CN103105158B - Marine riprapping, flatness-tamping and positioning system - Google Patents

Abstract

The invention provides a marine riprapping, flatness-tamping and positioning system which is a positioning and monitoring system consisting of a GPS (global position system) positioning system, a high-precision laser range finder, a hall sensor, a tilt angle sensor, a multi-channel depth finder and a computer. According to the system, a ship body equipment coordinate system is built on a workboat, the installation parameters of a GPS positioning antenna and the high-precision laser range finder are determined under the coordinate system; the hall sensor is arranged on a riprapping skip car, and the lower end of the wall of a riprapping pipe is provided with the multi-channel depth finder; and according to the plane geometry relationship of key point coordinates under the ship body coordinate system and the tilt correction of key point coordinate value under the ship body coordinate system, the data such as a tilt angle between the ship body coordinate system and a project coordinate system, the positioning point plane project coordinate, the tilt correction of each elevation reference point under the ship body coordinate system, the elevation coordinate of each elevation reference point under the project coordinate system and the like are computed and sorted out, and finally exact is realized. On the premise that the use requirement is met, the complexity of the system can be reduced, and the reliability can be improved.

Description

Marine jackstone rams flat positioning system

Technical field

The invention belongs to port engineering GPS construction positioning system, particularly the marine jackstone of one rams flat positioning system.

Background technology

My office has accepted port Zhuhai and Macao bridge man-made island construction work recently, in this project, there is the immersed tube tunnel reaching more than 7400 meter, difficulty of construction is at the forefront in the world, adopt blotter as foundation for laid pipe, not only lay leveling total side amount huge, and the construction depth of water, to lay width, leveling precision etc. all unprecedented.Therefore, need a set of marine jackstone of gps system that utilizes of development badly and ram flat construction positioning monitoring system.

Summary of the invention

A kind of marine jackstone is the object of the present invention is to provide to ram flat positioning system, this system adopts brand-new mentality of designing, solve the difficult problem that marine jackstone rams Pingyuan County's bank construction off sea, by using technical grade laser range finder in addition waterproof case, coordinate lens hood, water bar, solve laser range finder in the open under environment waterproof prevent problem reflective by force.Use shock resistance obliquity sensor, solve the problem of measurement of angle in strong vibration environment.Use the displacement test system that is made up of Hall element, copper wheel, wire rope, by measured point shift differences, calculate angle, solving barrel cannot the problem of mounted angle sensor.Use Multichannel depth sounder, solve the problem of underwater survey elevation.This monitoring system, in the application of port Zhuhai and Macao bridge project, well demonstrates positioning precision, dislikes environment representation slightly go out very high adaptability and reliability to scene.

Technical scheme of the present invention is:

A kind of marine jackstone rams flat positioning system, it is characterized in that: be the positioning monitoring system primarily of GPS positioning system, high precision laser range finder, Hall element, obliquity sensor, Multichannel depth sounder, computing machine host computer, computing machine slave computer composition; Marine jackstone rams flat positioning system on workboat, sets up hull equipment coordinate system, determines GPS positioning antenna, high precision laser range finder installation parameter under this coordinate system; Hall element installed by jackstone truck, and Multichannel depth sounder is installed in the lower end of jackstone tube wall;

GPS positioning antenna records WGS84 coordinate, tries to achieve the engineering coordinate of GPS positioning antenna point according to coordinate transformation parameter; In conjunction with jackstone truck parameter, rammer hammer flattener car parameter that installation parameter and the laser range finder of GPS positioning antenna, obliquity sensor, Hall element, laser range finder equipment measure, calculate the engineering coordinate of jackstone tube hub point, tested out the distance of the jackstone pipe mouth of pipe and jackstone plane by Multichannel depth sounder, the elevation of jackstone plane can be obtained;

At the first jackstone truck, the second jackstone truck, ram on hammer flattener car and laser reflection target is installed respectively, determine the installation site of laser range finder on workboat, in work progress, the jackstone truck during Real-Time Monitoring moves and rammer hammer flattener car;

The displacement measurement system be made up of Hall element, copper wheel, wire rope installed respectively by first jackstone truck and the second jackstone truck, to correct the angle of inclination of jackstone truck hopper;

Mounted angle sensor on workboat, by the real-time monitoring to hull coordinate X-axis, Y-axis angle of inclination, with the inclination of each reference point under revising hull coordinate system;

According to the plane geometry relation of each key point of hull coordinate system, and the tilt correction to key point coordinate figure each under hull coordinate system, calculate the tilt correction, each elevation reference point elevation coordinate under engineering coordinate system that arrange out each elevation reference point under the angle of hull coordinate system and engineering coordinate system, anchor point plane engineering coordinate, hull coordinate system, finally accurately to locate.

Described computing machine host computer coordinates eight passage Multi-serial port capture cards to form by desktop computer; Computer interface connects: three power supplies and translation interface, two Multichannel depth sounders; A power supply and translation interface connect respectively: left GPS positioning system, right GPS positioning system, hull obliquity sensor, the first jackstone location high precision laser range finder, the first jackstone pipe inclination obliquity sensor, jackstone elevation detection system; Another power supply and translation interface connect respectively: the second jackstone location high precision laser range finder, the second jackstone pipe inclination obliquity sensor, jackstone elevation detection system; Another power supply and translation interface connect respectively: compacting location high precision laser range finder, three compacting tilt detection system, compacting elevation detection systems; Two Multichannel depth sounders each connection probing transfer trunk respectively, each probing transfer trunk connects multiple probing probe respectively.

Described computing machine slave computer is made up of industry control cabinet, Switching Power Supply, serial interface switching circuit.

Described high precision laser range finder is industrial rank laser range finder, and have waterproof case, lens hood, camera lens water bar outside it, base plate has angle adjusting device.

Form displacement measurement system by described Hall element and copper wheel and wire rope, extrapolated the angle of inclination of jackstone pipe by the difference in height of test point.

Characteristic advantage of the present invention:

It is operating mode, ship machine equipment feature, Contents for Monitoring and positioning accuracy request according to practice of construction that marine jackstone rams flat positioning system, the composition proposal of certainty annuity.The complexity of system is reduced, to improve reliability under the prerequisite meeting request for utilization.This system has selected technical grade laser range finder, shock resistance obliquity sensor, Hall element etc. to coordinate the GPS jackstone achieved away from seashore to ram to calm down position.The establishment of positioning system application, has fully solicited the suggestion of site operation personnel, and various Monitoring Data is very clear, operates very hommization.The proof mechanism of water of laser range finder, achieves the disposition to stadimeter by waterproof apron, water bar, waterproof sealing lid.The selection of shock resistance sensor, takes into full account working-yard oscillation intensity and accuracy requirement, and this obliquity sensor resolution reaches 0.001 °, built-in high precision 16bitA/D differential converter, by 5 rank filtering filtering algorithms, and the final inclination value exporting twocouese.The optional RS485 of interface; RS232 or Transistor-Transistor Logic level.Due to the built-in high accuracy number heat detector of ADI company, be obtained in operating temperature range again revise so export angle, ensure that product is at low temperature and the high high duplication put under environment.Output speed can reach 20 times/second, and shock resistance index is: 20000g, 0.5ms, 3 times/axle, and product belongs to real technical grade product.Multichannel depth sounder HY1600 is the Multichannel depth sounder based on Windows operating system.Collection adopts high reliability embedded main board, XP operating system, and 15 inches of large-screen lc displays, have multiple external data IO interface, and can realize the display of hyperchannel depth measurement data real-time three-dimensional, be the ideal tools of shallow water depth measurement on a large scale.Depth measurement passage has the extensibility of neck number, have employed that advanced passage controls, figure display, the depth of water sentences the advanced technologies such as the end.

Accompanying drawing explanation

Fig. 1 is that marine jackstone rams flat Positioning System interface figure

Fig. 2 is the plane geometry relation that marine jackstone rams each key point of flat positioning system

Fig. 3-12 is computing machine locating interface figure

Embodiment

Marine jackstone as shown in Figure 1 rams flat positioning system: described computing machine host computer coordinates eight passage Multi-serial port capture cards to form by desktop computer; Computer interface connects: three power supplies and translation interface, two Multichannel depth sounders; A power supply and translation interface connect respectively: left GPS positioning system, right GPS positioning system, hull obliquity sensor, jackstone location high precision laser range finder, jackstone conduit inclination obliquity sensor, jackstone elevation detection system; Another power supply and translation interface connect respectively: jackstone location high precision laser range finder, jackstone conduit inclination obliquity sensor, jackstone elevation detection system; Another power supply and translation interface connect respectively: compacting location high precision laser range finder, three compacting tilt detection system, compacting elevation detection system; Two Multichannel depth sounders each connection probing transfer trunk respectively, each probing transfer trunk connects multiple probing probe respectively.

Marine jackstone rams flat positioning system as shown in Figure 2, and positioning system relates to workboat, the first jackstone truck, the second jackstone truck, rams hammer flattener car.Workboat is set up hull equipment coordinate system, under this coordinate system, determines the installation site of GPS positioning antenna, laser range finder and obliquity sensor.

It is the pulpit of positioning system preparation specially that station keeping ship has, the host computer being mounted with monitoring system in pulpit (is made up of desktop computer and multi-serial-port card, be responsible for the operation of TT&C software, display, the allotment of the serial ports of various equipment), slave computer is (by industry control cabinet, serial interface switching circuit and Switching Power Supply composition), obliquity sensor (being responsible for the monitoring biax angle of inclination of workboat), on-Line UPS (ups power, power supply on station keeping ship is generator powered, sometimes need to switch generator, change in the process of electricity have of short duration in power supply state, for the real-time of guarantee supervisory system and the backup safety of the rear significant data that has a power failure, ups power must be equipped with, ups power can also effectively be avoided because having a power failure, pressure drop, continue under-voltage, sustained overvoltage, line is made an uproar, frequency drift, switching transient, the various electrical problems such as harmonic wave).

Hopper is installed hyperchannel survey establish instrument (be responsible for distance) between Real-Time Monitoring hopper port and riprap layer, install on jackstone truck be made up of Hall element and copper wheel, wire rope displacement transducer (by the change of measured point displacement being converted to angle monitor the inclination conditions of hopper), on hull mounting industrial level laser stadimeter (the responsible shift length monitored jackstone truck and ram flatcar).

Marine jackstone rams calms down a system-computed formula:

One. the plane geometry relation of each key point

As shown in Figure 2

Two. the angle SAd of hull coordinate system and engineering coordinate system

Known left positioning antenna GPS _l, right positioning antenna GPS _rengineering coordinate (X, Y, Z)

1 $\mathrm{GSAd}=\frac{{\mathrm{GPS}}_{\mathrm{Ry}}-{\mathrm{GPS}}_{\mathrm{Ly}}}{{\mathrm{GPS}}_{\mathrm{Rx}}-{\mathrm{GPS}}_{\mathrm{Lx}}}-\frac{{({\mathrm{GPS}}_{\mathrm{Ry}}-{\mathrm{GPS}}_{\mathrm{Ly}})}^3}{3\×{({\mathrm{GPS}}_{\mathrm{Rx}}-{\mathrm{GPS}}_{\mathrm{Lx}})}^3}$

2. work as GPS _rY>GPS _lY

$\mathrm{SAd}=\frac{{\mathrm{GPS}}_{\mathrm{LX}}-{\mathrm{GPS}}_{\mathrm{RX}}}{{\mathrm{GPS}}_{\mathrm{RY}}-{\mathrm{GPS}}_{\mathrm{LY}}}-\frac{{({\mathrm{GPS}}_{\mathrm{LX}}-{\mathrm{GPS}}_{\mathrm{RX}})}^3}{3\×{({\mathrm{GPS}}_{\mathrm{RY}}-{\mathrm{GPS}}_{\mathrm{LY}})}^3}+\mathrm{GSAd}$

Work as GPS _rY=GPS _lYand GPS _rX>GPS _lX

SAd＝270°+GSAd

Work as GPS _rY<GPS _lY

Work as GPS _rY=GPS _lYand GPS _rX<GPS _lX

SAd＝90°+GSAd

Three. anchor point plane engineering coordinate

1. ram flat spot (HP) centre coordinate

$\mathrm{HPSAd}=\frac{{\mathrm{HPG}}_x-{\mathrm{GL}}_x+{\mathrm{HPG}}_d}{{\mathrm{HP}}_y-{\mathrm{GL}}_y}-\frac{{({\mathrm{HPG}}_x-{\mathrm{GL}}_x+{\mathrm{HPG}}_d)}^3}{3\&times;{({\mathrm{HP}}_y-{\mathrm{GL}}_y)}^3}$

$D=\sqrt{{({\mathrm{HPG}}_x-{\mathrm{GL}}_x+{\mathrm{HPG}}_d)}^2+{({\mathrm{HP}}_y-{\mathrm{GL}}_y)}^2}$

HP0 _X＝D×cos(SAd+HPSAd)+GPS _LX

HP0 _Y＝D×sin(SAd+HPSAd)+GPS _LY

2. jackstone point 1 (PS1) centre coordinate

$\mathrm{PS}1\mathrm{SAd}=\frac{{\mathrm{PS}1G}_x-{\mathrm{GL}}_x+{\mathrm{PS}1G}_d}{\mathrm{PS}1y-{\mathrm{GL}}_y}-\frac{{({\mathrm{PS}1G}_x-{\mathrm{GL}}_x+{\mathrm{PS}1G}_d)}^3}{3\&times;{(\mathrm{PS}1y-{\mathrm{GL}}_y)}^3}$

$D=\sqrt{{({\mathrm{PS}1G}_x-{\mathrm{GL}}_x+{\mathrm{PS}1G}_d)}^2+{({\mathrm{PS}1}_y-{\mathrm{GL}}_y)}^2}$

PS10 _X＝D×cos(SAd+PS1SAd)+GPS _LX

PS10 _Y＝D×sin(SAd+PS1SAd)+GPS _LY

3. jackstone point 2 (PS2) centre coordinate

$\mathrm{PS}2\mathrm{SAd}=\frac{{\mathrm{PS}2G}_x-{\mathrm{GL}}_x+{\mathrm{PS}2G}_d}{\mathrm{PS}2y-{\mathrm{GL}}_y}-\frac{{({\mathrm{PS}2G}_x-{\mathrm{GL}}_x+{\mathrm{PS}2G}_d)}^3}{3\&times;{(\mathrm{PS}2y-{\mathrm{GL}}_y)}^3}$

$D=\sqrt{{({\mathrm{PS}2G}_x-{\mathrm{GL}}_x+{\mathrm{PS}2G}_d)}^2+{({\mathrm{PS}2}_y-{\mathrm{GL}}_y)}^2}$

PS20 _X＝D×cos(SAd+PS2SAd)+GPS _LX

PS20 _Y＝D×sin(SAd+PS2SAd)+GPS _LY

Four. the tilt correction of each elevation reference point under hull coordinate system

If α, β are the vertical, horizontal inclination angle of hull, when fore-body is faced upward, α is "+", and during hull Right deviation, β is "+".When α, β are not equal to 0 at that time, the elevation coordinate modified value of each elevation reference point is:

1.GPS _lelevation coordinate

GL _Z'＝-(β-β ³/6)×GLx+(α-α ³/6)×(1-β ²/2)×GLy+(1-α ²/2)×(1-β ²/2)×GLz

2. ram flat spot (HP) elevation reference point elevation coordinate

HP _z'＝-(β-β ³/6)×(HPGx+HPGd)+(α-α ³/6)×(1-β ²/2)×HPy+(1-α ²/2)×(1-β ²/2)×HPz

3. jackstone point 1 (PS1) elevation reference point elevation coordinate

PS1 _z'＝-(β-β ³/6)×(PS1Gx+PS1Gd)+(α-α ³/6)×(1-β ²/2)×PS1y+(1-α ²/2)×(1-β ²/2)×PS1z

4. jackstone point 2 (PS2) elevation reference point elevation coordinate

PS2 _z'＝-(β-β ³/6)×(PS2Gx+PS2Gd)+(α-α ³/6)×(1-β ²/2)×PS2y+(1-α ²/2)×(1-β ²/2)×PS2z

Five. each elevation reference point elevation coordinate under engineering coordinate system

1. ram flat spot (HP) elevation reference point elevation coordinate

HP _H＝GPS _LZ-GLz'+HP _z'

2. jackstone point 1 (PS1) elevation reference point elevation coordinate

PS1 _H＝GPS _LZ-GLz'+PS1 _z'

3. jackstone point 2 (PS2) elevation reference point elevation coordinate

PS2 _H＝GPS _LZ-GLz'+PS2 _z'

Position computer interface

1, interface is welcome as shown in Figure 3.

2, main interface as shown in Figure 4.

Main interface comprises graphical display area (providing the parameters such as PS1 inclination angle, HS inclination angle, PS2 inclination angle, PS1 deviation, HS deviation, PS2 deviation, bow orientation, baseline fix), parameter display area (parameter such as GPS state, PS1 point coordinate, HS point coordinate, PS2 point coordinate, hull inclination is provided), control zone (Operation system setting, checking computations instrument, printing reports, foundation stake position, positional parameter are provided, start control knobs such as monitoring, exit).

3, Operation system setting interface as shown in Figure 5.

Operation system setting interface comprises: the parameters such as equipment installation parameter, dip correction, data smoothing number of times, depth measurement 3 displacement scale coefficient.

4, positional parameter interface as shown in Figure 6.

Positional parameter interface comprises: coordinate conversion mode, datum ellipsoid, location baseline parameter, change the parameters such as 7 parameters, Gauss projection, engineering name, the elements of a fix, document data record.

5, tools interfaces is checked as shown in Figure 7.

Checking computations tools interfaces comprises: the functions such as angle conversion, coordinate checking computations.

6, the setting of PS1 point and growth data interface are as shown in Figure 8.

PS1 point is arranged and growth data interface comprises: the parameters such as depth measurement point planimetric coordinates, ultrasonic listening, depth measurement displacement, preset coordinates, baseline offset distance.

7, the setting of PS2 point and growth data interface are as shown in Figure 9.

8, the setting of PS2 point and growth data interface are arranged and growth data interface with PS1 point.

9, compacting point growth data interface as shown in Figure 10.

Compacting point growth data interface comprises: the parameter such as depth measurement displacement, tamping plate inclination, baseline offset distance, preset coordinates.

10, GPS engineering coordinate interface as shown in figure 11.

11, data file selects interface as shown in figure 12.

Claims (5)

1. marine jackstone rams a flat positioning system, it is characterized in that: be the positioning monitoring system primarily of GPS positioning system, high precision laser range finder, Hall element, obliquity sensor, Multichannel depth sounder, computing machine host computer, computing machine slave computer composition; Marine jackstone rams flat positioning system on workboat, sets up hull equipment coordinate system, determines GPS positioning antenna, high precision laser range finder installation parameter under this coordinate system; Hall element installed by jackstone truck, and Multichannel depth sounder is installed in the lower end of jackstone tube wall;

GPS positioning antenna records WGS84 coordinate, tries to achieve the engineering coordinate of GPS positioning antenna point according to coordinate transformation parameter; In conjunction with jackstone truck parameter, rammer hammer flattener car parameter that installation parameter and the laser range finder of GPS positioning antenna, obliquity sensor, Hall element, laser range finder equipment measure, calculate the engineering coordinate of jackstone tube hub point, tested out the distance of the jackstone pipe mouth of pipe and jackstone plane by Multichannel depth sounder, the elevation of jackstone plane can be obtained;

At the first jackstone truck, the second jackstone truck, ram on hammer flattener car and laser reflection target is installed respectively, determine the installation site of laser range finder on workboat, in work progress, the jackstone truck during Real-Time Monitoring moves and rammer hammer flattener car;

The displacement measurement system be made up of Hall element, copper wheel, wire rope installed respectively by first jackstone truck and the second jackstone truck, to correct the angle of inclination of jackstone truck hopper;

Mounted angle sensor on workboat, by the real-time monitoring to hull coordinate X-axis, Y-axis angle of inclination, with the inclination of each reference point under revising hull coordinate system;

According to the plane geometry relation of each key point of hull coordinate system, and the tilt correction to key point coordinate figure each under hull coordinate system, calculate the tilt correction, each elevation reference point elevation coordinate under engineering coordinate system that arrange out each elevation reference point under the angle of hull coordinate system and engineering coordinate system, anchor point plane engineering coordinate, hull coordinate system, finally accurately to locate.

2. marine jackstone according to claim 1 rams flat positioning system, it is characterized in that: described computing machine host computer coordinates eight passage Multi-serial port capture cards to form by desktop computer; Computer interface connects: three power supplies and translation interface, two Multichannel depth sounders; A power supply and translation interface connect respectively: left GPS positioning system, right GPS positioning system, hull obliquity sensor, the first jackstone location high precision laser range finder, the first jackstone pipe inclination obliquity sensor, jackstone elevation detection system; Another power supply and translation interface connect respectively: the second jackstone location high precision laser range finder, the second jackstone pipe inclination obliquity sensor, jackstone elevation detection system; Another power supply and translation interface connect respectively: compacting location high precision laser range finder, three compacting tilt detection system, compacting elevation detection systems; Two Multichannel depth sounders each connection probing transfer trunk respectively, each probing transfer trunk connects multiple probing probe respectively.

3. marine jackstone according to claim 1 rams flat positioning system, it is characterized in that: described computing machine slave computer is made up of industry control cabinet, Switching Power Supply, serial interface switching circuit.

4. marine jackstone according to claim 1 rams flat positioning system, it is characterized in that: described high precision laser range finder is industrial rank laser range finder, and have waterproof case, lens hood, camera lens water bar outside it, base plate has angle adjusting device.

5. marine jackstone according to claim 1 rams flat positioning system, it is characterized in that: form displacement measurement system by described Hall element and copper wheel and wire rope, extrapolated the angle of inclination of jackstone pipe by the difference in height of test point.