CN105629280A - Super-large article positioning control system and method - Google Patents
Super-large article positioning control system and method Download PDFInfo
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- CN105629280A CN105629280A CN201511030262.3A CN201511030262A CN105629280A CN 105629280 A CN105629280 A CN 105629280A CN 201511030262 A CN201511030262 A CN 201511030262A CN 105629280 A CN105629280 A CN 105629280A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to the field of engineering measuring technology, and provides a super-large article positioning control system and a method. The system comprises a control device, a position measuring device and an angle measuring device. In the system, position parameters of a super-large article during a transportation process are measured via the position measuring device; dip angle parameters of the super-large article during the transportation process are measured via the angle measuring device; the current position of the super-large article is determined according to relative relations between all characteristic points on the super-large article and the position detection device, and the position parameters; and the transportation direction of the super-large article is corrected according to correction parameters determined according to the current position of the super-large article, the dip angle parameters, a preset target position of the super-large article and a preset target dip angle. Thus, positioning precision of the super-large article during the transportation process can be improved.
Description
Technical field
The present invention relates to engineering measuring technology field, particularly relate to a kind of super large piece article positioning control system and method.
Background technology
From the 1950's, along with the continuous breakthrough of the guardian techniques such as connection under water, immersed tunnelling method has become as the main construction method building subaqueous tunnel. Immersed tunnelling method is by the groove that excavates in advance in prefabricated immersed tube tube coupling sinking to water, then by each tube coupling assembly all-in-one-piece construction method in water. Adopting immersed tunnelling method to build in the process in tunnel, the accurate sinking of tube coupling is of crucial importance, so that tube coupling can sinking be to design attitude exactly, sinking tube coupling is carried out real-time positioning measurement is requisite.
Current is often be respectively mounted GPS device at its initial and end two ends to the localization method being similar to this super large piece article of immersed tube tube coupling, thus super large piece article is carried out coordinate setting in transportation, and adjusts its transporting direction. But, due to super large piece article meeting run-off the straight in transportation, therefore simply super large piece article is carried out coordinate setting does not ensure that the position of its each characteristic point can meet predeterminated position, so just have impact on the precision that super large piece article is positioned.
Summary of the invention
For the degree of accuracy that super large piece article is positioned by raising, the invention provides a kind of super large piece article positioning control system and method.
First aspect, the invention provides a kind of super large part goods transportation positioning control system, including: control device, position-measurement device and angle measurement unit;
Described position-measurement device is fixedly installed on super large piece article, for obtaining described super large piece article location parameter of position-measurement device in transportation, and described location parameter is sent to described control device;
Described angle measurement unit, for obtaining described super large piece article dip angle parameter of super large piece article in transportation, and is sent to described control device by described dip angle parameter;
Described control device, for determining the current location of described super large piece article according to the relative position relation between each characteristic point on described super large piece article and described position detecting device, described location parameter, and according to goal-selling position with described super large piece article of the current location of described super large piece article and described dip angle parameter and goal-selling Dip countion and export corrected parameter, the transporting direction of super large piece article according to described corrected parameter correction.
Further, the relative position relation between each characteristic point and the described position detecting device on described super large piece article is that described super large piece article is obtained by demarcation after finalization of the manufacture.
Further, described location parameter includes: the coordinate parameters of described super large piece article position-measurement device in transportation and directioin parameter.
Further, described position-measurement device includes: a RTKGPS receptor, the 2nd RTKGPS receptor and the 3rd RTKGPS receptor;
A described RTKGPS receptor, is used for measuring described coordinate parameters;
Described 2nd RTKGPS receptor and described 3rd RTKGPS receptor are used for measuring described directioin parameter.
Further, described angle measurement unit is two-axis inclinometer;
Described two-axis inclinometer, for obtaining cross dip parameter and the vertical inclination angle parameter of super large piece article.
Further, described position-measurement device is fixed on one end of described super large piece article by mounting bracket;
The height between described super large piece article and the water surface when height of described mounting bracket transports in water higher than described super large piece article.
Further, described system, also include:
Flexometer, for obtaining the amount of deflection of described mounting bracket, and is sent to described control device by described amount of deflection;
Described control device, specifically for being modified described location parameter according to described amount of deflection; The current location of described super large piece article is determined according to the relative position relation between each characteristic point on described super large piece article and described position detecting device, revised location parameter.
Based on identical design, second aspect, the invention provides a kind of super large part goods transportation position control method, including:
Obtain the location parameter that described super large piece article is current;
Obtain the dip angle parameter that described super large piece article is current;
Goal-selling position calculation according to described super large piece article current location and dip angle parameter and described super large piece article also exports the transporting direction of super large piece article described in corrected parameter correction.
Further, the current location of described super large piece article is measured in the following manner and is obtained:
Fixed position measurement apparatus on described super large article;
Obtain the location parameter that described super large piece article position-measurement device in transportation is current;
The current location parameter of described super large piece article is determined according to the location parameter that the relative position relation between each characteristic point on described super large piece article and described position detecting device and position-measurement device are current.
Further, the relative position relation between each characteristic point and the described position detecting device on described super large piece article is that described super large piece article is obtained by demarcation after finalization of the manufacture.
Super large part goods transportation positioning control system provided by the invention, by adopt position-measurement device to super large piece article in transportation location parameter measurement; By angle measurement unit to super large piece article in transportation dip angle parameter measurement; The current location of super large piece article is determined according to the relative position relation between each characteristic point and the position detecting device on super large piece article, location parameter; The transporting direction of the super large piece article of corrected parameter correction that current location according to super large piece article and the goal-selling position of dip angle parameter and super large piece article and goal-selling inclination angle are determined. Super large piece article location parameter in transportation and dip angle parameter are combined by native system, it is possible to increase to the degree of accuracy of location in super large part goods transportation process.
Accompanying drawing explanation
Super large piece article positioning control system is applied to installation site structural representation when immersed tube tube coupling positions for what first embodiment of the invention provided by Fig. 1;
The schematic flow sheet of the super large piece article position control method that Fig. 2 provides for second embodiment of the invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described. Following example are only for clearly illustrating technical scheme, and can not limit the scope of the invention with this.
The first embodiment of the present invention provides a kind of super large part goods transportation positioning control system, including: control device, position-measurement device and angle measurement unit;
Described position-measurement device is fixedly installed on super large piece article, for obtaining described super large piece article location parameter of position-measurement device in transportation, and described location parameter is sent to described control device;
Described angle measurement unit, for obtaining described super large piece article dip angle parameter of super large piece article in transportation, and is sent to described control device by described dip angle parameter;
Described control device, for determining the current location of described super large piece article according to the relative position relation between each characteristic point on described super large piece article and described position detecting device, described location parameter, and according to goal-selling position with described super large piece article of the current location of described super large piece article and described dip angle parameter and goal-selling Dip countion and export corrected parameter, the transporting direction of super large piece article according to described corrected parameter correction.
Super large part goods transportation positioning control system provided by the invention, by adopt position-measurement device to super large piece article in transportation location parameter measurement; By angle measurement unit to super large piece article in transportation dip angle parameter measurement; The current location of super large piece article is determined according to the relative position relation between each characteristic point and the position detecting device on super large piece article, location parameter; The transporting direction of the super large piece article of corrected parameter correction that current location according to super large piece article and the goal-selling position of dip angle parameter and super large piece article and goal-selling inclination angle are determined. Super large piece article location parameter in transportation and dip angle parameter are combined by native system, it is possible to increase to the degree of accuracy of location in super large part goods transportation process.
In the specific implementation, the relative position relation between each characteristic point and the described position detecting device on described super large piece article can be obtained by demarcation by described super large piece article after finalization of the manufacture.
It is so designed that and is advantageous in that, it is possible to according to location parameter, being obtained the location parameter of each characteristic point on super large piece article by coordinate transformation rapidly, thus obtaining the current location of super large piece article, improving the efficiency to the control of super large piece article location.
In the specific implementation, described location parameter may include that coordinate parameters and the directioin parameter of described super large piece article position-measurement device in transportation.
It is so designed that and is advantageous in that, not only can pass through Coordinate Conversion and resolve and quickly determine the current location of super large piece article, and the transporting direction of super large piece article can be grasped, thus more easily the transporting direction of super large piece article being adjusted.
In the specific implementation, described position-measurement device may include that a RTKGPS receptor, the 2nd RTKGPS receptor and the 3rd RTKGPS receptor;
A described RTKGPS receptor, is used for measuring described coordinate parameters;
Described 2nd RTKGPS receptor and described 3rd RTKGPS receptor are used for measuring described directioin parameter.
So, it is possible to grasp location parameter and the directioin parameter of super large piece article in real time, thus adjusting the transporting direction of super large piece article in time.
In the specific implementation, described angle measurement unit is two-axis inclinometer;
Described two-axis inclinometer, for obtaining cross dip parameter and the vertical inclination angle parameter of super large piece article.
So, it is possible to adjust cross dip and the vertical inclination angle of super large piece article in time, make super large piece article more conform to its target location, improve the degree of accuracy that super large piece article is positioned.
In the specific implementation, described position-measurement device is fixed on one end of described super large piece article by mounting bracket;
The height between described super large piece article and the water surface when height of described mounting bracket transports in water higher than described super large piece article.
It is so designed that and is advantageous in that, it is possible to the location that super large piece article positioning control system provided by the invention is applied to surpass under water large piece article controls.
It is illustrated time below native system is applied in immersed tube tube coupling location:
As it is shown in figure 1, installing rack can be measure tower 2, measure tower 2 and may be mounted at one end of tube coupling 1. The cross section measuring tower 2 can be triangle, and a RTKGPS receptor 3 can be arranged on the top of one article of incline of installing rack 2, and the 2nd RTKGPS receptor 4 and the 3rd RTKGPS receptor 5 can set up separately at the top of two other incline. Two-axis inclinometer can be arranged on the middle part of tube coupling 1. Control device can be arranged on cargo ship. Control device and will measure the directioin parameter that the coordinate parameters, the 2nd RTKGPS receptor 4 and the 3rd RTKGPS receptor 5 that arrive will obtain according to a RTKGPS receptor 3, determine the current location of tube coupling 1, and the target location of the cross dip arrived according to current location, two-axis inclinometer measurement and vertical inclination angle, tube coupling 1, and the target lateral inclination angle of tube coupling 1 and target vertical inclination angle determine corrected parameter, thus controlling the transporting direction of tube coupling 1.
In the specific implementation, described system, it is also possible to including:
Flexometer, for obtaining the amount of deflection of described mounting bracket, and is sent to described control device by described amount of deflection;
Described control device, specifically for being modified described location parameter according to described amount of deflection; The current location of described super large piece article is determined according to the relative position relation between each characteristic point on described super large piece article and described position detecting device, revised location parameter.
In the transportation of super large piece article, installing rack can swing along with the transport of super large piece article, this is the key factor affecting the coordinate parameters accuracy that a RTKGPS receptor records, therefore the amount of deflection according to installing rack, the i.e. degree of waving of installing rack, the coordinate parameters that oneth RTKGPS receptor is recorded is modified more conforming to the actual coordinate of a RTKGPS receptor such that it is able to the current location of super large piece article is accurately positioned.
Based on identical design, second embodiment of the invention provides a kind of super large part goods transportation position control method, including:
Step S1, obtains the location parameter that described super large piece article is current;
Step S2, obtains the dip angle parameter that described super large piece article is current;
Step S3, according to the goal-selling position calculation of described super large piece article current location and dip angle parameter and described super large piece article and export the transporting direction of super large piece article described in corrected parameter correction.
In the specific implementation, the current location of described super large piece article can be through what in the following manner measurement obtained:
Fixed position measurement apparatus on described super large article;
Obtain the location parameter that described super large piece article position-measurement device in transportation is current;
The current location parameter of described super large piece article is determined according to the location parameter that the relative position relation between each characteristic point on described super large piece article and described position detecting device and position-measurement device are current.
In the specific implementation, the relative position relation between each characteristic point and the described position detecting device on described super large piece article can be obtained by demarcation by described super large piece article after finalization of the manufacture.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the technology of the present invention principle; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. a super large part goods transportation positioning control system, it is characterised in that including: control device, position-measurement device and angle measurement unit;
Described position-measurement device is fixedly installed on super large piece article, for obtaining described super large piece article location parameter of position-measurement device in transportation, and described location parameter is sent to described control device;
Described angle measurement unit, for obtaining described super large piece article dip angle parameter of super large piece article in transportation, and is sent to described control device by described dip angle parameter;
Described control device, for determining the current location of described super large piece article according to the relative position relation between each characteristic point on described super large piece article and described position detecting device, described location parameter, and according to goal-selling position with described super large piece article of the current location of described super large piece article and described dip angle parameter and goal-selling Dip countion and export corrected parameter, the transporting direction of super large piece article according to described corrected parameter correction.
2. system according to claim 1, it is characterised in that the relative position relation between each characteristic point and described position detecting device on described super large piece article is that described super large piece article is obtained by demarcation after finalization of the manufacture.
3. system according to claim 1, it is characterised in that described location parameter includes: the coordinate parameters of described super large piece article position-measurement device in transportation and directioin parameter.
4. system according to claim 3, it is characterised in that described position-measurement device includes: a RTKGPS receptor, the 2nd RTKGPS receptor and the 3rd RTKGPS receptor;
A described RTKGPS receptor, is used for measuring described coordinate parameters;
Described 2nd RTKGPS receptor and described 3rd RTKGPS receptor are used for measuring described directioin parameter.
5. system according to claim 1, it is characterised in that described angle measurement unit is two-axis inclinometer;
Described two-axis inclinometer, for obtaining cross dip parameter and the vertical inclination angle parameter of super large piece article.
6. system according to claim 1, it is characterised in that described position-measurement device is fixed on one end of described super large piece article by mounting bracket;
The height between described super large piece article and the water surface when height of described mounting bracket transports in water higher than described super large piece article.
7. system according to claim 6, it is characterised in that described system, also includes:
Flexometer, for obtaining the amount of deflection of described mounting bracket, and is sent to described control device by described amount of deflection;
Described control device, specifically for being modified described location parameter according to described amount of deflection; The current location of described super large piece article is determined according to the relative position relation between each characteristic point on described super large piece article and described position detecting device, revised location parameter.
8. a super large part goods transportation position control method, it is characterised in that including:
Obtain the location parameter that described super large piece article is current;
Obtain the dip angle parameter that described super large piece article is current;
Goal-selling position calculation according to described super large piece article current location and dip angle parameter and described super large piece article also exports the transporting direction of super large piece article described in corrected parameter correction.
9. method according to claim 8, it is characterised in that the current location of described super large piece article is measured in the following manner and obtained:
Fixed position measurement apparatus on described super large article;
Obtain the location parameter that described super large piece article position-measurement device in transportation is current;
The current location parameter of described super large piece article is determined according to the location parameter that the relative position relation between each characteristic point on described super large piece article and described position detecting device and position-measurement device are current.
10. method according to claim 8, it is characterised in that the relative position relation between each characteristic point and described position detecting device on described super large piece article is that described super large piece article is obtained by demarcation after finalization of the manufacture.
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| CN201511030262.3A CN105629280B (en) | 2015-12-31 | 2015-12-31 | A kind of super large piece article positioning control system and method |
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| CN201511030262.3A CN105629280B (en) | 2015-12-31 | 2015-12-31 | A kind of super large piece article positioning control system and method |
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| CN105629280B CN105629280B (en) | 2018-06-12 |
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| CN105629280B (en) | 2018-06-12 |
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