groove is provided at the bottom circumference of the adjusting groove, the rotary drive gear ring is fixed on the bottom circumference of the rotating seat and embedded in the limit ring groove; the rotary drive motor is fixed on the bottom of the measuring platform, and its output shaft extends into the limit ring groove, the rotary drive gear is fixed on the end of the output shaft extending into the limit ring groove, and the rotary drive gear meshes with the rotary drive gear ring; the lifting drive... The motor is mounted on the bottom of the rotating base. The lifting drive gear is fixedly mounted on the output shaft end of the lifting drive motor. The lifting drive cylinder is vertically and rotatably mounted at the bottom center of the rotating base, with its upper end extending into the lifting cavity and having a lifting drive thread on the extended end. A lifting drive threaded hole is provided at the bottom center of the lifting base, and the lifting drive thread is screwed into the lifting drive threaded hole. The lifting driven gear is fixed on the lower end of the lifting drive cylinder and meshes with the lifting drive gear. Both the rotating drive motor and the lifting drive motor are driven and controlled by the control unit.

[0010] Furthermore, the limiting bracket includes two limiting support columns and a limiting strip plate; the two limiting support columns are vertically fixed at the top edge of the rotating seat, and the limiting strip plate is horizontally fixed at the top of the two limiting support columns, and a displacement limiting hole is provided on the limiting strip plate for limiting the handle at the top of the seismometer; the north-finding instrument is fixed on the limiting strip plate.

[0011] Furthermore, a top limiting hole is provided at the center of the top surface of the suspension seat; a swing limiting post is vertically provided on the spherical surface of the upper hemisphere, and the swing limiting post extends beyond the swing limiting hole and the top limiting hole, and a wire passing hole is provided inside the swing limiting post, and the wire passing hole passes through the upper hemisphere, the lower hemisphere and the suspension post in sequence downwards; an inlet and outlet wire hole connected to the wire passing hole is provided on the suspension post and inside the waterproof cabinet; a flexible waterproof cover is connected between the outer wall of the swing limiting post and the opening of the top limiting hole; the electrical connection cable between the control unit and the locking drive motor is passed through the wire passing hole.

[0012] Furthermore, the first GNSS unit includes a first GNSS antenna and a first GNSS module; the second GNSS unit includes a second GNSS antenna and a second GNSS module; the third GNSS unit includes a third GNSS antenna and a third GNSS module; two antenna stabilization units are installed on the clamping device, each antenna stabilization unit including a ball joint head, a suspension rod, and a suspension weight; a truncated platform is provided at the top of the ball joint head, and the suspension weight is connected and fixed to the bottom spherical surface of the ball joint head through the suspension rod, with the center of the truncated platform located on the central axis of the suspension weight and the suspension rod; the height of the center of the ball joint head of the two antenna stabilization units is the same as the height of the center of the lower hemisphere of the horizontal adjustment mechanism; the second GNSS antenna and the third GNSS antenna are respectively installed in the two antenna stabilization units. The platform is truncated; an antenna mounting tube is coaxially and vertically installed at the upper end of the swing limit post, and the first GNSS antenna is fixedly installed on the top of the antenna mounting tube; the horizontal height of the first GNSS antenna is greater than the horizontal height of the second GNSS antenna and the third GNSS antenna, and the horizontal height of the second GNSS antenna is equal to the horizontal height of the third GNSS antenna; the communication cable of the first GNSS antenna passes through the antenna mounting tube and the through hole and is electrically connected to the first GNSS module, the communication cable of the second GNSS antenna passes through the through hole and is electrically connected to the second GNSS module, and the communication cable of the third GNSS antenna passes through the through hole and is electrically connected to the third GNSS module; the first GNSS module, the second GNSS module and the third GNSS module are all located inside the waterproof cabinet and are all electrically connected to the control unit.

[0013] This invention also provides an observation method for a GNSS observation system based on a marine engineering platform, comprising the following steps:

[0014] Step 1: Adjust the clamping device to make the leveling mechanism enter the horizontal state. Then place a universal level on the top of the waterproof cabinet and use the universal level to detect the levelness of the top of the waterproof cabinet. The top of the waterproof cabinet is parallel to the top plane of the three supporting cylinders on the rotating seat, and the levelness of the top plane of the supporting cylinders is consistent with the levelness of the seismometer.

[0015] Step 2: Based on the detection results of the universal level, the initial adjustment unit is used to adjust the level of the top of the waterproof cabinet so that the seismometer is in a horizontal state. Then, the control center wirelessly sends a start monitoring command to the control unit to start the acquisition of vibration monitoring data of the seismometer and coordinate monitoring data of the first GNSS unit, the second GNSS unit, and the third GNSS unit.

[0016] Step 3: The control unit drives the locking drive motor of the horizontal adjustment mechanism. The locking drive unit pushes the pressing disc downward, so that the friction pad presses on the anti-slip friction surface of the upper hemisphere head, thereby locking the horizontal angle of the suspension bracket connected and fixed below the lower hemisphere head.

[0017] Step 4: The control unit drives the lifting drive unit to lower the height of the lifting seat, so that the three supporting cylinders descend synchronously. This causes the conical heads of the three foot screws of the seismometer to be supported and squeezed by the openings of the three limiting holes, so that the center lines of the three foot screws coincide with the center lines of the three limiting holes. At this time, the north direction of the north finder is consistent with the direction of the north indicator of the seismometer.

[0018] Step 5: The control unit drives the rotary drive unit and monitors the orientation angle in real time through the north finder. When the north finder points to due north, the seismometer also points to due north, and the control unit stops driving the rotary drive unit.

[0019] Step 6: The control unit drives the lifting drive unit to raise the height of the lifting seat, so that the three supporting cylinders rise synchronously, and the conical heads of the three foot screws of the seismometer are respectively supported on the top plane of the three supporting cylinders, thus completing the north-pointing adjustment of the seismometer.

[0020] Step 7: The control unit receives the vibration monitoring data from the seismometer and the coordinate monitoring data from the first GNSS unit, the second GNSS unit, and the third GNSS unit in real time.

[0021] Step 8: The control unit acquires the level monitoring data of the electronic level in real time and makes a level adjustment judgment according to the preset level threshold range. If the current level monitoring data exceeds the set level threshold range, the control unit stops acquiring the vibration monitoring data of the seismometer and then proceeds to step 9. If the current level monitoring data is within the level threshold range, then proceeds to step 10.

[0022] Step 9: The control unit drives the locking drive motor of the horizontal adjustment mechanism. The locking drive unit pulls the pressing disc upward, causing the friction pad to disengage from the anti-slip friction surface of the upper hemisphere head. This unlocks the horizontal angle of the suspension bracket connected and fixed below the lower hemisphere head. Then, the control unit drives the vibrator of the horizontal adjustment mechanism to make the suspension seat vibrate vertically at a small amplitude for a short time and then stop. This causes the suspension column of the suspension bracket below the lower hemisphere head to swing quickly to a vertical state under the pull of gravity. At this time, the rotating seat of the vibration measurement mechanism enters a horizontal state. After the level monitoring data of the electronic level returns to the level threshold range, the process returns to step 3.

[0023] Step 10: The control unit continues to acquire the real-time vibration monitoring data collected by the seismometer and the coordinate monitoring data of the first GNSS unit, the second GNSS unit, and the third GNSS unit, and wirelessly transmits the vibration monitoring data and coordinate monitoring data to the control center, and then returns to step 7.

[0024] Compared with the prior art, the advantages of this invention are as follows: The horizontal adjustment mechanism enables automatic adjustment and restoration of the levelness of the vibration measurement mechanism, thus maintaining its levelness during long-term autonomous operation without requiring periodic manual maintenance on the offshore wind power platform; the clamping device facilitates installation on offshore engineering platforms and allows for cantilevered horizontal installation of the horizontal adjustment mechanism, providing a platform guarantee for subsequent automated horizontal adjustment; and the three-point setup of the first GNSS unit, the second GNSS unit, and the third GNSS unit enables multi-point coordinate measurement, facilitating the calculation of changes in position and angle at the measurement points. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0026] Figure 2 This is a schematic diagram of the automatic seismic monitoring device of the present invention.

[0027] Figure 3 This is a schematic diagram of the internal structure of the waterproof cabinet of the present invention.

[0028] Figure 4 This is a partial cross-sectional view of the horizontal adjustment mechanism of the present invention.

[0029] Figure 5 This is a partial cross-sectional view of the vibration measurement mechanism of the present invention.

[0030] Figure 6 This is a top view of the limiting bracket structure of the present invention.

[0031] Figure 7 This is a schematic diagram of the clamping device of the present invention.

[0032] Figure 8 This is a schematic diagram of the circuit structure of the present invention. Detailed Implementation

[0033] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the embodiments described.

[0034] like Figure 1-8As shown, the GNSS observation system based on an offshore engineering platform disclosed in this invention includes: a clamping device, a first GNSS unit, a second GNSS unit, a third GNSS unit, and an automatic seismometry device; the automatic seismometry device includes a control unit, a vibration measurement mechanism, a leveling mechanism, and a waterproof cabinet; the clamping device is used to install on the platform support column 71 of the offshore engineering platform, the leveling mechanism is installed on the clamping device, and the clamping device cantilevered the leveling mechanism for horizontal installation; the automatic seismometry device is installed on the leveling mechanism, and the leveling mechanism adjusts the level of the automatic seismometry device, while the vibration measurement mechanism automatically seeks north and monitors the vibration in real time; the waterproof cabinet is installed on the leveling mechanism, and the control unit and the vibration measurement mechanism are both located in the waterproof cabinet; the first GNSS unit, the second GNSS unit, and the third GNSS unit are used to realize multi-point coordinate measurement; the vibration measurement mechanism, the leveling mechanism, the first GNSS unit, the second GNSS unit, and the third GNSS unit are all electrically connected to the control unit.

[0035] The horizontal adjustment mechanism can automatically adjust and restore the levelness of the vibration measurement mechanism, thus maintaining its levelness during long-term autonomous operation without the need for periodic manual maintenance on the offshore wind power platform. The clamp device facilitates installation on the offshore engineering platform and allows for cantilevered horizontal installation of the horizontal adjustment mechanism, providing a platform guarantee for subsequent automated horizontal adjustment. By using the three-point setup of the first GNSS unit, the second GNSS unit, and the third GNSS unit, multi-point coordinate measurement can be achieved, making it easier to calculate the position and angle changes at the measurement points.

[0036] like Figure 7As shown, the clamping device further includes a detachable clamping unit, a cantilever support arm 12, two telescopic diagonal brace units, and two support short arms 82; the detachable clamping unit includes an arc-shaped base plate 63 and multiple arc-shaped connecting plates 66; the arc-shaped connecting plates 66 are sequentially connected to each other by tie bolts 69 to form an arc-shaped plate chain, and the two ends of the arc-shaped plate chain are connected to the two ends of the arc-shaped base plate 63 by tie bolts 69, thereby forming a clamping ring for embracing the platform support column 71; a rotating support seat 74 is provided in the middle of the outer side of the arc-shaped base plate 63, and a rotating hinge seat 75 is rotatably installed on the rotating support seat 74; one end of the cantilever support arm 12 is pivotally hinged to the rotating hinge seat. On the seat 75, the horizontal adjustment mechanism is fixedly installed on the other end of the cantilever support arm 12, and a reinforcing rib plate 13 is provided at the fixed installation position; two support short arms 82 are respectively horizontally and vertically arranged on both sides of the cantilever support arm 12; a support extension plate 64 is provided downwardly at the middle of the lower side of the arc-shaped base plate 63, and a lower support seat 76 is provided at the lower end of the support extension plate 64; the lower ends of the two telescopic diagonal bracing units are ball-jointedly installed on the lower support seat 76, and the upper ends of the two telescopic diagonal bracing units are ball-jointedly installed on the two support short arms 82 respectively. The two telescopic diagonal bracing units provide adjustable support for the two support short arms 82 respectively, so as to realize the horizontal installation of the horizontal adjustment mechanism at the end of the cantilever support arm 12.

[0037] The cantilever support arm 12 is mounted on the rotating support base 74 by rotating the hinge seat 75 and hinged to the rotating support base 75 by swinging, which facilitates the adjustment of the horizontality of the cantilever support arm 12; the support extension plate 64 can ensure the relative positional relationship between the rotating support base 74 and the lower support base 76; the support length is adjusted by two telescopic diagonal brace units, thereby adjusting the two support short arms 82 to a horizontal state.

[0038] Furthermore, vertical folding plates 67 are provided at the ends of both the arc-shaped base plate 63 and the arc-shaped connecting plate 66, and the tie bolts 69 achieve tie connection by tying the adjacent vertical folding plates 67; triangular rib plates 68 are provided between the vertical folding plates 67 and the corresponding arc-shaped base plate 63 and arc-shaped connecting plate 66, thereby enhancing the structural strength of the tie joint.

[0039] like Figure 7As shown, the telescopic bracing unit further includes an internally threaded tube 77, a support screw 78, and a length locking nut 81. The lower ends of the internally threaded tubes 77 of the two telescopic bracing units are spherically hinged to the lower support base 76. The lower ends of the support screws 78 of the two telescopic bracing units are respectively threaded onto the upper ends of the two internally threaded tubes 77, thereby adjusting the support length of the telescopic bracing unit. The upper ends of the support screws 78 of the two telescopic bracing units are respectively spherically hinged to the two support short arms 82. The length locking nuts 81 of the two telescopic bracing units are respectively threaded onto the two support screws 78 and pressed against the upper ends of the two internally threaded tubes 77, for rotating and locking the two support screws 78.

[0040] like Figure 4 As shown, the horizontal adjustment mechanism further includes a locking drive motor 18, a suspension seat 11, a suspension frame, an upper hemisphere 72, a lower hemisphere 10, a pressing disc 27, and a locking drive unit; the suspension seat 11 is horizontally fixed to the clamping device, and a cylindrical cavity 22 is vertically provided at the center of the suspension seat 11; a first hinge ball hole 31 is provided between the bottom of the suspension seat 11 and the cylindrical cavity 22; the lower circular surface of the upper hemisphere 72 is fixed at the center of the upper circular surface of the lower hemisphere 10, and the diameter of the upper hemisphere 72 is smaller than the diameter of the lower hemisphere 10; the lower hemisphere 10 is spherically hinged in the first hinge ball hole 31, and the upper hemisphere 72 partially protrudes upward from the first hinge ball hole 31, and the spherical surface of the upper hemisphere 72 is set as an anti-slip friction surface; in the cylindrical cavity An internal thread 23 is provided on the inner circumference of the ring 22, and a pressing ring 24 is screwed onto the internal thread 23. A pressing disc 27 is rotatably mounted on the lower part of the pressing ring 24 via a bearing. A swing limiting hole 79 is provided at the center of the pressing disc 27. An arc-shaped slope 26 is provided at the lower opening of the swing limiting hole 79. A friction pad 65 for pressing against the spherical surface of the upper hemisphere 72 is provided on the arc-shaped slope 26. The lower hemisphere 10 protrudes downwards from the first hinge ball hole 31, and the suspension bracket is connected and fixed to the protruding spherical surface of the lower hemisphere 10. A locking drive motor 18 is mounted on the top surface of the suspension seat 11. The locking drive motor 18 drives the pressing ring 24 to rotate through the locking drive unit. The locking drive motor 37 is driven and controlled by the control unit.

[0041] By using a combination of hemispheres of different diameters, such as the lower hemisphere 10 and the upper hemisphere 72, the anti-slip friction surface on the upper hemisphere 72 can be prevented from contacting the first hinge ball hole 31 during the swing adjustment of the level, reducing the resistance during the swing process and allowing the suspension column 9 of the suspension frame to quickly tend towards the vertical state, thus realizing the rapid horizontal adjustment of the seismometer 53. The friction pad 65 on the pressing disc 27 can be pressed against the anti-slip friction surface of the upper hemisphere 72, thereby locking the upper hemisphere 72 after the horizontal adjustment is completed, realizing the vertical locking of the suspension column 9, and ensuring the measurement accuracy of the seismometer 53.

[0042] like Figure 5 As shown, the locking drive unit further includes a drive worm 19, a drive worm wheel 20, a drive shaft 21, a drive gear 28, and a drive internal gear ring 25; the drive internal gear ring 25 is fixedly installed on the upper part of the inner wall of the pressing ring 24, the drive shaft 21 is vertically rotatably installed on the top surface of the suspension seat 11, and its lower end extends into the cylindrical cavity 22; the drive gear 28 is fixed on the lower end of the drive shaft 21, and the drive gear 28 meshes with the drive internal gear ring 25; the drive worm wheel 20 is fixed on the upper end of the drive shaft 21, and the drive worm 19 is mated and installed on the output shaft end of the locking drive motor 18, and the drive worm 19 meshes with the drive worm wheel 20.

[0043] By utilizing the cooperation between the drive worm 19 and the drive worm wheel 20, the drive gear 28 can be driven to rotate precisely. At the same time, the rotation can be locked after the drive is completed, thereby ensuring the long-term pressing stability of the upper hemisphere head 72 after it is locked.

[0044] like Figure 2 , 3 As shown in Figure 4, the suspension frame further includes a suspension column 9, a measuring platform 33, a vibrator 30, and an initial adjustment unit. The upper end of the suspension column 9 is fixed to the protruding spherical surface of the lower hemispherical head 10, and the lower end of the suspension column 9 is vertically installed through the waterproof cabinet. The measuring platform 33 is located inside the waterproof cabinet, and the suspension column 9 is vertically fixed through the center of the measuring platform 33. A columnar mounting cavity 29 is provided inside the suspension column 9, and the vibrator 30 is fixedly installed inside the columnar mounting cavity 29. The vibrator 30 is driven and controlled by the control unit. The vibration measuring mechanism is set on the measuring platform 33. The initial adjustment unit is rotatably installed on the lower end of the suspension column 9 below the bottom of the waterproof cabinet, and is used to initially adjust the vertical angle of the suspension column 9 to realize the level adjustment of the measuring platform 33.

[0045] The initial adjustment unit can be used to adjust the initial state after the system is assembled, so that the waterproof cabinet, measuring platform 33 and other components are in a horizontal state in the initial state. Thus, after each automatic horizontal adjustment by the horizontal adjustment mechanism, they are restored to the initial horizontal state. The vibrator 30 can realize the vertical small-amplitude high-frequency vibration of the suspension column 9 in a short time, which can avoid the jamming of the lower hemisphere head 10 during the adjustment process, so that the suspension column 9 quickly tends to the vertical state and improves the horizontal adjustment efficiency of the seismometer 53.

[0046] like Figure 1-3 As shown, the initial adjustment unit further includes two adjustment components, each including a rotating sleeve 6, a cantilever arm 7, a counterweight 4, and a locking bolt 8; two support ring grooves 62 are provided on the suspension column 3 and located below the bottom of the waterproof cabinet, the rotating sleeves 6 of the two adjustment components are rotatably mounted on the two support ring grooves 62 respectively, the two cantilever arms 7 are cantilevered on the two rotating sleeves 6 respectively, and guide strip holes are provided along the length direction on the upper side of the two cantilever arms 7; the two counterweights 4 are slidably mounted on the two rotating sleeves 6. In the two guide strip holes, a sliding support groove is provided on the hole wall. A sliding support block is provided on the counterweight 4 and is slidably embedded in the sliding support groove. The screw of the locking bolt 8 is vertically threaded and screwed onto the counterweight 4, and the end of the screw of the locking bolt 8 is pressed against the bottom of the waterproof cabinet. A tightening nut 3 is also screwed onto the locking bolt 8 to lock the locking bolt 8. By adjusting the swing direction of the two cantilever arms 7 and the position of the two counterweights 4, the levelness adjustment in the initial state can be achieved.

[0047] Two rotating sleeves 6 are used to rotate and install two cantilever arms 7, so that the sliding direction of the two counterweights 4 can be adjusted according to the level adjustment needs, which meets the initial level adjustment needs during on-site installation; the locking bolts 8 and the tightening nuts 3 can lock the horizontal position of the counterweights 4, so as to meet the need to adjust the magnitude of the cantilever pressing force when there is a large level deviation during on-site installation.

[0048] like Figure 5As shown, the vibration measurement mechanism further includes a rotary drive unit, a lifting drive unit, a seismometer 53, a limiting bracket, a rotating seat 38, an electronic level 43, a north finder 56, and a lifting seat 42. An adjustment groove 37 is provided on the measurement platform 33, and a bottom window 40 is provided at the bottom center of the adjustment groove 37. The rotating seat 38 is rotatably installed in the adjustment groove 37, and a lifting cavity 41 is provided in the rotating seat 38. The lifting seat 42 is horizontally installed in the lifting cavity 41, and three supporting cylinders 45 of the same height are provided on the upper side of the lifting seat 42. Three limiting holes 44 communicating with the lifting cavity 41 are provided on the upper side of the rotating seat 38, and the three supporting cylinders 45 are movably inserted into the three limiting holes 44. The seismometer 53 is placed on the rotating seat 38, and the conical heads of the three foot screws of the seismometer 53 extend into the three limiting holes 44 and are supported by the three supports. The top of the support cylinder 45; the diameter of the limiting hole 44 is smaller than the diameter of the cone base of the foot screw; the electronic level 43 is horizontally embedded in the center of the top of the rotating base 38; the limiting bracket is installed on the rotating base 38 to limit the movement of the cone heads of the three foot screws of the seismometer 53 within the range of the top of the three support cylinders 45; the north finder 56 is installed on the limiting bracket, and when the center line of the three foot screws of the seismometer 53 coincides with the center line of the three limiting holes 44, the north indicator of the seismometer 53 also points to true north when the north finder 56 points to true north; the rotation drive unit is installed on the measuring platform 33 to drive the rotating base 38 to rotate; the lifting drive unit is installed on the bottom of the rotating base 38 to drive the lifting base 42 to move up and down; the rotation drive unit and the lifting drive unit are both driven and controlled by the control unit, and the seismometer 53, the electronic level 43 and the north finder 56 are all electrically connected to the control unit.

[0049] By utilizing the rotary drive unit, the rotating base 38, and the north-finding instrument 56, the north-pointing of the seismograph 53 can be automatically adjusted. By utilizing the lifting drive unit, the three limiting holes 44, the three supporting columns 45, and the lifting base 42, the seismograph 53 can be accurately positioned before north-pointing adjustment, thus ensuring the accuracy of north-pointing adjustment. The electronic level 43 can provide adjustment feedback during leveling adjustment, ensuring the reliability of leveling adjustment. The limiting bracket can limit the range of motion of the seismograph 53, thus keeping the conical heads of the three foot screws of the seismograph 53 within the opening range of the three limiting holes 44, ensuring that north-pointing adjustment can be carried out smoothly. The bottom window 40 facilitates the installation of the lifting drive unit, thereby enabling the lifting of the lifting base 42 without affecting the rotation of the rotating base 38.

[0050] like Figure 5As shown, further, the rotary drive unit includes a rotary drive motor 34, a rotary drive gear 42, and a rotary drive gear ring 80; the lifting drive unit includes a lifting drive motor 35, a lifting drive gear 51, a lifting driven gear 50, and a lifting drive cylinder 48; a limiting ring groove 39 is provided at the bottom circumference of the adjusting groove 37, the rotary drive gear ring 80 is fixed on the bottom circumference of the rotating seat 38 and embedded in the limiting ring groove 39; the rotary drive motor 34 is fixed on the bottom of the measuring platform 33, and its output shaft extends into the limiting ring groove 39, the rotary drive gear 42 is fixed on the end of the output shaft extending into the limiting ring groove 39, and the rotary drive gear 42 meshes with the rotary drive gear ring 80; the lifting drive... The motor 35 is mounted on the bottom of the rotating base 38 via the motor bracket 36. The lifting drive gear 51 is fixedly mounted on the output shaft end of the lifting drive motor 35. The lifting drive cylinder 48 is vertically and rotatably mounted at the bottom center of the rotating base 38, with its upper end extending into the lifting cavity 41 and a lifting drive thread 49 provided on the extended end. A lifting drive threaded hole is provided at the bottom center of the lifting base 42, and the lifting drive thread 49 is screwed onto the lifting drive threaded hole. The lifting driven gear 50 is fixed on the lower end of the lifting drive cylinder 48 and meshes with the lifting drive gear 51. Both the rotating drive motor 34 and the lifting drive motor 35 are driven and controlled by the control unit.

[0051] The rotation drive of the rotating seat 38 can be achieved by the cooperation of the rotary drive gear 42 and the rotary drive gear ring 80; the lifting drive of the lifting seat 42 can be achieved by the cooperation of the lifting drive thread 49 and the lifting drive thread hole.

[0052] Furthermore, a lifting guide groove 46 is vertically provided on the inner wall of the lifting cavity 41, and a lifting guide slider 47 is provided on the edge of the lifting seat 42, which is slidably embedded in the lifting guide groove 46, thereby ensuring the stability of lifting and preventing the lifting seat 42 from rotating with the lifting drive cylinder 48.

[0053] like Figure 6 As shown, the limiting bracket further includes two limiting support columns 52 and a limiting strip plate 55; the two limiting support columns 52 are vertically fixed at the top edge of the rotating base 38, and the limiting strip plate 55 is horizontally fixed on the top of the two limiting support columns 52. The limiting strip plate 55 is provided with displacement limiting holes 70 for limiting the handle 54 on the top of the seismometer 53, thereby limiting the conical heads of the three foot screws of the seismometer 53 within the opening range of the three limiting holes 44; the north finder 56 is fixed on the limiting strip plate 55, thereby facilitating alignment with the north indicator on the top of the seismometer 53.

[0054] like Figure 4As shown, further, a top limiting hole 17 communicating with the cylindrical cavity 22 is provided at the center of the top surface of the suspension seat 11; a swing limiting post 14 is vertically provided on the spherical surface of the upper hemisphere 72, and the swing limiting post 14 extends out of the swing limiting hole 79 and the top limiting hole 17, and a wire hole 32 is provided inside the swing limiting post 14, and the wire hole 32 passes through the upper hemisphere 72, the lower hemisphere 10 and the suspension post 9 in sequence downwards; an inlet and outlet wire hole 57 communicating with the wire hole 32 is provided on the suspension post 9 and located inside the waterproof cabinet; a flexible waterproof cover 73 is connected between the outer wall of the swing limiting post 14 and the opening of the top limiting hole 17; the electrical connection cable between the control unit and the locking drive motor 18 is passed through the wire hole 32.

[0055] The swing limit post 14 can be used to limit the swing range and prevent excessive swing from causing the seismometer 53 to detach from the rotary drive unit and become unable to return to a horizontal state; the wire hole 32 can be used to easily thread cables and effectively protect the cables, preventing the first hinge ball hole 31 from cutting and damaging the cables; the flexible waterproof cover 73 can waterproof the top limit hole 17, preventing rainwater from entering the cylindrical cavity 22 and ensuring the long-term reliable operation of the horizontal adjustment mechanism.

[0056] like Figure 1 , 2As shown in Figure 7, further, the first GNSS unit includes a first GNSS antenna 16 and a first GNSS module; the second GNSS unit includes a second GNSS antenna 86 and a second GNSS module; the third GNSS unit includes a third GNSS antenna and a third GNSS module; two antenna stabilizing units are installed on the clamping device, each antenna stabilizing unit including a ball joint head 85, a suspension rod 84, and a suspension weight 83; a second hinge ball hole is provided on the cantilever end of the supporting short arm 82, and the ball joint head 85 is spherically hinged in the second hinge ball hole; a truncated platform is provided on the top of the ball joint head 85, protruding upwards from the second hinge ball hole, and the suspension weight 83 is connected and fixed to the bottom spherical surface of the ball joint head 85 through the suspension rod 84, the bottom spherical surface protruding downwards from the second hinge ball hole, and the center of the truncated platform is located on the central axis of the suspension weight 83 and the suspension rod 84; the height of the center of the ball joint head 85 of the two antenna stabilizing units is the same as the height of the lower hemisphere head 10 of the horizontal adjustment mechanism. The first GNSS antenna 16 is fixedly mounted on the top of the antenna mounting tube 15, which is at the same height. The second GNSS antenna 76 and the third GNSS antenna are respectively mounted on the top platform of the two antenna stabilization units. The first GNSS antenna 16 is fixedly mounted on the top of the antenna mounting tube 15. The horizontal height of the first GNSS antenna 16 is greater than that of the second GNSS antenna 76 and the third GNSS antenna. The horizontal height of the second GNSS antenna 76 is equal to that of the third GNSS antenna. The communication cable of the first GNSS antenna 16 passes through the antenna mounting tube 15 and the through hole 32 and is electrically connected to the first GNSS module. The communication cable of the second GNSS antenna 76 passes through the through hole 32 and is electrically connected to the second GNSS module. The communication cable of the third GNSS antenna passes through the through hole 32 and is electrically connected to the third GNSS module. The first GNSS module, the second GNSS module and the third GNSS module are all located in the waterproof cabinet and are all electrically connected to the control unit.

[0057] Two antenna stabilization units are used to install the second GNSS antenna 76 and the third GNSS antenna. Simultaneously, the first GNSS antenna 16 is installed at the upper end of the antenna mounting tube 15. This ensures that the levelness of the first GNSS antenna 16, the second GNSS antenna 76, and the third GNSS antenna remains intact even when displacement or angular changes occur, thus guaranteeing measurement accuracy. The ball joint 85, suspension rod 84, and suspension weight 83 ensure the levelness of the truncated platform under gravity even when position or angle changes. By using three GNSS antennas at different positions and heights, position and angle changes can be calculated by measuring the coordinate changes of the three GNSS antenna points themselves and their relative positions. This calculation process can be completed through simple geometric calculations. The geometric calculation method is not the innovation of this invention; the focus is on data acquisition, facilitating calculation and analysis by the control center.

[0058] like Figure 3 As shown, the control unit further includes a device box 58 and a controller, a wireless communication module, a memory, a rotation drive circuit, a lifting drive circuit, a vibration drive circuit, and a locking drive circuit disposed within the device box 58; the first GNSS module, the second GNSS module, and the third GNSS module are also disposed within the device box 58; the controller is electrically connected to the seismometer 53, the electronic level 43, the north finder 56, the wireless communication module, the memory, the rotation drive circuit, the lifting drive circuit, the vibration drive circuit, the locking drive circuit, the first GNSS module, the second GNSS module, and the third GNSS module, respectively; the rotation drive circuit, the lifting drive circuit, and the locking drive circuit are all stepper motor drive circuits, used to precisely drive and control the three stepper motors 34, 35, and 18, respectively; the vibration drive circuit is electrically connected to the vibrator 30, used to drive and control the vibrator 30; the first GNSS module, the second GNSS module, and the third GNSS module all use existing GNSS receiver modules, used to acquire coordinate data at the first GNSS antenna 16, the second GNSS antenna 76, and the third GNSS antenna.

[0059] Furthermore, the controller uses an existing single-chip microcomputer controller module to achieve coordinated control of the system; the electronic level 43 and the north finder 56 both use existing detection modules; the wireless communication module uses an existing wireless communication module, such as a Beidou communication module or a 5G communication module, which can achieve long-distance wireless communication.

[0060] like Figure 3As shown, a battery 61 is further installed inside the waterproof cabinet via a mounting bracket 60. The battery 61 supplies power to the control unit through a charging and discharging circuit. An external power source enters through an external cable through a wire hole 32 on the hanging column 9 at the bottom of the waterproof cabinet and connects to the charging and discharging circuit to charge the battery 61 in real time, thereby ensuring the long-term reliable operation of the system.

[0061] like Figure 1-3 As shown, the waterproof cabinet further includes a cabinet body 1 and a cabinet door 2. The hanging column 9 vertically penetrates the top and bottom surfaces of the cabinet body 1, and a hanging reinforcing rib 59 is provided at the penetration position. The cabinet door 2 is hinged to the front opening of the cabinet body 1, and a door handle 5 is provided on the cabinet door 2.

[0062] This invention also provides an observation method for a GNSS observation system based on a marine engineering platform, comprising the following steps:

[0063] Step 1: Adjust the clamping device to make the leveling mechanism enter the horizontal state. Then place a universal level on the top of the waterproof cabinet and use the universal level to detect the levelness of the top of the waterproof cabinet. The top of the waterproof cabinet is parallel to the top plane of the three supporting cylinders 45 on the rotating seat 38. The levelness of the top plane of the supporting cylinders 45 is consistent with the levelness of the seismometer 53.

[0064] Step 2: Based on the detection results of the universal level, the initial adjustment unit is used to adjust the level of the top of the waterproof cabinet so that the seismometer 53 enters the horizontal state. Then, the control center wirelessly sends a start monitoring command to the control unit to start the acquisition of vibration monitoring data of the seismometer 53 and coordinate monitoring data of the first GNSS unit, the second GNSS unit and the third GNSS unit.

[0065] Step 3: The control unit drives the locking drive motor 18 of the horizontal adjustment mechanism. The locking drive unit pushes the pressing disc 27 downward, so that the friction pad 65 presses on the anti-slip friction surface of the upper hemisphere 72, thereby locking the horizontal angle of the suspension bracket connected and fixed below the lower hemisphere 10.

[0066] Step 4: The control unit drives the lifting drive unit to lower the height of the lifting seat 42, so that the three supporting cylinders 45 descend synchronously. This causes the conical heads of the three foot screws of the seismometer 53 to be supported and squeezed by the openings of the three limiting holes 44, so that the center lines of the three foot screws coincide with the center lines of the three limiting holes 44. At this time, the north direction of the north-finding instrument 56 is consistent with the direction of the north indicator of the seismometer 53.

[0067] Step 5: The control unit drives the rotary drive unit and monitors the orientation angle in real time through the north finder 56. When the north finder 56 points to due north, the seismometer 53 also points to due north, and the control unit stops driving the rotary drive unit.

[0068] Step 6: The control unit drives the lifting drive unit to raise the height of the lifting seat 42, so that the three supporting cylinders 45 rise synchronously, so that the conical heads of the three foot screws of the seismometer 53 are respectively supported on the top plane of the three supporting cylinders 45, thus completing the north-pointing adjustment of the seismometer 53.

[0069] Step 7: The control unit receives vibration monitoring data from the seismometer 53 and coordinate monitoring data from the first GNSS unit, the second GNSS unit, and the third GNSS unit in real time.

[0070] Step 8: The control unit acquires the level monitoring data of the electronic level 43 in real time and makes a level adjustment judgment according to the preset level threshold range. If the current level monitoring data exceeds the set level threshold range, the control unit stops acquiring the vibration monitoring data of the seismometer 53 and then proceeds to step 9. If the current level monitoring data is within the level threshold range, then proceed to step 10.

[0071] Step 9: The control unit drives the locking drive motor 18 of the horizontal adjustment mechanism. The locking drive unit pulls the pressing disc 27 upward, causing the friction pad 65 to disengage from the anti-slip friction surface of the upper hemisphere 72. This unlocks the horizontal angle of the suspension bracket connected and fixed below the lower hemisphere 10. Then, the control unit drives the vibrator 30 of the horizontal adjustment mechanism, causing the suspension seat 11 to vibrate vertically at a small amplitude for a short time and then stop. This causes the suspension column 9 of the suspension bracket below the lower hemisphere 10 to swing rapidly to a vertical state under the pull of gravity. At this time, the rotating seat 38 of the vibration measurement mechanism enters a horizontal state. After the level monitoring data of the electronic level 43 returns to the level threshold range, the process returns to step 3.

[0072] Step 10: The control unit continues to acquire the vibration monitoring data collected in real time by the seismometer 53, as well as the coordinate monitoring data of the first GNSS unit, the second GNSS unit, and the third GNSS unit, and wirelessly transmits the vibration monitoring data and coordinate monitoring data to the control center, and then returns to step 7.

[0073] As described above, although the invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A GNSS observation system based on an offshore engineering platform, characterized in that, The system includes a clamping device, a first GNSS unit, a second GNSS unit, a third GNSS unit, and an automatic seismometry device. The automatic seismometry device includes a control unit, a vibration measurement mechanism, a leveling mechanism, and a waterproof cabinet. The clamping device is used to install on the platform support column (71) of the offshore engineering platform. The leveling mechanism is installed on the clamping device and is cantilevered horizontally by the clamping device. The automatic seismometry device is installed on the leveling mechanism and is leveled by the leveling mechanism. The vibration measurement mechanism automatically seeks north and monitors the vibration in real time. The waterproof cabinet is installed on the leveling mechanism. The control unit and the vibration measurement mechanism are both located in the waterproof cabinet. The first GNSS unit, the second GNSS unit, and the third GNSS unit are used to realize multi-point coordinate measurement. The vibration measurement mechanism, the leveling mechanism, the first GNSS unit, the second GNSS unit, and the third GNSS unit are all electrically connected to the control unit.

2. The GNSS observation system based on a marine engineering platform according to claim 1, characterized in that, The clamping device includes a detachable clamping unit, a cantilever support arm (12), two telescopic diagonal brace units, and two support short arms (82); the detachable clamping unit includes an arc-shaped base plate (63) and multiple arc-shaped connecting plates (66); the arc-shaped connecting plates (66) are connected in sequence to form an arc-shaped plate chain, and the two ends of the arc-shaped plate chain are connected to the two ends of the arc-shaped base plate (63), thereby forming a clamping ring for embracing the platform support column (71); a rotating support seat (74) is provided in the middle of the outer side of the arc-shaped base plate (63), and a rotating hinge seat (75) is rotatably installed on the rotating support seat (74); one end of the cantilever support arm (12) is swayingly hinged to the rotating hinge seat (75). The horizontal adjustment mechanism is fixedly installed on the other end of the cantilever support arm (12); two support short arms (82) are respectively horizontally and vertically arranged on both sides of the cantilever support arm (12); a support extension plate (64) is provided downward in the middle of the lower side of the arc-shaped base plate (63), and a lower support seat (76) is provided at the lower end of the support extension plate (64); the lower ends of the two telescopic diagonal bracing units are ball-jointedly installed on the lower support seat (76), and the upper ends of the two telescopic diagonal bracing units are ball-jointedly installed on the two support short arms (82). The two telescopic diagonal bracing units provide adjustable support for the two support short arms (82) respectively, so as to realize the horizontal installation of the horizontal adjustment mechanism at the end of the cantilever support arm (12).

3. The GNSS observation system based on a marine engineering platform according to claim 1, characterized in that, The horizontal adjustment mechanism includes a locking drive motor (18), a suspension seat (11), a suspension frame, an upper hemispherical head (72), a lower hemispherical head (10), a pressing disc (27), and a locking drive unit; the suspension seat (11) is horizontally fixed on the clamping device, and a cylindrical cavity (22) is vertically provided at the center of the suspension seat (11); a first hinge ball hole (3) is provided between the bottom of the suspension seat (11) and the cylindrical cavity (22). 1) The lower circular surface of the upper hemisphere (72) is fixed at the center of the upper circular surface of the lower hemisphere (10), and the diameter of the upper hemisphere (72) is smaller than the diameter of the lower hemisphere (10); the lower hemisphere (10) is spherically hinged in the first hinge ball hole (31), the upper hemisphere (72) protrudes partially upward from the first hinge ball hole (31), and the spherical surface of the upper hemisphere (72) is set as an anti-slip friction surface; in the cylindrical cavity (22) An internal thread (23) is provided on the inner wall of the circumference of the ring (24), and a pressing ring (24) is screwed into the internal thread (23). A pressing disc (27) is rotatably installed on the lower part of the pressing ring (24). A swing limiting hole (79) is provided at the center of the pressing disc (27). An arc-shaped slope (26) is provided at the lower opening of the swing limiting hole (79). A friction pad (65) for pressing on the spherical surface of the upper hemisphere (72) is provided on the arc-shaped slope (26). The lower hemisphere (10) protrudes downwards from the first hinge ball hole (31). The suspension bracket is connected and fixed on the protruding spherical surface of the lower hemisphere (10). A locking drive motor (18) is installed on the top surface of the suspension seat (11). The locking drive motor (18) drives the pressing ring (24) to rotate through the locking drive unit. The locking drive motor (37) is driven and controlled by the control unit.

4. The GNSS observation system based on a marine engineering platform according to claim 3, characterized in that, The suspension frame includes a suspension column (9), a measuring platform (33), a vibrator (30), and an initial adjustment unit. The upper end of the suspension column (9) is fixed on the protruding spherical surface of the lower hemispherical head (10), and the lower end of the suspension column (9) is vertically installed through the waterproof cabinet. The measuring platform (33) is located inside the waterproof cabinet, and the suspension column (9) is vertically fixed through the center of the measuring platform (33). A columnar mounting cavity (29) is provided inside the suspension column (9), and the vibrator (30) is fixedly installed inside the columnar mounting cavity (29). The vibrator (30) is driven and controlled by the control unit. The vibration measuring mechanism is set on the measuring platform (33). The initial adjustment unit is rotatably installed on the lower end of the suspension column (9) below the bottom of the waterproof cabinet. It is used to initially adjust the vertical angle of the suspension column (9) to realize the level adjustment of the measuring platform (33).

5. The GNSS observation system based on a marine engineering platform according to claim 4, characterized in that, The vibration measurement mechanism includes a rotary drive unit, a lifting drive unit, a seismometer (53), a limiting bracket, a rotating seat (38), an electronic level (43), a north finder (56), and a lifting seat (42); an adjustment groove (37) is provided on the measurement platform (33), and a bottom window (40) is provided at the bottom center of the adjustment groove (37); the rotating seat (38) is rotatably installed in the adjustment groove (37), and a lifting cavity (41) is provided in the rotating seat (38); the lifting seat (42) lifts and lowers. The instrument is horizontally installed in the lifting cavity (41), and three supporting cylinders (45) of the same height are provided on the upper side of the lifting seat (42); three limiting holes (44) communicating with the lifting cavity (41) are provided on the upper side of the rotating seat (38), and the three supporting cylinders (45) are respectively movably inserted into the three limiting holes (44); the seismometer (53) is placed on the rotating seat (38), and the conical heads of the three foot screws of the seismometer (53) extend into the three limiting holes (44) respectively for support. At the top of the three supporting cylinders (45); the diameter of the limiting hole (44) is smaller than the diameter of the cone base of the foot screw; the electronic level (43) is horizontally embedded and installed at the top center of the rotating base (38); the limiting bracket is installed on the rotating base (38) to limit the movement of the cone head of the three foot screws of the seismometer (53) within the range of the top of the three supporting cylinders (45); the north finder (56) is installed on the limiting bracket and is aligned with the axis of the three foot screws of the seismometer (53) and the three limiting holes (44). Under the condition that the center lines of the instruments coincide, when the north finder (56) points to due north, the north indicator of the seismometer (53) also points to due north; the rotation drive unit is installed on the measurement platform (33) to drive the rotation seat (38) to rotate; the lifting drive unit is installed on the bottom of the rotation seat (38) to drive the lifting seat (42) to move up and down; the rotation drive unit and the lifting drive unit are both driven and controlled by the control unit, and the seismometer (53), the electronic level (43) and the north finder (56) are all electrically connected to the control unit.

6. The GNSS observation system based on a marine engineering platform according to claim 5, characterized in that, The rotary drive unit includes a rotary drive motor (34), a rotary drive gear (42), and a rotary drive gear ring (80); the lifting drive unit includes a lifting drive motor (35), a lifting drive gear (51), a lifting driven gear (50), and a lifting drive cylinder (48); a limiting ring groove (39) is provided at the bottom circumference of the adjusting groove (37), the rotary drive gear ring (80) is fixed on the bottom circumference of the rotating seat (38), and is embedded in the limiting ring groove (39); the rotary drive motor (34) is fixed on the bottom of the measuring platform (33), and the output shaft extends into the limiting ring groove (39), the rotary drive gear (42) is fixed on the end of the output shaft extending into the limiting ring groove (39), and the rotary drive gear (42) meshes with the rotary drive gear ring (80); The lifting drive motor (35) is mounted on the bottom of the rotating seat (38), the lifting drive gear (51) is fixedly mounted on the output shaft end of the lifting drive motor (35), the lifting drive cylinder (48) is vertically and rotatably mounted at the bottom center of the rotating seat (38), and the upper end of the lifting drive cylinder (48) extends into the lifting cavity (41), and a lifting drive thread (49) is provided on the extended end; a lifting drive threaded hole is provided at the bottom center of the lifting seat (42), and the lifting drive thread (49) is screwed onto the lifting drive threaded hole; the lifting driven gear (50) is fixed on the lower end of the lifting drive cylinder (48) and meshes with the lifting drive gear (51); the rotating drive motor (34) and the lifting drive motor (35) are both driven and controlled by the control unit.

7. The GNSS observation system based on a marine engineering platform according to claim 5, characterized in that, The limiting bracket includes two limiting support columns (52) and a limiting strip plate (55); the two limiting support columns (52) are vertically fixed at the top edge of the rotating seat (38), the limiting strip plate (55) is horizontally fixed at the top of the two limiting support columns (52), and a displacement limiting hole (70) for limiting the handle (54) at the top of the seismometer (53) is provided on the limiting strip plate (55); the north finder (56) is fixed on the limiting strip plate (55).

8. The GNSS observation system based on a marine engineering platform according to claim 5, characterized in that, A top limiting hole (17) is provided at the center of the top surface of the suspension seat (11); a swing limiting post (14) is vertically provided on the spherical surface of the upper hemisphere (72), and the swing limiting post (14) extends out of the swing limiting hole (79) and the top limiting hole (17), and a wire hole (32) is provided inside the swing limiting post (14), and the wire hole (32) passes through the upper hemisphere (72), the lower hemisphere (10) and the suspension post (9) in sequence; an inlet and outlet wire hole (57) connected to the wire hole (32) is provided on the suspension post (9) and inside the waterproof cabinet; a flexible waterproof cover (73) is connected between the outer wall of the swing limiting post (14) and the opening of the top limiting hole (17); the electrical connection cable between the control unit and the locking drive motor (18) is passed through the wire hole (32).

9. The GNSS observation system based on a marine engineering platform according to claim 8, characterized in that, The first GNSS unit includes a first GNSS antenna (16) and a first GNSS module; The second GNSS unit includes a second GNSS antenna (86) and a second GNSS module; the third GNSS unit includes a third GNSS antenna and a third GNSS module; two antenna stabilization units are installed on the clamping device, each antenna stabilization unit including a ball joint (85), a suspension rod (84), and a suspension weight (83); a truncated platform is provided on the top of the ball joint (85), and the suspension weight (83) is connected and fixed to the bottom spherical surface of the ball joint (85) through the suspension rod (84), and the center of the truncated platform is located on the central axis of the suspension weight (83) and the suspension rod (84); the height of the center of the ball joint (85) of the two antenna stabilization units is the same as the height of the center of the lower hemisphere (10) of the horizontal adjustment mechanism; the second GNSS antenna (76) and the third GNSS antenna are respectively installed on the truncated platforms of the two antenna stabilization units; the swing limit post (14) is used for the swing limit post. An antenna mounting tube (15) is coaxially and vertically mounted on the upper end of the device. The first GNSS antenna (16) is fixedly mounted on the top of the antenna mounting tube (15). The horizontal height of the first GNSS antenna (16) is greater than that of the second GNSS antenna (76) and the third GNSS antenna. The horizontal height of the second GNSS antenna (76) is equal to that of the third GNSS antenna. The communication cable of the first GNSS antenna (16) passes through the antenna mounting tube (15) and the through hole (32) and is electrically connected to the first GNSS module. The communication cable of the second GNSS antenna (76) passes through the through hole (32) and is electrically connected to the second GNSS module. The communication cable of the third GNSS antenna passes through the through hole (32) and is electrically connected to the third GNSS module. The first GNSS module, the second GNSS module and the third GNSS module are all located inside the waterproof cabinet and are all electrically connected to the control unit.

10. An observation method for a GNSS observation system based on a marine engineering platform according to claim 9, characterized in that, Includes the following steps: Step 1: Adjust the clamping device to make the leveling mechanism enter the horizontal state. Then place a universal level on the top of the waterproof cabinet and use the universal level to detect the levelness of the top of the waterproof cabinet. The top of the waterproof cabinet is parallel to the top plane of the three supporting cylinders (45) on the rotating seat (38). The levelness of the top plane of the supporting cylinders (45) is consistent with the levelness of the seismometer (53). Step 2: Based on the detection results of the universal level, the initial adjustment unit is used to adjust the level of the top of the waterproof cabinet so that the seismometer (53) enters the horizontal state. Then, the control center wirelessly sends a start monitoring command to the control unit to start the vibration monitoring data of the seismometer (53) and the coordinate monitoring data of the first GNSS unit, the second GNSS unit and the third GNSS unit. Step 3: The control unit drives the locking drive motor (18) of the horizontal adjustment mechanism. The locking drive unit pushes the pressing disc (27) downward, so that the friction pad (65) presses on the anti-slip friction surface of the upper hemisphere (72), thereby locking the horizontal angle of the suspension bracket connected and fixed below the lower hemisphere (10). Step 4: The control unit drives the lifting drive unit to lower the height of the lifting seat (42), so that the three supporting cylinders (45) descend synchronously. This causes the conical heads of the three foot screws of the seismometer (53) to coincide with the center line of the three limiting holes (44) under the support and compression of the holes. At this time, the north direction of the north finder (56) is consistent with the direction of the north indicator of the seismometer (53). Step 5: The control unit drives the rotary drive unit and monitors the orientation angle in real time through the north finder (56). When the north finder (56) points to due north, the seismometer (53) also points to due north. The control unit then stops driving the rotary drive unit. Step 6: The control unit drives the lifting drive unit to raise the height of the lifting seat (42), so that the three supporting cylinders (45) rise synchronously, so that the conical heads of the three foot screws of the seismometer (53) are respectively supported on the top plane of the three supporting cylinders (45), thus completing the north-pointing adjustment of the seismometer (53). Step 7: The control unit receives the vibration monitoring data from the seismometer (53) and the coordinate monitoring data from the first GNSS unit, the second GNSS unit, and the third GNSS unit in real time. Step 8: The control unit acquires the level monitoring data of the electronic level (43) in real time and makes a level adjustment judgment according to the preset level threshold range. If the current level monitoring data exceeds the set level threshold range, the control unit stops acquiring the vibration monitoring data of the seismometer (53) and then proceeds to step 9. If the current level monitoring data is within the level threshold range, then proceeds to step 10. Step 9: The control unit drives the locking drive motor (18) of the horizontal adjustment mechanism. The locking drive unit pulls the pressing disc (27) upward, so that the friction pad (65) is separated from the anti-slip friction surface of the upper hemisphere (72), thereby unlocking the horizontal angle of the suspension frame connected and fixed below the lower hemisphere (10). Then, the control unit drives the vibrator (30) of the horizontal adjustment mechanism, so that the suspension seat (11) performs a short-term vertical small-amplitude high-frequency vibration and then stops, so that the suspension column (9) of the suspension frame below the lower hemisphere (10) swings quickly to the vertical state under the pull of gravity. At this time, the rotating seat (38) of the vibration measurement mechanism enters the horizontal state. After the level monitoring data of the electronic level (43) returns to the level threshold range, the process returns to step 3. Step 10: The control unit continues to acquire the vibration monitoring data collected in real time by the seismometer (53) and the coordinate monitoring data of the first GNSS unit, the second GNSS unit and the third GNSS unit, and wirelessly transmits the vibration monitoring data and coordinate monitoring data to the control center, and then returns to step 7.

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