CN111350214A - Multi-beam underwater steel pipe pile position measuring method - Google Patents
Multi-beam underwater steel pipe pile position measuring method Download PDFInfo
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- CN111350214A CN111350214A CN202010208337.7A CN202010208337A CN111350214A CN 111350214 A CN111350214 A CN 111350214A CN 202010208337 A CN202010208337 A CN 202010208337A CN 111350214 A CN111350214 A CN 111350214A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/32—Foundations for special purposes
- E02D27/52—Submerged foundations, i.e. submerged in open water
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D5/00—Bulkheads, piles, or other structural elements specially adapted to foundation engineering
- E02D5/22—Piles
- E02D5/24—Prefabricated piles
- E02D5/28—Prefabricated piles made of steel or other metals
- E02D5/285—Prefabricated piles made of steel or other metals tubular, e.g. prefabricated from sheet pile elements
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Abstract
A multi-beam underwater steel pipe pile position measuring method adopts a multi-beam depth sounder, a compass motion sensor and a GPS to measure the underwater steel pipe pile position, and obtains pile body inclination parameters, top surface central plane and elevation coordinates and plane distances among four guide pipe frames which meet the precision requirement through three steps of survey line layout, equipment installation and parameter measurement, thereby realizing the measurement of the steel pipe pile position. The method can improve the efficiency of underwater measurement and inspection, greatly reduce the influence of factors such as water depth, waves, flow velocity, visibility and the like on the underwater measurement and inspection, improve the efficiency of the underwater inspection, simplify the process of the measurement and inspection, ensure that the measurement precision meets the requirements and reduce the construction and measurement cost.
Description
Technical Field
The invention relates to the technical field of underwater steel pipe pile position measurement, in particular to a multi-beam underwater steel pipe pile position measurement method.
Background
With the large-scale development of offshore engineering such as offshore wind power and the like, the application of the steel pipe pile as a pile foundation mechanism of an offshore building is increasingly popularized. The offshore engineering steel pipe pile is sunk deep into the sea bed and used as a foundation support of an offshore engineering building, the length of the offshore engineering steel pipe pile can reach seventy meters or more, the top end of the offshore engineering steel pipe pile is mostly submerged in sea water below ten meters of the sea level, direct observation cannot be achieved, and most of the land common detection methods cannot be practically applied, so that the research on the detection method which can be suitable for re-detecting the pile position of the steel pipe pile in deep sea water is particularly important.
At present, in most offshore projects, coordinate monitoring is carried out before a pile body is not immersed in water in the pile sinking process for measuring the pile position of each pile of the underwater steel pipe pile, and accurate pile position measurement cannot be carried out after the pile body is immersed in water, and meanwhile, the measurement of the pile top elevation is also indirectly calculated by measuring a pile sinking hammer cap; the relative position between each pile is measured by using a diver underwater measurement method, namely, a diver is arranged at the geometric center of the pile tops of two steel pipe piles respectively, the diver holds a thin steel wire to measure, tension meters are arranged at two ends of the steel wire to ensure that the tension of the two ends is the same, and the pile distance between the two steel pipe piles is determined by measuring the length of the steel wire.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for measuring the pile position of a multi-beam underwater steel pipe pile, which has higher measurement precision, effectively improves the efficiency and ensures the construction quality and safety, aiming at the defects of the prior art.
The invention aims to solve the technical problem by adopting the following technical scheme, and provides a multi-beam underwater steel pipe pile position measuring method, which adopts a multi-beam depth sounder, a compass motion sensor and a GPS to measure the underwater steel pipe pile position and comprises the following steps:
(1) layout of survey lines
The line measurement arrangement adopts any one of the following two modes:
the first method comprises the following steps: the measuring lines are arranged in a shape like a Chinese character '#' by taking the piles as centers;
and the second method comprises the following steps: the measuring lines are arranged in a circle by taking the pile as the center;
(2) installation of equipment
The method comprises the following steps of installing a multi-beam depth sounder on a starboard of a working ship, installing a compass motion sensor on a port side of the working ship, and installing a GPS on the starboard of the working ship close to a stern;
(3) parameter measurement
Setting the intersection point of a receiver of the multi-beam echosounder and the water surface as a reference point for measuring the water depth; the ship body coordinate system during measurement takes the reference point as the origin, the bow orientation is the Y axis, the vertical bow orientation is the X axis, and the origin is upward the Z axis;
the measured parameters comprise installation parameters of a receiver of the multi-beam sounder, installation parameters of an energy converter of the multi-beam sounder, installation parameters of a GPS, the current Ping time, latitude, longitude, ship speed, course, distance with a previous Ping, beam number, the posture of a ship body, tide level data, a surface layer sound velocity value, water depth and an open angle;
processing according to measured parameters to obtain a measuring line WGS84 coordinate, a 1980 Western-Ann coordinate and a Beijing 54 coordinate, then constructing a fitting model by using the point cloud data with the pile geometrical parameters as constraints, and solving the model by means of least square; and taking the constructed pile body model as a reference, eliminating abnormal point cloud far away from the pile body by adopting a statistical filtering method, realizing point cloud data filtering, repeating the work, and repeating iteration to obtain pile body inclination parameters, top surface central plane and elevation coordinates and plane distances among four-pile guide pipe frames which meet the precision requirement.
The technical problem to be solved by the invention can also be realized by the following technical scheme, and for the multi-beam underwater steel pipe pile position measuring method, the measuring method further comprises an accuracy evaluation method, and the accuracy evaluation method selects any one of the following two modes:
(1) cylinder modeling and column top plane modeling: respectively fitting the cylindrical point cloud data and the column top data by using the principle of total least square, wherein the central axis of the cylindrical surface is in line with the plane of the column top; the center coordinates of the pile top are obtained through intersection, and precision evaluation is carried out through the results of processing of a plurality of independent measuring lines;
(2) modeling a column top circle: and performing circle modeling on the segmented point cloud data of the column top to obtain the center coordinates of the column top circle, and performing precision evaluation according to the result of processing of a plurality of independent measuring lines.
The technical problem to be solved by the invention can also be realized by the following technical scheme that for the multi-beam underwater steel pipe pile position measuring method, the measuring method also comprises a data accuracy judging method, and the specific process is that the difference value of the elevation value of the underwater pile sinking top actually measured by using RTK and the corresponding normal high value processed by the measuring method is compared, and if the standard and specified requirements are met, the standard and specified requirements are represented to be qualified.
The technical problem to be solved by the invention can also be realized by the following technical scheme that for the multi-beam underwater steel pipe pile position measuring method, parameter correction is carried out before formal operation, wherein the parameter correction comprises pitch deviation, rolling deviation and heading deviation;
pitch deflection: obtaining by utilizing the same-line same-speed reverse central beam bathymetric data of a water area with larger water depth change;
roll deflection: calculating strip-shaped water depth section measurement data of a seabed teaching flat water area in the same line, same speed and reverse direction;
heading deviation: and (4) solving by utilizing the different-line same-speed reverse edge wave beam water depth measurement data of the water area with larger water depth change.
The technical problem to be solved by the invention can also be achieved by the following technical scheme that for the multi-beam underwater steel pipe pile position measuring method, the installation parameters of the receiver of the multi-beam sounder comprise the rotation angles and the position parameters of rolling, pitching and boating of the receiver of the multi-beam sounder; the installation parameters of the transducer of the multi-beam depth sounder comprise rotation angles and position parameters of roll, pitch and ship swing of the transducer; the installation parameters of the GPS include position parameters of the GPS antenna.
The technical problem to be solved by the invention can also be realized by the following technical scheme that for the multi-beam underwater steel pipe pile position measuring method, the sound velocity profiler is used for measuring sound velocity values at different water depths.
The technical problem to be solved by the invention can also be solved by adopting the following technical scheme that for the multi-beam underwater steel pipe pile position measuring method, the multi-beam sounder is SONIC 2024.
Compared with the prior art, the underwater measurement is carried out by adopting the SONIC2024 multi-beam sounding system, the basic principle of the underwater measurement is that the underwater detection is carried out by depending on the receiving time and the angle of an echo generated by touching a barrier after a sound wave is emitted, the measurement precision is higher, the underwater steel pipe pile does not need to be launched by a diver, the problem that each construction parameter cannot be measured accurately can be solved, the subsequent manufacturing and installation work of an upper structure can be carried out smoothly, and the beneficial effects are brought:
1. the measuring method can realize underwater accurate measurement of the steel pipe pile, and is beneficial to subsequent jacket manufacturing and installation work;
2. the measuring method is convenient and quick to use, reduces construction steps, shortens construction time, improves construction efficiency, and effectively reduces safety risks and construction cost.
Drawings
FIG. 1 is a schematic view of the installation of the apparatus of the present invention;
FIG. 2 is a first case of a survey line arrangement of the present invention;
FIG. 3 is a second wire layout of the present invention;
FIG. 4 is a graph of the accuracy determination data for the results of the present invention.
Detailed Description
The embodiments of the present invention will be further described with reference to the accompanying drawings so as to facilitate the further understanding of the present invention by those skilled in the art, and do not limit the right thereto.
Referring to fig. 1-4, the scheme of the invention is used for measuring the pile position parameters of the steel pipe pile under the open sea water, and the required equipment comprises SONIC2024, a sound velocity profiler, compass motion sensors Octans, a GPS and the like;
1. layout of survey lines
Two ways are arranged for the survey line:
① the measuring lines are arranged in a # shape with the pile as the center, and the advantage is that the measured data is stable;
②, the measuring line is arranged in a circle by taking the pile as the center, and the advantage is that the data volume is large;
comparing two measuring line arrangement modes according to actual conditions, and selecting an optimal mode for measurement;
2. installation of equipment
The installation work of the equipment mainly comprises the installation of instruments such as SONIC2024, compass motion sensors Octans, GPS and the like;
the SONIC2024 is arranged on the starboard of the operation ship, and the intersection point of the probe rod and the water surface is set as a reference point for measuring the water depth; the ship body coordinate system during measurement takes the reference point as the origin, the bow orientation is the Y axis, the vertical bow orientation is the X axis, and the origin is upward the Z axis;
3. parameter correction
The parameter correction includes pitch deviation, roll deviation, heading deviation, and the like. Before formal operation, laying a measuring line in a measuring operation water area, and correcting parameters; the pitching deviation is suitable for being carried out on terrains with slopes generally, the rolling deviation is suitable for being carried out on flatter terrains, the heading deviation is suitable for being carried out on undulating terrains, the same measuring line is generally selected for time delay, and actual data are obtained by adopting different ship speeds;
pitch deflection: obtaining by utilizing the same-line same-speed reverse central beam bathymetric data of a water area with larger water depth change;
roll deflection: calculating strip-shaped water depth section measurement data of a seabed teaching flat water area in the same line, same speed and reverse direction;
heading deviation: and (4) solving by utilizing the different-line same-speed reverse edge wave beam water depth measurement data of the water area with larger water depth change.
Measuring installation parameters of the multi-beam system: the method mainly comprises the steps of installing each transducer of the system, accurately measuring relative positions, establishing a coordinate system, and accurately setting internal parameters of the system to ensure accurate measurement of the internal parameters of the system.
The technical parameters to be measured include ① MRU (attitude reference unit) installation parameters (including MRU roll, pitch, and ship roll rotation angle and position parameters), ② transducer installation parameters (including transducer roll, pitch, and ship roll rotation angle and position parameters), and ③ GPS positioning system installation parameters (including antenna position parameters).
The installation of the multi-beam system transducer is very strict, and the transducer is fixedly installed in the middle of the bottom of a ship and is very close to the MRU position in the y direction. The special case can be installed on the side of a ship, the multi-beam transducer needs to be leveled in real time in the installation process, installation position information and parameters are accurately measured, and the multi-beam transducer does not need to be moved once being installed.
The antenna of the GPS is arranged at the high position of the ship body main body, the highest position is required in principle, and the periphery of the antenna is not shielded. The antenna can be mounted in the direction of the axis of the vessel if conditions permit.
It should be noted that when setting the system parameters, the positive and negative values of the parameters are accurately grasped, otherwise, a large deviation occurs. After the system parameters are set through accurate measurement, the deviation calibration of the multi-beam system, including roll, pitch, roll, time delay, etc., needs to be performed before the offshore formal operation. The setting and calibration of the internal parameters of the multi-beam system need to have relatively high professional knowledge level and master the key points of accurate measurement, once the system parameters which are accurately measured are set, excessive correction work is not needed during the marine test, and the requirement of measurement accuracy can be met only by performing very small correction. Therefore, the survey vessel is usually required to measure system parameters in a dry dock or in a very stable environment, and after a coordinate system is established, all measurement parameters need to be measured in the coordinate system; usually, an MRU is installed by selecting a gravity center point of a ship, and a coordinate system is established by taking a top surface center point of the MRU as a coordinate origin; and after the system measurement parameters are measured and calculated, the measurement parameters are input into the system. It should be noted that the distinction between positive and negative values should be considered very important when inputting parameters, otherwise, a large deviation will occur. Therefore, the setting of the internal parameters can be finished well only by careful analysis and accurate judgment during measurement.
The multi-beam sounding technology is an important means for measuring submarine topography, and the multi-beam sounding technology is used for measuring the topography by cooperation of multiple devices. Each device provides different functions to collect different data, the overall framework is to arrange each record in content and time sequence, and complicated mass data are obtained by adopting qinsy collection software. The method mainly comprises the current Ping time, latitude, longitude, ship speed, course, distance between the current Ping time and the ship, beam number, ship posture, tide level data, surface sound velocity value, water depth, open angle and other data. And (3) importing the complex data into caris internal processing software, and carrying out operations such as relevant parameter correction and denoising on the complex data to process simple fruit-formed data which is easy to understand and use.
The coordinates of a corrected measuring line WGS84, a 1980 Xian coordinate and a Beijing 54 coordinate; taking the geometric parameters of the pile body as constraints, constructing a fitting model by using point cloud data, and resolving the model by means of least square; and (3) taking the constructed pile body model as a reference, and eliminating abnormal point cloud far away from the pile body by adopting a statistical filtering method to realize point cloud data filtering. And repeating the work and iteration to obtain the inclination parameters of the pile body, the center plane and the elevation coordinates of the top surface and the plane distance between the four guide pipe frames which meet the precision requirement.
The method for evaluating the precision of the results of the processing of a plurality of independent measuring lines comprises the following steps:
the method comprises the following steps: cylinder modeling and cylinder top plane modeling. Respectively fitting the cylindrical point cloud data and the column top data by using the principle of total least square, wherein the central axis of the cylindrical surface is in line with the plane of the column top; the center coordinates of the pile top are obtained through intersection, and precision evaluation is carried out through the results of processing of a plurality of independent measuring lines;
the second method comprises the following steps: and modeling a column top circle. And performing circle modeling on the segmented point cloud data of the column top to obtain the center coordinates of the column top circle, and performing precision evaluation according to the result of processing of a plurality of independent measuring lines.
And (3) judging the accuracy of the data: comparing the elevation value of the pile top of the underwater pile sinking measured by RTK with the corresponding normal elevation value processed by multi-beam internal processing software, and if the elevation value meets the requirements of the specification, indicating that the pile is qualified; RTK refers to a carrier phase differential technology, is a differential method for processing carrier phase observed quantities of two measuring stations in real time, and sends carrier phases acquired by a reference station to a user receiver for solving a coordinate by means of difference.
Sonic 2024: an echo sounding system for simultaneously obtaining tens of adjacent narrow beams generally comprises two parts, namely narrow beam echo sounding equipment and echo processing equipment, and is mainly used for submarine topography measurement, sea sweeping measurement and measurement of offshore construction areas. The multi-beam sounding system arranged on the measuring ship can obtain the vertical depth below the ship and dozens of water depth values in a plane vertical to the track of the ship when transmitting one acoustic pulse, so as to draw a submarine geomorphology map in real time; by processing various data by the computer on the ship, an isobologram can be drawn by the plotter, the position and the depth of the navigation barrier can be accurately determined, the crossing from point-line measurement to line-surface measurement is realized, and the working efficiency and the construction precision are greatly improved.
Sound velocity profiler SVP: the method is used for measuring sound velocity values of different water depths, a sounding error caused by the sound velocity error is one of main factors of a multi-beam sounding error, and the instability of a sound velocity profile can cause a multi-beam sounding strip to be distorted, so that the multi-beam sounding data is poor in precision and even cannot be used; in the multi-beam shallow sea measurement process, SVP errors can cause the upward or downward symmetrical bending phenomenon of a sounding strip, and particularly, surface sound velocity errors have large influence on sounding values, so that accurate SVP needs to be obtained in multi-beam measurement, and a surface sound velocity meter is suggested to be equipped and correctly installed to obtain high-precision multi-beam water depth data.
Compass motion sensors Octans: the OCTANS optical fiber compass and the motion sensor are the only measurement-level compass authenticated by IMO in the world, contain 3 optical fiber gyros and 3 accelerometers, and can give the six-degree-of-freedom motion attitude and true north azimuth angle of the carrier; under any condition, accurate and reliable motion attitude data can be provided in real time, and perfect real-time heave data can be provided for various ships under any sea condition. In the fiber-optic gyroscope, there is no mechanical motion, but instead the light rotates in the fiber-optic coil; by means of the three auxiliary accelerometers, the OCTANS can accurately output compass azimuth information and three-dimensional motion attitude information at the frequency of 100 Hz within 10 minutes from power-on, measure the roll, pitch and heave of the ship body in real time, and play a role in recording the attitude in real time.
GPS: the global satellite positioning system is a satellite navigation positioning system based on space radio wave transmission, has the functions of precise three-dimensional navigation and space positioning with totipotency, globality, all weather, continuity and instantaneity, and simultaneously has good anti-interference performance and information confidentiality; the positioning function of the global satellite space positioning technology is realized according to the distance intersection fixed point working principle in measurement; the system is a middle-distance circular orbit satellite positioning system, and can provide accurate positioning and high-precision time reference for most of the earth surface; and giving the accurate coordinate position of each measuring point, and then obtaining the distance and the space position of each measuring point through the coordinate position.
In order to ensure the accuracy of the water depth data, the installation deviation roll, pitch and yaw offset of the sonar head and the compass and the motion sensor are required to be known, specific measurement is required to be carried out on two different submarine terrains during correction, and the correction roll of rolling is measured once respectively on the same survey line of a flat land type at the same ship speed and opposite course directions; the pitch correction is carried out once respectively at the same ship speed and opposite course directions on the same measuring line of the characteristic terrain; correcting yaw, namely measuring once on two measuring lines on two sides of the characteristic terrain along the same course at the same ship speed, wherein the interval of the two measuring lines is equal to the maximum bandwidth; repeatedly adjusting the calibration value until the calibration value is considered to be proper, and storing the calibration value in the internal processing software by clicking stop; opening the vessel config after calibration allows to see in the transmitter 1 the corrected value after calibration, which may be positive or negative.
Claims (7)
1. A method for measuring the pile position of a multi-beam underwater steel pipe pile is characterized by comprising the following steps: the method adopts a multi-beam depth sounder, a compass motion sensor and a GPS to measure the pile position of the underwater steel pipe pile, and comprises the following steps:
(1) layout of survey lines
The line measurement arrangement adopts any one of the following two modes:
the first method comprises the following steps: the measuring lines are arranged in a shape like a Chinese character '#' by taking the piles as centers;
and the second method comprises the following steps: the measuring lines are arranged in a circle by taking the pile as the center;
(2) installation of equipment
The method comprises the following steps of installing a multi-beam depth sounder on a starboard of a working ship, installing a compass motion sensor on a port side of the working ship, and installing a GPS on the starboard of the working ship close to a stern;
(3) parameter measurement
Setting the intersection point of a receiver of the multi-beam echosounder and the water surface as a reference point for measuring the water depth; the ship body coordinate system during measurement takes the reference point as the origin, the bow orientation is the Y axis, the vertical bow orientation is the X axis, and the origin is upward the Z axis;
the measured parameters comprise installation parameters of a receiver of the multi-beam sounder, installation parameters of an energy converter of the multi-beam sounder, installation parameters of a GPS, the current Ping time, latitude, longitude, ship speed, course, distance with a previous Ping, beam number, the posture of a ship body, tide level data, a surface layer sound velocity value, water depth and an open angle;
processing according to measured parameters to obtain a measuring line WGS84 coordinate, a 1980 Western-Ann coordinate and a Beijing 54 coordinate, then constructing a fitting model by using the point cloud data with the pile geometrical parameters as constraints, and solving the model by means of least square; and taking the constructed pile body model as a reference, eliminating abnormal point cloud far away from the pile body by adopting a statistical filtering method, realizing point cloud data filtering, repeating the work, and repeating iteration to obtain pile body inclination parameters, top surface central plane and elevation coordinates and plane distances among four-pile guide pipe frames which meet the precision requirement.
2. The method for measuring the pile position of the multi-beam underwater steel pipe pile according to claim 1, characterized in that: the measuring method also comprises an accuracy evaluation method, wherein the accuracy evaluation method adopts any one of the following two modes:
(1) cylinder modeling and column top plane modeling: respectively fitting the cylindrical point cloud data and the column top data by using the principle of total least square, wherein the central axis of the cylindrical surface is in line with the plane of the column top; the center coordinates of the pile top are obtained through intersection, and precision evaluation is carried out through the results of processing of a plurality of independent measuring lines;
(2) modeling a column top circle: and performing circle modeling on the segmented point cloud data of the column top to obtain the center coordinates of the column top circle, and performing precision evaluation according to the result of processing of a plurality of independent measuring lines.
3. The method for measuring the pile position of the multi-beam underwater steel pipe pile according to claim 1, characterized in that: the measuring method also comprises a data accuracy judging method, and the specific process is that the difference value of the underwater pile sinking top elevation value actually measured by adopting RTK and the corresponding normal height value processed by the measuring method is compared, and if the standard requirement is met, the result is qualified.
4. The method for measuring the pile position of the multi-beam underwater steel pipe pile according to claim 1, characterized in that: parameter correction is carried out before formal operation, and the parameter correction comprises pitch deviation, rolling deviation and heading deviation;
pitch deflection: obtaining by utilizing the same-line same-speed reverse central beam bathymetric data of a water area with larger water depth change;
roll deflection: calculating strip-shaped water depth section measurement data of a seabed teaching flat water area in the same line, same speed and reverse direction;
heading deviation: and (4) solving by utilizing the different-line same-speed reverse edge wave beam water depth measurement data of the water area with larger water depth change.
5. The method for measuring the pile position of the multi-beam underwater steel pipe pile according to claim 1, characterized in that: the installation parameters of the receiver of the multi-beam depth sounder comprise rotation angles and position parameters of rolling, pitching and ship rolling of the receiver of the multi-beam depth sounder; the installation parameters of the transducer of the multi-beam depth sounder comprise rotation angles and position parameters of roll, pitch and ship swing of the transducer; the installation parameters of the GPS include position parameters of the GPS antenna.
6. The method for measuring the pile position of the multi-beam underwater steel pipe pile according to claim 1, characterized in that: the method uses a sound velocity profiler to measure sound velocity values at different water depths.
7. The method for measuring the pile position of the multi-beam underwater steel pipe pile according to claim 1, characterized in that: the multi-beam depth sounder is SONIC 2024.
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| CN112147619A (en) * | 2020-09-24 | 2020-12-29 | 中交第三航务工程局有限公司江苏分公司 | Iterative determination method for distance between piles based on sonar point cloud data |
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| CN113431107A (en) * | 2021-07-27 | 2021-09-24 | 陈皋 | Method for detecting cast-in-place pile by correcting distance between sound measuring tubes in cast-in-place pile through vector model |
| CN116734759A (en) * | 2023-08-14 | 2023-09-12 | 四川省公路规划勘察设计研究院有限公司 | Bridge body detection method and system based on three-dimensional laser and multi-beam underwater scanning |
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