Ship offshore construction positioning method

Abstract

The invention is suitable for the technical field of ocean engineering, and provides a ship offshore construction positioning method which comprises the following steps: acquiring the current operation environment of a workboat; performing safety assessment on the current working environment, and determining whether the current working environment meets the laying working environment; when a laying operation environment is met, the underwater acoustic positioning beacons and the corresponding bases are lowered to a target seabed implantation point through laying equipment; after the underwater acoustic positioning beacon is arranged at the target seabed implantation point, acoustic response coupling is carried out on a shipborne underwater acoustic positioning system of the workboat and the underwater acoustic positioning beacon to obtain relative positioning data of the workboat relative to the underwater acoustic positioning beacon, and the relative positioning data serve as redundancy or replacement positioning information of a satellite positioning system of the workboat. The problems that an existing satellite positioning system has limitation, is prone to signal drifting or failure, is prone to interference of platform protrusions, or generates electromagnetic and acoustic interference with equipment such as an underwater robot, and consequently positioning data are not reliable are solved.

Description

Technical Field

[0001] This application belongs to the field of marine engineering technology, and in particular relates to a method for positioning ships during offshore construction. Background Technology

[0002] Offshore construction, especially when vessels operate near sensitive facilities such as oil and gas platforms, demands extremely high positioning accuracy and system reliability. Currently, vessels typically rely on satellite positioning systems (such as GPS), plumb bob positioning systems, and laser positioning systems (such as Fanbeam). However, in actual operations, these systems have significant limitations: satellite positioning may experience signal drift or failure in specific areas; and plumb bob and laser systems are susceptible to interference from platform protrusions or electromagnetic and acoustic interference from equipment such as shipborne underwater robots (ROVs) when near platforms, leading to unreliable positioning data and posing significant safety risks. Therefore, there is an urgent need for a method to improve vessel positioning during offshore construction, addressing the limitations of existing satellite positioning systems, their susceptibility to signal drift or failure, and their vulnerability to interference from platform protrusions or electromagnetic and acoustic interference from equipment such as underwater robots, resulting in unreliable positioning data. Summary of the Invention

[0003] This application provides a method for positioning a vessel during offshore construction, which addresses the limitations of existing satellite positioning systems, such as susceptibility to signal drift or failure, and vulnerability to interference from platform protrusions or electromagnetic and acoustic interference from underwater robots and other equipment, leading to unreliable positioning data. This invention conducts a safety assessment of the construction vessel's current working environment. When the current operating environment meets the deployment requirements, a hydroacoustic positioning beacon and its corresponding base are lowered to the target seabed landing point using deployment equipment. After the beacon is placed on the target seabed landing point, the construction vessel's onboard hydroacoustic positioning system is acoustically coupled to the beacon to obtain the relative positioning data of the construction vessel relative to the beacon. This relative positioning data is used as redundant or alternative positioning information for the construction vessel's satellite positioning system, thus solving the limitations of existing satellite positioning systems, such as susceptibility to signal drift or failure, and vulnerability to interference from platform protrusions or electromagnetic and acoustic interference from underwater robots and other equipment, leading to unreliable positioning data.

[0004] In a first aspect, embodiments of this application provide a method for positioning a ship during offshore construction, the method comprising:

[0005] Obtain the current operating environment of the construction vessel;

[0006] Conduct a safety assessment of the current working environment to determine whether the current working environment meets the requirements for deployment.

[0007] When the deployment environment is met, the underwater acoustic positioning beacon and its corresponding base are lowered to the target seabed landing point using the deployment equipment.

[0008] After the underwater acoustic positioning beacon is placed at the target seabed landing point, the shipborne underwater acoustic positioning system of the construction vessel is acoustically coupled with the underwater acoustic positioning beacon to obtain the relative positioning data of the construction vessel relative to the underwater acoustic positioning beacon, and the relative positioning data is used as redundant or alternative positioning information of the construction vessel's satellite positioning system.

[0009] Optionally, the operating environment includes water depth data, ocean current data, and weather data. The step of conducting a safety assessment of the current operating environment to determine whether it meets the requirements for deployment includes:

[0010] A first security assessment is performed on the current water depth data to obtain the first security assessment result corresponding to the current water depth data;

[0011] A second security assessment is performed on the current ocean current data to obtain the second security assessment result corresponding to the current ocean current data;

[0012] A third security assessment is performed on the current weather data to obtain the third security assessment result corresponding to the current weather data;

[0013] Based on the first safety assessment result, the second safety assessment result, and the third safety assessment result, it is determined whether the current working environment meets the deployment operation requirements.

[0014] Optionally, determining whether the current operating environment meets the deployment operation requirements based on the first safety assessment result, the second safety assessment result, and the third safety assessment result includes:

[0015] When the first safety assessment result is that the deployment operation environment is met, the second safety assessment result is that the deployment operation environment is not met, and the third safety assessment result is that the deployment operation environment is met, it is determined that the current operation environment is not met.

[0016] When the first safety assessment result is that the deployment operation environment is met, the second safety assessment result is that the deployment operation environment is met, and the third safety assessment result is that the deployment operation environment is not met, it is determined that the current operation environment does not meet the deployment operation environment.

[0017] When the first safety assessment result, the second safety assessment result, and the third safety assessment result all meet the deployment operation environment, the current operation environment is determined to meet the deployment operation environment.

[0018] Optionally, before lowering the underwater acoustic positioning beacon and its corresponding base to the target seabed landing point using the deployment equipment when the deployment operation environment is met, the method further includes:

[0019] Within the preset working point distance range of the construction vessel, multiple candidate seabed landing points are selected;

[0020] Based on the multiple candidate seabed landing points, the candidate seabed landing point that is flat and has no other seabed facilities is selected as the target seabed landing point.

[0021] Optionally, before lowering the underwater acoustic positioning beacon and its corresponding base to the target seabed landing point using the deployment equipment, the method further includes:

[0022] The underwater acoustic positioning beacon is fixed on a special base, which is a counterweight structure. The bottom of the base is equipped with a base plate to increase friction and prevent sinking, and the top of the base is equipped with a device for fixing the underwater acoustic positioning beacon, ensuring that the signal transceiver end of the underwater acoustic positioning beacon is fully exposed and maintains a vertically upward working posture in the water.

[0023] Optionally, using the relative positioning data as redundant or alternative positioning information for the construction vessel's satellite positioning system includes:

[0024] The relative positioning data is fused with the ship positioning information output by the satellite positioning system to output the fused ship position information; or

[0025] When the satellite positioning system signal is detected to be faulty or interfered with, the relative positioning data shall be used as the position information of the construction vessel.

[0026] Optionally, the step of fusing the relative positioning data with the ship positioning information output by the satellite positioning system to output the fused ship positioning information includes:

[0027] The relative positioning data and the ship positioning information output by the satellite positioning system are converted to the same coordinate system to obtain the first ship position data corresponding to the relative positioning data and the second ship position data corresponding to the ship positioning information;

[0028] The first and second ship position data are weighted and averaged to output the fused ship position information.

[0029] Secondly, embodiments of the present invention provide a ship offshore construction positioning device, the ship offshore construction positioning device comprising:

[0030] The acquisition module is used to acquire the current operating environment of the construction vessel;

[0031] The safety assessment module is used to perform a safety assessment on the current working environment and determine whether the current working environment meets the deployment operation requirements.

[0032] The deployment module is used to lower the underwater acoustic positioning beacon and its corresponding base to the target seabed landing point using deployment equipment when the deployment operation environment is met.

[0033] The positioning module is used to perform acoustic response coupling between the shipborne acoustic positioning system of the construction vessel and the acoustic positioning beacon after the underwater acoustic positioning beacon is placed at the landing point of the target seabed, so as to obtain the relative positioning data of the construction vessel relative to the underwater acoustic positioning beacon, and to use the relative positioning data as redundant or alternative positioning information of the construction vessel's satellite positioning system.

[0034] Thirdly, embodiments of the present invention provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps in the ship offshore construction positioning method described in the embodiments of the present invention.

[0035] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in the ship offshore construction positioning method described in the embodiments of the present invention.

[0036] The above-mentioned solution of this application has the following beneficial effects: obtaining the current operating environment of the construction vessel; conducting a safety assessment of the current operating environment to determine whether the current operating environment meets the deployment operation environment; when the deployment operation environment is met, lowering the underwater acoustic positioning beacon and its corresponding base to the target seabed landing point using the deployment equipment; after the underwater acoustic positioning beacon is placed at the target seabed landing point, acoustically coupling the shipborne underwater acoustic positioning system of the construction vessel with the underwater acoustic positioning beacon to obtain the relative positioning data of the construction vessel relative to the underwater acoustic positioning beacon, and using the relative positioning data as redundant or alternative positioning information of the construction vessel's satellite positioning system. This invention conducts a safety assessment of the current working environment of the construction vessel. When the current working environment is determined to meet the deployment requirements, the underwater acoustic positioning beacon and its corresponding base are lowered to the target seabed landing point using deployment equipment. After the underwater acoustic positioning beacon is placed at the target seabed landing point, the shipborne underwater acoustic positioning system of the construction vessel is acoustically coupled with the underwater acoustic positioning beacon to obtain the relative positioning data of the construction vessel relative to the underwater acoustic positioning beacon. This relative positioning data is used as redundant or alternative positioning information for the construction vessel's satellite positioning system. This solves the problems of existing satellite positioning systems, such as easy signal drift or failure, susceptibility to interference from platform protrusions, or mutual electromagnetic and acoustic interference with underwater robots and other equipment, leading to unreliable positioning data.

[0037] Other beneficial effects of this application will be described in detail in the following detailed description section. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A flowchart illustrating a method for positioning a ship during offshore construction, as provided in one embodiment of this application;

[0040] Figure 2 This is a schematic diagram of the structure of an underwater acoustic positioning beacon provided in one embodiment of this application;

[0041] Figure 3 This is a structural schematic diagram of a ship offshore construction positioning method provided in one embodiment of this application;

[0042] Figure 4 This is a schematic diagram of another method for positioning a ship at sea during construction, provided in one embodiment of this application.

[0043] Figure 5 This is a schematic diagram of the structure of a ship offshore construction positioning device provided in one embodiment of this application;

[0044] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0045] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0046] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0047] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0048] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0049] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0050] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0051] like Figure 1 As shown, Figure 1 This is a flowchart of a ship offshore construction positioning method provided by an embodiment of the present invention. The ship offshore construction positioning method includes the following steps:

[0052] 101. Obtain the current operating environment of the construction vessel.

[0053] In this embodiment of the invention, the above-mentioned ship offshore construction positioning method can be applied to offshore construction vessels, such as to cable construction vessels for positioning operations of simultaneous five-cable boarding of oil and gas production platforms.

[0054] The aforementioned construction vessels can be ships used to perform various marine engineering and technical operations.

[0055] The aforementioned current operating environment can be understood as the hydrological environment information of the construction vessel's current operation, including water depth data, ocean current data, and weather conditions. The water depth data can be understood as the operating water depth, such as 30 meters, 40 meters, or 50 meters. The ocean current data can be understood as the ocean current and tidal data of the operating area, such as 1 throttle or 2 throttle. The weather conditions can be understood as the meteorological environment data within the operating area, such as sunny, rainy, and wind direction. The water depth data can be obtained through depth sounders; the ocean current data can be obtained through methods such as deploying data marker buoys or satellite remote sensing observations; and the weather conditions can be obtained through meteorological stations, radiosonde stations, or satellites.

[0056] 102. Conduct a safety assessment of the current working environment to determine whether the current working environment meets the requirements for deployment.

[0057] In this embodiment of the invention, the above-mentioned safety assessment can be understood as a process of inspecting and analyzing the potential risks of the current working environment of the construction vessel in order to determine the safety of the current working environment.

[0058] The above-mentioned deployment environment can be understood as the deployment environment for underwater acoustic positioning beacons.

[0059] It should be noted that a safety assessment can be performed on the current working environment to obtain the corresponding safety assessment result. If the safety assessment result indicates that the deployment operation environment is met, then it can be determined that the current working environment meets the deployment operation environment requirements.

[0060] 103. When the deployment environment is met, the underwater acoustic positioning beacon and its corresponding base are lowered to the target seabed landing point using the deployment equipment.

[0061] In this embodiment of the invention, when the current operating environment meets the requirements for deployment, the underwater acoustic positioning beacon and its corresponding base can be lowered to the target seabed landing point using a deployment device.

[0062] The aforementioned deployment equipment can be understood as a mechanical device on a ship used to safely and controllably deploy the underwater acoustic positioning beacon and its corresponding base to a predetermined location on the seabed, and to retrieve the underwater positioning beacon and its corresponding base after the operation is completed. The deployment equipment can consist of a dedicated winch or a combined winch, a deployment cable, and a guiding mechanism. The dedicated winch or combined winch has good speed control capabilities, enabling slow and uniform descent to avoid impacting the underwater acoustic positioning beacon and its corresponding base; it has sufficient load capacity to easily lift the underwater acoustic positioning beacon and its corresponding base, the cable, and the total weight of the underwater acoustic positioning beacon and its corresponding base in the water; and it has a cable storage function, equipped with a drum to neatly store a sufficient length of deployment cable. The aforementioned deployment cable connects the winch and the underwater acoustic positioning beacon, used to transmit lifting force and control the trajectory of the underwater acoustic positioning beacon. The aforementioned guiding mechanism provides a smooth transition point for the deployment cable, reducing cable wear.

[0063] The aforementioned underwater acoustic positioning beacon can be understood as a device that achieves underwater positioning through acoustic signals. It primarily uses information about the propagation time, phase difference, or frequency of sound waves to determine its location in the water. This underwater acoustic positioning beacon emits sound waves in the water and receives the reflected sound waves, calculating the propagation time of the sound waves to determine its position in the water.

[0064] The aforementioned base is used to fix and support the underwater acoustic positioning beacon. The base can hold the beacon and fix its signal end upwards. The base can be made of iron to ensure sufficient weight and seabed contact surface, preventing it from easily tipping over. A suitable base can be 50kg, 50cm x 50cm, and 50cm high. The base can be custom-made for the underwater acoustic positioning beacon, with a device at the top for mounting and fixing the beacon. For example, if the beacon is cylindrical, the fixing device at the top of the base could be a hollow tubular body. The beacon can be placed and fixed inside the hollow tubular body, but the hollow tubular body should not exceed the overall height of the beacon, so that the beacon's signal transceiver end is exposed.

[0065] It should be noted that before deployment, the ship's forecastle deck can be used as the deployment site for the underwater acoustic beacon. The forecastle deck has a large space, which is conducive to the deployment of the underwater acoustic beacon. The forecastle deck is far away from the ship's stern propellers and other underwater equipment such as ROVs and stern cables, resulting in relatively less mutual interference. When there is no dedicated deployment winch on the ship, the bow cable car can be used for the deployment of the underwater acoustic beacon. The bow provides a wide area for cable laying and a large range of ship movement. Alternatively, the bow protrusion (such as the forward section of a helicopter platform) can be used for the deployment of the underwater acoustic beacon to maximize the distance between the beacon and the ship, which is beneficial for ship operation and safety.

[0066] The aforementioned deployment can be understood as the process of placing the underwater acoustic positioning beacon and its corresponding base from the construction vessel to the target seabed landing point using deployment equipment.

[0067] The aforementioned target seabed landing point can be understood as the target location where the underwater acoustic positioning beacon and its corresponding base are deployed underwater.

[0068] 104. After the underwater acoustic positioning beacon is placed at the target seabed landing point, the shipborne underwater acoustic positioning system of the construction vessel is acoustically coupled with the underwater acoustic positioning beacon to obtain the relative positioning data of the construction vessel relative to the underwater acoustic positioning beacon, and the relative positioning data is used as redundant or alternative positioning information of the construction vessel's satellite positioning system.

[0069] In this embodiment of the invention, after the underwater acoustic positioning beacon is placed at the landing point of the target seabed, the shipborne underwater acoustic positioning system of the construction bed can be acoustically coupled with the underwater acoustic positioning beacon to obtain the relative positioning data of the construction vessel relative to the corresponding underwater acoustic positioning beacon, and the relative positioning data can be used as redundant or alternative positioning information of the construction vessel's satellite positioning system.

[0070] The aforementioned shipborne underwater acoustic positioning system can be installed on a ship and determines the spatial position of an underwater target relative to the ship by transmitting and receiving sound wave signals in the water.

[0071] The aforementioned acoustic response coupling can be understood as the process by which the shipborne acoustic positioning system of the construction vessel and the acoustic positioning beacon establish a measurement connection and complete effective measurement through an acoustic response mechanism. Specifically, acoustic response coupling can involve the shipborne acoustic positioning system sending a coded interrogation signal, the acoustic positioning beacon receiving it and triggering a coded response signal in response, and the system calculating the relative position vector of the acoustic positioning beacon relative to the vessel by calculating the signal propagation time and phase difference, thus completing one measurement coupling operation.

[0072] The aforementioned relative positioning data can be the positioning information of the construction vessel relative to the underwater acoustic positioning beacon, which can be accurately expressed by a three-dimensional relative position vector, including slant distance, azimuth, and pitch angle. The slant distance can be the straight-line distance between the underwater acoustic positioning beacon and the ship's onboard underwater acoustic positioning system; the azimuth can be the horizontal angle measured clockwise from the ship's bow direction (0-degree reference line) to the direction of the underwater acoustic positioning beacon; the pitch angle can be the vertical angle measured downwards from the horizontal plane (0-degree reference line) to the direction of the underwater acoustic positioning beacon.

[0073] Furthermore, relative positioning data can be used as redundant or alternative positioning information for satellite positioning systems, thereby improving the accuracy and reliability of positioning.

[0074] The aforementioned relative positioning data can serve as a backup positioning signal for the construction vessel's satellite positioning system, or it can be used to replace the positioning information of the construction vessel's satellite positioning system, ensuring that the construction vessel can obtain continuous and reliable position data when conditions are limited and precise positioning is not possible.

[0075] It should be noted that after the operation is completed, the underwater acoustic positioning beacon and its corresponding base can be retrieved using the deployment equipment.

[0076] In this embodiment of the invention, the present invention can use a satellite positioning system and incorporate underwater acoustic beacons and a shipborne underwater acoustic positioning system to obtain the relative positioning data of the vessel relative to the underwater acoustic beacon. This relative positioning data is then used as redundant or alternative positioning information for the construction vessel's satellite positioning system, thereby improving the accuracy and reliability of positioning. For example, when construction vessels use satellite positioning systems, factors such as weather and terrain may affect positioning accuracy, leading to a decrease in accuracy. By incorporating underwater acoustic beacons and a shipborne underwater acoustic positioning system, and using the relative positioning data as redundant or alternative positioning information for the construction vessel's satellite positioning system, the accuracy and reliability of positioning are improved.

[0077] In this embodiment of the invention, the current operating environment of the construction vessel is obtained; a safety assessment is performed on the current operating environment to determine whether the current operating environment meets the deployment operation requirements; if the deployment operation requirements are met, the underwater acoustic positioning beacon and its corresponding base are lowered to the target seabed landing point using the deployment equipment; after the underwater acoustic positioning beacon is placed at the target seabed landing point, the shipborne underwater acoustic positioning system of the construction vessel is acoustically coupled with the underwater acoustic positioning beacon to obtain the relative positioning data of the construction vessel relative to the underwater acoustic positioning beacon, and the relative positioning data is used as redundant or alternative positioning information for the construction vessel's satellite positioning system. This invention conducts a safety assessment of the current working environment of the construction vessel. When the current working environment is determined to meet the deployment requirements, the underwater acoustic positioning beacon and its corresponding base are lowered to the target seabed landing point using deployment equipment. After the underwater acoustic positioning beacon is placed at the target seabed landing point, the shipborne underwater acoustic positioning system of the construction vessel is acoustically coupled with the underwater acoustic positioning beacon to obtain the relative positioning data of the construction vessel relative to the underwater acoustic positioning beacon. This relative positioning data is used as redundant or alternative positioning information for the construction vessel's satellite positioning system. This solves the problems of existing satellite positioning systems, such as easy signal drift or failure, susceptibility to interference from platform protrusions, or mutual electromagnetic and acoustic interference with underwater robots and other equipment, leading to unreliable positioning data.

[0078] It is understood that in the specific implementation of this application, environmental data, operational data, location data, redundant data and other related data are involved. When the embodiments in this application are applied to specific products or technologies, user permission or consent is required. Furthermore, the collection, use and processing of related data, as well as the training, deployment and invocation of algorithm models, must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0079] Optionally, the operational environment includes water depth data, ocean current data, and weather data. In the step of conducting a safety assessment of the current operational environment to determine whether the current operational environment meets the deployment operational requirements, a first safety assessment can be performed on the current water depth data to obtain a first safety assessment result corresponding to the current water depth data; a second safety assessment can be performed on the current ocean current data to obtain a second safety assessment result corresponding to the current ocean current data; and a third safety assessment can be performed on the current weather data to obtain a third safety assessment result corresponding to the current weather data. Based on the first safety assessment result, the second safety assessment result, and the third safety assessment result, it can be determined whether the current operational environment meets the deployment operational requirements.

[0080] In this embodiment of the invention, the aforementioned water depth data can be water depth data of the operating area, such as 30 meters, 40 meters, 50 meters, etc. The aforementioned ocean current data can be understood as ocean current and tidal data of the operating area, such as 1 throttle, 2 throttle, etc. The aforementioned weather environment can be understood as meteorological environment data within the operating area, such as sunny days, rainy days, wind direction, etc. The aforementioned water depth data can be obtained through a depth sounder; the aforementioned ocean current data can be obtained through methods such as deploying data marker buoys, satellite remote sensing observation, etc.; the aforementioned weather environment can be obtained through meteorological stations, radiosonde stations, satellites, etc.

[0081] The aforementioned current water depth data can be the water depth data of the current operating area.

[0082] The aforementioned first security assessment can be a process of examining and analyzing the current water depth data to determine the security of the current water depth data.

[0083] The aforementioned first safety assessment result can be the safety assessment result corresponding to the current water depth data.

[0084] The aforementioned current ocean current data can be the long-term ocean current data for the current operating area.

[0085] The aforementioned second safety assessment can be a process of detecting and analyzing potential hazards in current ocean current data to determine the safety of the current ocean current data.

[0086] The aforementioned second safety assessment result can be the safety assessment result corresponding to the current ocean current data.

[0087] The above-mentioned current weather data may be meteorological environmental data within the current operating area.

[0088] The aforementioned third safety assessment can be a process of detecting and analyzing potential hazards in current weather data to determine the safety of the current weather data.

[0089] The aforementioned third safety assessment result can be the safety assessment result corresponding to the current weather data.

[0090] The above safety assessment results include those that meet the deployment operation environment requirements and those that do not.

[0091] The aforementioned deployment environment can be the same as the deployment environment for underwater acoustic positioning beacons.

[0092] It should be noted that a first safety assessment can be performed on the current water depth data to obtain the first safety assessment result corresponding to the current water depth data; a second safety assessment can be performed on the current ocean current data to obtain the second safety assessment result corresponding to the current ocean current data; and a third safety assessment can be performed on the current weather data to obtain the third safety assessment result corresponding to the current weather data. Based on the first, second, and third safety assessment results, it can be determined whether the current operating environment meets the requirements for deployment. This comprehensive consideration of various factors allows for a more accurate assessment of whether the current environment is suitable for deployment operations, which helps improve the safety and efficiency of the operation.

[0093] Specifically, the deployment environment can be determined by comparing the current water depth data with preset water depth thresholds. If the current water depth data is less than or equal to the preset threshold, the deployment environment is considered met; conversely, if the current water depth data is greater than the preset threshold, the deployment environment is considered unmet. Similarly, the deployment environment can be determined by comparing the current ocean current data with preset ocean current thresholds. If the current ocean current data is less than the preset threshold, the deployment environment is considered met; conversely, if the current ocean current data is greater than or equal to the preset threshold, the deployment environment is considered unmet. Finally, the deployment environment can be determined by comparing the current weather data with preset weather thresholds. If the current weather data is less than the preset threshold, the deployment environment is considered met; conversely, if the current weather data is greater than or equal to the preset threshold, the deployment environment is considered unmet. The aforementioned preset water depth data thresholds can be pre-set water depth data thresholds for underwater acoustic beacon deployment operations, such as 30 meters to 200 meters. The aforementioned preset ocean current data thresholds can be pre-set ocean current data thresholds for underwater acoustic beacon deployment operations, such as a current velocity less than 2 throttles. The aforementioned preset weather thresholds can be pre-set weather thresholds for underwater acoustic beacon deployment operations, such as winds of force 7 with gusts below force 6 in sea state.

[0094] It should be noted that beacon deployment is not recommended when weather data indicates winds greater than force 7 and sea states greater than force 6. Even if weather conditions are favorable (winds greater than force 7 and sea states greater than force 6), the deployment should be determined based on the specific site conditions. Deploying underwater acoustic beacons is also not recommended when the current speed is greater than 2 knots. High current speeds will generate significant lateral thrust on the deployment cable, potentially causing the beacon to move or topple, rendering the positioning ineffective. Furthermore, it is crucial to closely monitor changes in current direction and speed. When the current pushes the deployment cable towards the bow of the vessel, close attention must be paid to safety.

[0095] Optionally, in the step of determining whether the current working environment meets the deployment working environment based on the first safety assessment result, the second safety assessment result, and the third safety assessment result, the current working environment is determined to be unmet when the first safety assessment result is that the deployment working environment is met, the second safety assessment result is that the deployment working environment is not met, and the third safety assessment result is that the deployment working environment is met; when the first safety assessment result is that the deployment working environment is met, the second safety assessment result is that the deployment working environment is met, and the third safety assessment result is that the deployment working environment is not met, the current working environment is determined to be unmet; when the first safety assessment result, the second safety assessment result, and the third safety assessment result all meet the deployment working environment, the current working environment is determined to be met.

[0096] In this embodiment of the invention, the first safety assessment result can be the safety assessment result corresponding to the current water depth data.

[0097] The aforementioned second safety assessment result can be the safety assessment result corresponding to the current ocean current data.

[0098] The aforementioned third safety assessment result can be the safety assessment result corresponding to the current weather data.

[0099] The aforementioned deployment environment can be the same as the deployment environment for underwater acoustic positioning beacons.

[0100] It should be noted that if the current water depth data meets the deployment operation environment requirements, but the current ocean current data does not, and the current weather data does, then the current operation environment is determined to be unsuitable for deployment. Conversely, if the current water depth data meets the deployment operation environment requirements, but the current ocean current data does not, then the current operation environment is determined to be unsuitable for deployment. Only when all safety assessment results meet the deployment operation requirements can the current operation environment be determined to be suitable for deployment. This approach improves the safety and efficiency of the operation and reduces the occurrence of accidents and errors.

[0101] In one possible implementation, if the current water depth data does not meet the deployment operation environment, the current ocean current data meets the deployment operation environment, and the current weather data meets the deployment operation environment, it can be determined that the current operation environment does not meet the deployment operation environment. Only when all safety assessment results meet the deployment operation environment can it be determined that the current operation environment meets the deployment operation environment. This can improve the safety and efficiency of the operation environment and reduce the occurrence of accidents and errors.

[0102] Optionally, when the deployment environment is met, before the step of lowering the underwater acoustic positioning beacon and its corresponding base to the target seabed landing point using the deployment equipment, multiple candidate seabed landing points can be selected within the preset operation point distance range of the construction vessel; based on the multiple candidate seabed landing points, a candidate seabed landing point with a flat seabed and no other seabed facilities is selected as the target seabed landing point.

[0103] In this embodiment of the invention, the aforementioned preset work point distance range can be a pre-set range of distances between the deployment point and the ship's construction point, such as selecting the deployment point area within one water depth of the ship's construction location.

[0104] The aforementioned candidate seabed landing points can be understood as candidate seabed landing points within the distance range of the construction vessel's preset work point.

[0105] It is understandable that selecting a candidate seabed landing point that is flat and free of other seabed facilities as the target seabed landing point can avoid posing safety risks to other seabed facilities.

[0106] The flat seabed mentioned above can be understood as having a gentle seabed topography, which is suitable for the deployment and landing of underwater acoustic positioning beacons and their corresponding bases.

[0107] The phrase "no other seabed facilities" can be understood as meaning there are no other seabed facilities and they are located far from other seabed facilities. Seabed facilities include oil and gas pipelines, cables, and other seabed facilities.

[0108] It should be noted that sonar systems or other sensors can be used to scan the seabed topography, and satellite imagery or geographic information systems (GIS) can be used to identify potential seabed facilities.

[0109] The aforementioned target seabed landing point can be the target location where the underwater acoustic positioning beacon and its corresponding base are deployed.

[0110] Optionally, before lowering the underwater acoustic positioning beacon and its corresponding base to the target seabed landing point using deployment equipment, the underwater acoustic positioning beacon can be fixed to a dedicated base.

[0111] In this embodiment of the invention, the base is a counterweight structure. The bottom of the base is provided with a bottom plate to increase friction and prevent sinking. The top of the base is provided with a device for fixing the underwater acoustic positioning beacon, ensuring that the underwater acoustic positioning beacon keeps the beacon signal transceiver fully exposed in the water and maintains a vertically upward working posture.

[0112] The aforementioned counterweight structure can be used to increase the weight of the base and prevent it from collapsing in water.

[0113] Understandably, the top of the base can house an underwater acoustic beacon, with its signal end fixed upwards. The base can be made of iron, ensuring sufficient weight and a suitable seabed contact surface to prevent it from tipping over. It could be a 50kg base with a 50cm x 50cm dimensions and a height of 50cm. Alternatively, the base could be custom-designed for the underwater acoustic beacon, with a device at the top for mounting and securing it. For example, if the beacon is cylindrical, the mounting device at the top of the base could be a hollow tubular structure, inside which the beacon can be placed and secured. However, the hollow tubular structure should not exceed the overall height of the beacon, ensuring that the beacon's signal transceiver is exposed.

[0114] Optionally, in the step of using relative positioning data as redundant or alternative positioning information of the construction vessel's satellite positioning system, the relative positioning data can be fused with the vessel positioning information output by the satellite positioning system to output the fused vessel position information; or, when the satellite positioning system signal is detected to be faulty or interfered with, the relative positioning data can be used as the construction vessel's position information.

[0115] In this embodiment of the invention, the aforementioned relative positioning data can be the positioning information of the construction vessel relative to the underwater acoustic positioning beacon, which can be accurately expressed by a three-dimensional relative position vector, including slant distance, azimuth angle, and pitch angle. The aforementioned slant distance can be the straight-line distance between the underwater acoustic positioning beacon and the ship's onboard underwater acoustic positioning system; the aforementioned azimuth angle can be the horizontal angle on the horizontal plane, rotated clockwise from the ship's bow direction (0-degree reference line) to the direction where the underwater acoustic positioning beacon is located; the aforementioned pitch angle can be the vertical angle on the vertical plane, drawn downwards from the horizontal plane (0-degree reference line) to the direction where the underwater acoustic positioning beacon is located.

[0116] The aforementioned ship positioning information may be ship positioning information output by a satellite positioning system.

[0117] The aforementioned fusion process integrates relative positioning data with ship positioning information output from a satellite positioning system to obtain more accurate and stable ship position information. Algorithms such as Kalman filtering can be used to integrate the relative positioning data and the ship positioning information output from the satellite positioning system to obtain more accurate ship position information.

[0118] The aforementioned fused ship position information can be understood as the ship position information obtained by fusing relative positioning data and ship position information output by the satellite positioning system.

[0119] Furthermore, when the satellite positioning system signal is detected to be faulty or interfered with, the relative positioning data can be used as the position information of the construction vessel, which can improve the accuracy and reliability of the position information.

[0120] Optionally, in the step of fusing relative positioning data with ship positioning information output by satellite positioning system and outputting fused ship positioning information, the relative positioning data and ship positioning information output by satellite positioning system can be converted to the same coordinate system to obtain the first ship position data corresponding to the relative positioning data and the second ship position data corresponding to the ship positioning information; the first ship position data and the second ship position data are then weighted and averaged to output the fused ship positioning information.

[0121] In this embodiment of the invention, the first ship position data can be the ship position data corresponding to the relative positioning data, which is obtained by converting the relative positioning data and the ship positioning information output by the satellite positioning system to the same coordinate system.

[0122] The aforementioned second ship position data can be the ship position data corresponding to the ship position information output by the satellite positioning system, which is obtained by converting relative positioning data and ship positioning information output by the satellite positioning system to the same coordinate system.

[0123] The weighted average calculation process described above can be understood as assigning different weights to the first and second ship position data, and then calculating the ratio of the weighted sum to the sum of all weights to obtain the fused ship positioning information. For example, a weight w1 can be assigned to the first ship position data, and a weight w2 can be assigned to the second ship position data, such that w1 + w2 = 1. The first ship position data is multiplied by weight w1, and the second ship position data is multiplied by weight w2. Then, the two are added together to obtain the fused ship positioning information.

[0124] In one possible implementation, for example, the first ship position data is (x1, y1) with a weight of 0.6, and the second ship position data is (x2, y2) with a weight of 0.4. By performing a weighted average calculation on the first and second ship position data, the fused ship positioning information is as follows:

[0125] (0.6*x1 + 0.4*x2, 0.6*y1 + 0.4*y2)

[0126] By performing a weighted average calculation on the first and second ship position data, the fused ship positioning information can be obtained.

[0127] The aforementioned merged ship positioning information can be understood as the ship positioning information obtained by weighted averaging the first ship position data and the second ship position data.

[0128] It should be noted that by converting the relative positioning data and the ship positioning information output by the satellite positioning system to the same coordinate system, the first ship position data corresponding to the relative positioning data and the second ship position data corresponding to the ship positioning information are obtained. The first ship position data and the second ship position data are then weighted and averaged to output the fused ship positioning information, thereby improving the accuracy of ship positioning.

[0129] like Figures 2-4 As shown, the example of the cable-laying vessel Futai conducting simultaneous five-cable landing operations on the gas production platform (PY34-1) in the South China Sea is illustrated below. Figure 2 This is a schematic diagram of the structure of an underwater acoustic positioning beacon and its corresponding base provided in an embodiment of the present invention; Figure 3 This is a structural schematic diagram of a ship offshore construction positioning method provided in an embodiment of the present invention; Figure 4This is a structural schematic diagram of another ship-based offshore construction positioning method provided by an embodiment of the present invention, wherein 201 is an underwater acoustic positioning beacon; 202 is a cable laying device; 203 is a base; 301 is the underwater acoustic positioning beacon and its corresponding base; and 302 is the cable laying device. Specifically, the ship's forecastle deck can be used as the operating area. The forecastle deck has a large space, which is conducive to operation. It is far away from the various propellers at the stern of the ship and other underwater equipment such as ROVs. The cable laying operation distance at the stern is also far, resulting in relatively less mutual interference. When there is no dedicated laying winch, the bow cable car can be used for laying and retrieval operations. When laying cables at the bow, the cable laying area is relatively wide, and the ship's range of movement is large. Alternatively, the bow protrusion (such as the front end of a helicopter platform) can be used for lower point placement, maximizing the distance between the lower point and the ship to facilitate ship operation and safety. Before deploying underwater acoustic positioning beacons, a flat seabed should be selected that is free from other seabed facilities or far away from other seabed facilities such as oil and gas pipelines and cables to avoid safety risks. The seabed landing point should be selected at a certain distance from the ship's construction point to facilitate changes in the ship's position and heading as needed for construction operations. The deployment point can be selected within one water depth of the ship's construction position. It should be noted that the specific location can be determined according to the site conditions.

[0130] Furthermore, deployment operations should not be carried out when weather data indicates winds greater than force 7 and sea states greater than force 6. Even if weather conditions are favorable (winds greater than force 7 and sea states greater than force 6), the specific site conditions must be considered. Deployment operations are not recommended when the current speed is greater than 2 knots, as strong currents will generate significant lateral thrust on the deployment cable, potentially causing the seabed beacon to move or topple, rendering its positioning ineffective. Additionally, changes in current direction and speed must be closely monitored; close attention must be paid to safety when the current pushes the deployment cable towards the bow of the vessel.

[0131] The base for the underwater positioning beacon is used to hold the beacon and fix its signal end upwards. It also connects to the ship's deployment and recovery winch cable. The base can be made of iron, ensuring sufficient weight and seabed contact surface to prevent it from tipping over; for example, it could be 50kg, with a base size of 50cm x 50cm and a height of 50cm. The top of the base has a device for mounting and securing the underwater positioning beacon. For example, when the acoustic positioning beacon is cylindrical, the fixing device at the top of the base is a hollow tubular body. The acoustic positioning beacon is placed and secured inside the tube, but it must not exceed the overall height of the acoustic positioning beacon, ensuring that the beacon's signal transceiver ends are exposed.

[0132] In this embodiment of the invention, the present invention conducts a safety assessment of the current working environment of the construction vessel. When it is determined that the current working environment meets the deployment requirements, the underwater acoustic positioning beacon and its corresponding base are lowered to the target seabed landing point using a deployment device. After the underwater acoustic positioning beacon is placed at the target seabed landing point, the shipborne underwater acoustic positioning system of the construction vessel is acoustically coupled with the underwater acoustic positioning beacon to obtain the relative positioning data of the construction vessel relative to the underwater acoustic positioning beacon. The relative positioning data is used as redundant or alternative positioning information for the construction vessel's satellite positioning system. This solves the problems of existing satellite positioning systems, such as the susceptibility to signal drift or failure, and the susceptibility to interference from platform protrusions or mutual electromagnetic and acoustic interference with underwater robots and other equipment, which lead to unreliable positioning data.

[0133] like Figure 5 As shown, this embodiment of the invention provides a ship offshore construction positioning device, which includes:

[0134] The acquisition module 501 is used to acquire the current operating environment of the construction vessel;

[0135] The safety assessment module 502 is used to conduct a safety assessment of the current working environment and determine whether the current working environment meets the deployment operation requirements.

[0136] The deployment module 503 is used to deploy the underwater acoustic positioning beacon and its corresponding base to the target seabed landing point using deployment equipment when the deployment operation environment is met.

[0137] The positioning module 504 is used to perform acoustic response coupling between the shipborne acoustic positioning system of the construction vessel and the acoustic positioning beacon after the underwater acoustic positioning beacon is placed at the landing point of the target seabed, so as to obtain the relative positioning data of the construction vessel relative to the underwater acoustic positioning beacon, and use the relative positioning data as redundant or alternative positioning information of the satellite positioning system of the construction vessel.

[0138] Optionally, the safety assessment module 502 is further configured to perform a first safety assessment on the current water depth data to obtain a first safety assessment result corresponding to the current water depth data; perform a second safety assessment on the current ocean current data to obtain a second safety assessment result corresponding to the current ocean current data; perform a third safety assessment on the current weather data to obtain a third safety assessment result corresponding to the current weather data; and determine whether the current operating environment meets the deployment operation requirements based on the first safety assessment result, the second safety assessment result, and the third safety assessment result.

[0139] Optionally, the safety assessment module 502 is further configured to: determine that the current working environment does not meet the deployment operation environment when the first safety assessment result is that the deployment operation environment is met, the second safety assessment result is that the deployment operation environment is not met, and the third safety assessment result is that the deployment operation environment is met; determine that the current working environment does not meet the deployment operation environment when the first safety assessment result is that the deployment operation environment is met, the second safety assessment result is that the deployment operation environment is met, and the third safety assessment result is that the deployment operation environment is not met; and determine that the current working environment meets the deployment operation environment when the first safety assessment result, the second safety assessment result, and the third safety assessment result all meet the deployment operation environment.

[0140] Optionally, the device is further configured to select multiple candidate seabed landing points within a preset working point distance range of the construction vessel; and based on the multiple candidate seabed landing points, select a candidate seabed landing point that is flat and has no other seabed facilities as the target seabed landing point.

[0141] Optionally, the device is also used to fix the underwater acoustic positioning beacon on a dedicated base. The base is a counterweight structure with a bottom plate at the bottom to increase friction and prevent sinking. The top of the base is equipped with a device for fixing the underwater acoustic positioning beacon, ensuring that the underwater acoustic positioning beacon keeps its signal transceiver fully exposed and maintains a vertically upward working posture in the water.

[0142] Optionally, the positioning module 504 is further configured to fuse the relative positioning data with the ship positioning information output by the satellite positioning system and output the fused ship position information; or, when the satellite positioning system signal is detected to be faulty or interfered with, the relative positioning data is used as the ship position information of the construction vessel.

[0143] Optionally, the positioning module 504 is further configured to convert the relative positioning data and the ship positioning information output by the satellite positioning system to the same coordinate system to obtain the first ship position data corresponding to the relative positioning data and the second ship position data corresponding to the ship positioning information; perform weighted average calculation on the first ship position data and the second ship position data, and output the fused ship positioning information.

[0144] like Figure 6 As shown, this embodiment of the invention also provides an electronic device, including a processor, which can execute any of the above-described ship offshore construction positioning methods.

[0145] Specifically, it includes a processor 601 and a memory 602, as well as a computer program stored in the memory 602 and capable of running on the processor 601 to execute the ship's offshore construction positioning method, wherein:

[0146] The processor 601 executes the calculator program for ship offshore construction positioning methods stored in memory 602, and performs the following steps.

[0147] Obtain the current operating environment of the construction vessel;

[0148] Conduct a safety assessment of the current working environment to determine whether the current working environment meets the requirements for deployment.

[0149] When the deployment environment is met, the underwater acoustic positioning beacon and its corresponding base are lowered to the target seabed landing point using the deployment equipment.

[0150] After the underwater acoustic positioning beacon is placed at the target seabed landing point, the shipborne underwater acoustic positioning system of the construction vessel is acoustically coupled with the underwater acoustic positioning beacon to obtain the relative positioning data of the construction vessel relative to the underwater acoustic positioning beacon, and the relative positioning data is used as redundant or alternative positioning information of the construction vessel's satellite positioning system.

[0151] Optionally, the operating environment includes water depth data, ocean current data, and weather data. The processor 601 performs a safety assessment of the current operating environment to determine whether the current operating environment meets the deployment operation requirements, including:

[0152] A first security assessment is performed on the current water depth data to obtain the first security assessment result corresponding to the current water depth data;

[0153] A second security assessment is performed on the current ocean current data to obtain the second security assessment result corresponding to the current ocean current data;

[0154] A third security assessment is performed on the current weather data to obtain the third security assessment result corresponding to the current weather data;

[0155] Based on the first safety assessment result, the second safety assessment result, and the third safety assessment result, it is determined whether the current working environment meets the deployment operation requirements.

[0156] Optionally, the step of processor 601 determining whether the current operating environment meets the deployment operation environment based on the first security assessment result, the second security assessment result, and the third security assessment result includes:

[0157] When the first safety assessment result is that the deployment operation environment is met, the second safety assessment result is that the deployment operation environment is not met, and the third safety assessment result is that the deployment operation environment is met, it is determined that the current operation environment is not met.

[0158] When the first safety assessment result is that the deployment operation environment is met, the second safety assessment result is that the deployment operation environment is met, and the third safety assessment result is that the deployment operation environment is not met, it is determined that the current operation environment does not meet the deployment operation environment.

[0159] When the first safety assessment result, the second safety assessment result, and the third safety assessment result all meet the deployment operation environment, the current operation environment is determined to meet the deployment operation environment.

[0160] Optionally, before the underwater acoustic positioning beacon and its corresponding base are lowered to the target seabed landing point using the deployment equipment when the deployment operation environment is met, the method executed by the processor 601 further includes:

[0161] Within the preset working point distance range of the construction vessel, multiple candidate seabed landing points are selected;

[0162] Based on the multiple candidate seabed landing points, the candidate seabed landing point that is flat and has no other seabed facilities is selected as the target seabed landing point.

[0163] Optionally, before the underwater acoustic positioning beacon and its corresponding base are lowered to the target seabed landing point using the deployment device, the method executed by the processor 601 further includes:

[0164] The underwater acoustic positioning beacon is fixed on a special base, which is a counterweight structure. The bottom of the base is equipped with a base plate to increase friction and prevent sinking, and the top of the base is equipped with a device for fixing the underwater acoustic positioning beacon, ensuring that the signal transceiver end of the underwater acoustic positioning beacon is fully exposed and maintains a vertically upward working posture in the water.

[0165] Optionally, the processor 601's execution of using the relative positioning data as redundant or alternative positioning information for the construction vessel's satellite positioning system includes:

[0166] The relative positioning data is fused with the ship positioning information output by the satellite positioning system to output the fused ship position information; or

[0167] When the satellite positioning system signal is detected to be faulty or interfered with, the relative positioning data shall be used as the position information of the construction vessel.

[0168] Optionally, the process executed by processor 601 to fuse the relative positioning data with the ship positioning information output by the satellite positioning system and output the fused ship positioning information includes:

[0169] The relative positioning data and the ship positioning information output by the satellite positioning system are converted to the same coordinate system to obtain the first ship position data corresponding to the relative positioning data and the second ship position data corresponding to the ship positioning information;

[0170] The first and second ship position data are weighted and averaged to output the fused ship position information.

[0171] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the various processes of the ship offshore construction positioning method provided in this invention and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0172] The above description is the preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principles described in this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for positioning a vessel during offshore construction, characterized in that, The method includes: Obtain the current operating environment of the construction vessel; Conduct a safety assessment of the current working environment to determine whether the current working environment meets the requirements for deployment. When the deployment environment is met, the underwater acoustic positioning beacon and its corresponding base are lowered to the target seabed landing point using the deployment equipment. After the underwater acoustic positioning beacon is placed at the target seabed landing point, the shipborne underwater acoustic positioning system of the construction vessel is acoustically coupled with the underwater acoustic positioning beacon to obtain the relative positioning data of the construction vessel relative to the underwater acoustic positioning beacon, and the relative positioning data is used as redundant or alternative positioning information of the construction vessel's satellite positioning system.

2. The method for positioning a ship during offshore construction as described in claim 1, characterized in that, The operational environment includes water depth data, ocean current data, and weather data. The step of conducting a safety assessment of the current operational environment to determine whether it meets the deployment operational requirements includes: A first security assessment is performed on the current water depth data to obtain the first security assessment result corresponding to the current water depth data; A second security assessment is performed on the current ocean current data to obtain the second security assessment result corresponding to the current ocean current data; A third security assessment is performed on the current weather data to obtain the third security assessment result corresponding to the current weather data; Based on the first safety assessment result, the second safety assessment result, and the third safety assessment result, it is determined whether the current working environment meets the deployment operation requirements.

3. The method for positioning a ship during offshore construction as described in claim 2, characterized in that, The step of determining whether the current operating environment meets the deployment operation requirements based on the first safety assessment result, the second safety assessment result, and the third safety assessment result includes: When the first safety assessment result is that the deployment operation environment is met, the second safety assessment result is that the deployment operation environment is not met, and the third safety assessment result is that the deployment operation environment is met, it is determined that the current operation environment is not met. When the first safety assessment result is that the deployment operation environment is met, the second safety assessment result is that the deployment operation environment is met, and the third safety assessment result is that the deployment operation environment is not met, it is determined that the current operation environment does not meet the deployment operation environment. When the first safety assessment result, the second safety assessment result, and the third safety assessment result all meet the deployment operation environment, the current operation environment is determined to meet the deployment operation environment.

4. The method for positioning a ship during offshore construction as described in claim 1, characterized in that, Before lowering the underwater acoustic positioning beacon and its corresponding base to the target seabed landing point using deployment equipment, when the deployment operation environment is met, the method further includes: Within the preset working point distance range of the construction vessel, multiple candidate seabed landing points are selected; Based on the multiple candidate seabed landing points, the candidate seabed landing point that is flat and has no other seabed facilities is selected as the target seabed landing point.

5. The method for positioning a ship during offshore construction as described in claim 1, characterized in that, Before lowering the underwater acoustic positioning beacon and its corresponding base to the target seabed landing point using the deployment equipment, the method further includes: The underwater acoustic positioning beacon is fixed on a special base, which is a counterweight structure. The bottom of the base is equipped with a base plate to increase friction and prevent sinking, and the top of the base is equipped with a device for fixing the underwater acoustic positioning beacon, ensuring that the signal transceiver end of the underwater acoustic positioning beacon is fully exposed and maintains a vertically upward working posture in the water.

6. The method for positioning a ship during offshore construction as described in claim 1, characterized in that, The use of the relative positioning data as redundant or alternative positioning information for the construction vessel's satellite positioning system includes: The relative positioning data is fused with the ship positioning information output by the satellite positioning system to output the fused ship position information; or When the satellite positioning system signal is detected to be faulty or interfered with, the relative positioning data shall be used as the position information of the construction vessel.

7. The method for positioning a ship during offshore construction as described in claim 6, characterized in that, The process of fusing the relative positioning data with the ship positioning information output by the satellite positioning system, and outputting the fused ship positioning information, includes: The relative positioning data and the ship positioning information output by the satellite positioning system are converted to the same coordinate system to obtain the first ship position data corresponding to the relative positioning data and the second ship position data corresponding to the ship positioning information; The first and second ship position data are weighted and averaged to output the fused ship position information.

8. A shipboard offshore construction positioning device, characterized in that, The vessel offshore construction positioning device includes: The acquisition module is used to acquire the current operating environment of the construction vessel; The safety assessment module is used to perform a safety assessment on the current working environment and determine whether the current working environment meets the deployment operation requirements. The deployment module is used to lower the underwater acoustic positioning beacon and its corresponding base to the target seabed landing point using deployment equipment when the deployment operation environment is met. The positioning module is used to perform acoustic response coupling between the shipborne acoustic positioning system of the construction vessel and the acoustic positioning beacon after the underwater acoustic positioning beacon is placed at the landing point of the target seabed, so as to obtain the relative positioning data of the construction vessel relative to the underwater acoustic positioning beacon, and to use the relative positioning data as redundant or alternative positioning information of the construction vessel's satellite positioning system.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps in the ship offshore construction positioning method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, performs the steps of the ship offshore construction positioning method as described in any one of claims 1 to 7.

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