CN104977005A - Precise standing exercise navigation system of mobile offshore platform - Google Patents
Precise standing exercise navigation system of mobile offshore platform Download PDFInfo
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- CN104977005A CN104977005A CN201510428053.8A CN201510428053A CN104977005A CN 104977005 A CN104977005 A CN 104977005A CN 201510428053 A CN201510428053 A CN 201510428053A CN 104977005 A CN104977005 A CN 104977005A
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- mobile platform
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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Abstract
The invention provides a precise standing exercise navigation system of a mobile offshore platform. The precise standing exercise navigation system comprises two sets of high-precision positioning equipment arranged on the mobile platform, a CORS network cluster server and a terminal computer, wherein each set of the high-precision positioning equipment is connected to the CORS network cluster server in a communication manner to receive high-precision position information in real time; the terminal computer is connected with the high-precision positioning equipment in a communication manner to receive the position information sent by the high-precision positioning equipment in real time. The precise standing exercise navigation system of the mobile offshore platform can monitor the running conditions of a towing platform and a ship in real time, position the platform and the ship immediately and intuitively display various sailing parameters; the effects of accurate sea positioning, precise piling and ship towing of the mobile offshore platform are achieved.
Description
Technical field
The present invention relates to a kind of accurate station stake navigational system of marine mobile platform.
Background technology
Along with the mankind deepen the exploitation of hydrocarbon resources, oil-gas exploration and development proceeds to ocean from land.Offshore drilling platforms, as the marine mobile platform of one, it is equipped with the equipment such as drilling well, power, communication, navigation, and safe life-saving and personnel's living facilities, is that exploratory engineering of off-shore petroleum/gas reservoir develops indispensable means.
Changeable due to sea climate, the destruction of marine stormy waves and bathycurrent, platform causes displacement to need again to reset in drilling process, in place or to carry out towboat at deep water sea area be quite complicated operation, relate to maneuverability, multiple subject such as sea-keeping and hydrodynamic theory, it is a systems engineering, and be extremely subject to equipment in towage process, navigation channel, the impact of the many factors such as weather, consider that staff's is overtired simultaneously, anxiety and other artificial origin, there is provided navigator fix technical service accurately and timely to reducing operating cost, improving security plays a part very crucial.
GPS also do not have ripe be applied to piling location in, mainly use the methods such as transit intersection to determine orientation and the coordinate of stake.Be the method for intersection due to what adopt, need the coordination of two or multiple stage instrument, its calculation of complex, and establish the position at station also to have very high requirement to instrument.But creep into platform in water, have certain fluctuation, therefore the efficiency of piling location work traditionally and the precision of location all undesirable, and for offshore location survey far away, the angle of transit intersection and the position of equipment placement are selected all to be restricted, and have no idea to reach good precision.
Along with the development of GPS location technology, real-time carrier difference location technology is constantly ripe, for piling location provides new research means.Therefore be developed based on the piling location system of GPS RTK technology and RTK technology Network Based and apply in recent years.The piling location that tradition adopts, all utilize transit or total powerstation directly to locate pile body, and when utilizing GPS (RTK) to carry out piling location, gps antenna can not be directly installed on pile body, need to be arranged on the suitable position of pile driving barge, by GPS, measure position on ship, control the attitude of accommodation and ship.
Summary of the invention
For this reason, the invention provides a kind of marine mobile platform and accurately to stand a navigational system, it comprises: two hi-Fix equipment, is all arranged on described mobile platform; CORS net cluster server, each described hi-Fix equipment is all communicatively coupled to described CORS net cluster server with the high-precision positional information of real-time reception; And terminal computer, itself and each described hi-Fix equipment all communicate to connect the described positional information sent with each described hi-Fix equipment of real-time reception.
Further, described terminal computer calculates the navigational parameter of described mobile platform according to described positional information, and the navigational parameter of described mobile platform is shown by its display screen, described navigational parameter comprises underway position, headway, navigation direction, dynamically mileage.
Further, described terminal computer comprises electronic chart, and it is by navigational parameter described in described electronic Chart Display.
Further, described terminal computer is provided with navigational system and electronic chart, it calculates the navigation information of described mobile platform according to the target location of described navigational parameter and described mobile platform, and show described navigation information by textual list or described electronic chart, or report described navigation information by voice.
Preferably, two described hi-Fix equipment are all arranged on the axis of described mobile platform, and wherein, an intersection being arranged on the passageway, living quarters of described axis and described mobile platform, another is arranged on the bow position of described axis.
Preferably, described terminal computer is multiple stage, to be separately positioned on described mobile platform, for the tugboat of mobile platform described in towage and dispatching center.
Further, the distance that described terminal computer departs between mobile platform and described tugboat according to described positional information calculation, when the described distance departed from is greater than predetermined threshold, output alarm information.
Further, described terminal computer by graphic software platform interface by bow to, course, the angle of current, driftage, the speed of a ship or plane, described mobile platform relative to distance inclined before and after target footprint, described mobile platform relative to inclined distance and described mobile platform about target footprint center line each station stake be shown to user relative to the distance of target footprint.
Preferably, each described hi-Fix equipment is communicatively coupled to described CORS net cluster server by GPRS network.
Marine mobile platform of the present invention is accurately stood a navigational system, employ 2 cover hi-Fix equipment and obtain in real time the positional information of centimetre-sized precision by connecting CORS net, solve marine mobile platform in marine accurate location, the problem of accurately piling and towboat.
Accompanying drawing explanation
Fig. 1 is that marine mobile platform of the present invention is accurately stood the structural representation of a navigational system;
Fig. 2 is that marine mobile platform of the present invention is accurately stood the schematic diagram of setting position of hi-Fix equipment of a navigational system;
Fig. 3 is that marine mobile platform of the present invention is accurately stood the schematic diagram at graphic software platform interface of terminal computer of a navigational system.
Embodiment
Below in conjunction with the drawings and specific embodiments, a marine mobile platform of the present invention navigational system of accurately standing is described in further detail, but not as a limitation of the invention.
As shown in Figure 1, marine mobile platform of the present invention is accurately stood a navigational system, comprises two hi-Fix equipment (such as network RTK equipment), CORS net cluster server and terminal computer.Two hi-Fix equipment are all arranged on mobile platform (such as oil drilling platform), and all communicate to connect (such as, passing through GPRS network) with CORS net cluster server, by receive high-precision positional information in real time; Two hi-Fix equipment are all connected with terminal computer communication, so that the high-precision positional information that each hi-Fix equipment of terminal computer real-time reception is sent simultaneously.
As shown in Figure 2, two hi-Fix equipment 300 are all arranged on the axis Y of mobile platform 100, and wherein, an intersection A being arranged on the passageway, living quarters of axis Y and mobile platform, as location receiver; Another is arranged on the bow position B (such as on hardstand) of axis Y, as auxiliary directional receiver.
To be positioned at the hi-Fix equipment 300 at A place for true origin, platform axis is Y-axis, vertical line is X-axis, sets up an independently reference frame, obtains distance, the azimuth angle alpha between three station stakes 200 and two hi-Fix equipment 300 by total station survey
aBetc. relation; Again by the stake position, three stations of layout design, calculate the physical location of three station stakes 200.Thus, the positional information of receiver (i.e. hi-Fix equipment 300) can be scaled the positional information of station stake 200, thus obtain the position relationship between mobile stake (the station stake of mobile platform) and target stake.
Wherein, the azimuth angle alpha between two hi-Fix equipment 300
aBcan according to following formulae discovery:
Δx＝X
B-X
A
Δy＝Y
B-Y
A
Wherein, (X
b, Y
b) for being positioned at the coordinate of hi-Fix equipment 300 mensuration at B place, (X
a, Y
a) for being positioned at the coordinate of hi-Fix equipment 300 mensuration at A place.
The schematic diagram that Fig. 2 is is example with JU-2000E type oil drilling platform.JU-2000E type platform 100 is shape triangular in shape substantially, and its three station stakes 200 are distributed on three angles.Because three station stakes 200 are on platform, and platform 100 floats on the dynamic water surface, wants to carry out on the dynamic water surface high-precision location, should consider the attitude of platform 100.
The attitude of platform 100 can be represented by attitude angle α.Wherein, α can according to following formula, according to azimuth angle alpha
aBobtain.
Staff can pay close attention to the attitude angle α of platform 100, selects to position in the right up and down time as far as possible, namely except localization method, positioning means ensure, also wants the attitude of platform 100, to ensure the hi-Fix carrying out station stake.
Terminal computer calculates the navigational parameter of mobile platform according to the positional information received, and being shown the navigational parameter of mobile platform to user by the display screen of terminal computer, navigational parameter comprises the information such as underway position, headway, navigation direction, dynamically mileage.
Preferably, terminal computer comprises electronic chart, it shows these navigational parameters in real time on electronic chart, with make user can Real-Time Monitoring the moving process of record move platform (such as, the process of tow towage), underway position, headway, navigation direction, dynamically mileage etc.Preferably, this electronic chart is integrated with the chart data in the whole marine site of China, can realize the amplification of sea chart, reduce, translation, find range, occupy functional medium, can show the dynamic track line information of target.
Terminal computer can also have navigation feature, such as, terminal computer can be provided with navigational system and electronic chart simultaneously, the target location of the mobile platform of the positional information that its basis receives and setting, calculate the navigation information of mobile platform, and show these navigation informations by the form of textual list or electronic chart, also can report navigation information by voice.This system can provide accurate navigation information for user, effectively reduces offshore drilling platform towboat or determines the Operating Complexity of stake.
For the ease of controlling the position of mobile platform in towage process, this system comprises multiple stage terminal computer, at mobile platform, respectively arranges one for the tugboat of towage and dispatching center.This system not only shows navigational parameter on mobile platform and towboat, also the navigational parameter collected is sent to dispatching center simultaneously, the electronic chart of dispatching center also shows in real time, so that the staff of dispatching center monitors in real time, thus dispatches better.
In the process of towage, terminal computer calculates its distance departing from tugboat position according to the real-time position information of mobile platform, when this distance is greater than predetermined threshold, and output alarm information.Owing to tugboat and platform all being installed this system a set of, in towage process, platform personnel and tugboat personnel just can monitor the navigational parameter of tugboat and drilling platform on the electronic chart of this locality simultaneously, when the relevant parameter of the two differs threshold value, alarm, take corresponding measure, avoid accident to occur.
When running into the sea inclement weather such as have mist, visibility lower, towage commanding can understand sailing condition by accurate station stake navigational system software, complete towage or piling task better.
As shown in Figure 3, terminal computer by graphic software platform interface by bow to, course, the angle of current, driftage, the speed of a ship or plane, described mobile platform be shown to user intuitively relative to information such as each station stake relative to inclined distance and described mobile platform about target footprint center line of distance inclined before and after target footprint, described mobile platform and the distances relative to target footprint.
This graphic software platform interface comprises title block, menu bar, toolbar, locating information display field, stand stake display field and navigational state hurdle.Wherein, locating information display field is the display box on the left of Fig. 3, can show navigator information, some position quality and equipment real-time information in real time; Stake display field of standing comprises electronic chart (not shown in Fig. 3) and stake navigation (shown in Fig. 3 pattern) two kinds of display modes of accurately standing, so that user checks platform geographic position in different spaces yardstick; Display station stake pile in navigational state hurdle, from the position of " first footprint ", is convenient to platform operations personnel and is accurately berthed.
In towage and pitching pile process, staff instructs tugboat operation according to the image of display in real time and related data.After the stake of platform station enters design attitude scope circle, scope circle presents different colors (such as becoming green from redness), to show that platform puts in place.
An offshore drilling platform navigational system of accurately standing employs 2 cover network RTK equipment and obtains in real time the positional information of centimetre-sized precision by connecting CORS net, by current pose and the positional information of the real-time display well platform of terminal computer, and to be shown by textual list and voice broadcast navaid provides accurate navigation information for user; Simultaneity factor is equipped with electronic chart, for user's navigation provides abundant navigation interface.
Marine mobile platform of the present invention is accurately stood a navigational system, meet the high-precision requirement of determining stake engineering completely, and Real-Time Monitoring towage platform and vessel motion situation, can locating platform and vessel position in time, the important towage information such as display course directly perceived, the speed of a ship or plane, boats and ships distance, the safety of drilling platform in station stake or towboat process in effective guarantee towage process, for mobile platform stake of accurately standing provides reliable guarantee.This system can effectively reduce offshore drilling platform towboat or determine the Operating Complexity of stake, improves the modern management level to offshore drilling platform and boats and ships, the generation of the accident that scents a hidden danger early, farthest avoids.
Above embodiment is only illustrative embodiments of the present invention, can not be used for limiting the present invention, and protection scope of the present invention is defined by the claims.Those skilled in the art can in essence of the present invention and protection domain, and make various amendment or equivalent replacement to the present invention, these are revised or be equal to replacement and also should be considered as dropping in protection scope of the present invention.
Claims (9)
1. marine mobile platform is accurately stood a navigational system, it is characterized in that, comprising:
Two hi-Fix equipment, are all arranged on described mobile platform;
CORS net cluster server, each described hi-Fix equipment is all communicatively coupled to described CORS net cluster server with the high-precision positional information of real-time reception; And
Terminal computer, itself and each described hi-Fix equipment all communicate to connect the described positional information sent with each described hi-Fix equipment of real-time reception.
2. marine mobile platform according to claim 1 is accurately stood a navigational system, it is characterized in that, described terminal computer calculates the navigational parameter of described mobile platform according to described positional information, and the navigational parameter of described mobile platform is shown by its display screen, described navigational parameter comprises underway position, headway, navigation direction, dynamically mileage.
3. marine mobile platform according to claim 2 is accurately stood a navigational system, and it is characterized in that, described terminal computer comprises electronic chart, and it is by navigational parameter described in described electronic Chart Display.
4. marine mobile platform according to claim 2 is accurately stood a navigational system, it is characterized in that, described terminal computer is provided with navigational system and electronic chart, it calculates the navigation information of described mobile platform according to the target location of described navigational parameter and described mobile platform, and show described navigation information by textual list or described electronic chart, or report described navigation information by voice.
5. marine mobile platform according to claim 1 is accurately stood a navigational system, it is characterized in that, two described hi-Fix equipment are all arranged on the axis of described mobile platform, wherein, an intersection being arranged on the passageway, living quarters of described axis and described mobile platform, another is arranged on the bow position of described axis.
6. the marine mobile platform according to any one of claim 1-4 is accurately stood a navigational system, it is characterized in that, described terminal computer is multiple stage, to be separately positioned on described mobile platform, for the tugboat of mobile platform described in towage and dispatching center.
7. marine mobile platform according to claim 6 is accurately stood a navigational system, it is characterized in that, the distance that described terminal computer departs between mobile platform and described tugboat according to described positional information calculation, when the described distance departed from is greater than predetermined threshold, output alarm information.
8. marine mobile platform according to claim 7 is accurately stood a navigational system, it is characterized in that, described terminal computer by graphic software platform interface by bow to, course, the angle of current, driftage, the speed of a ship or plane, described mobile platform relative to distance inclined before and after target footprint, described mobile platform relative to inclined distance and described mobile platform about target footprint center line each station stake be shown to user relative to the distance of target footprint.
9. marine mobile platform according to claim 1 is accurately stood a navigational system, and it is characterized in that, each described hi-Fix equipment is communicatively coupled to described CORS net cluster server by GPRS network.
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| CN116443217A (en) * | 2023-06-16 | 2023-07-18 | 中交一航局第一工程有限公司 | Piling ship parking control method and device, piling ship and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116443217A (en) * | 2023-06-16 | 2023-07-18 | 中交一航局第一工程有限公司 | Piling ship parking control method and device, piling ship and storage medium |
| CN116443217B (en) * | 2023-06-16 | 2023-08-22 | 中交一航局第一工程有限公司 | Piling ship parking control method and device, piling ship and storage medium |
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