CN113960632A - Submarine pipe cable embedded underwater positioning system and working method thereof - Google Patents

Submarine pipe cable embedded underwater positioning system and working method thereof Download PDF

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Publication number
CN113960632A
CN113960632A CN202111113887.1A CN202111113887A CN113960632A CN 113960632 A CN113960632 A CN 113960632A CN 202111113887 A CN202111113887 A CN 202111113887A CN 113960632 A CN113960632 A CN 113960632A
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coordinate system
ultra
plough
submarine
short baseline
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CN113960632B (en
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何旭涛
郑新龙
卢志飞
胡凯
孙杰
雷之楮
李渊
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Zhejiang Zhoushan Institute Of Oceanic Electric Power Transmission Co ltd
Zhoushan Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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Zhejiang Zhoushan Institute Of Oceanic Electric Power Transmission Co ltd
Zhoushan Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
    • H04L69/161—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields
    • H04L69/162—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields involving adaptations of sockets based mechanisms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

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  • Radar, Positioning & Navigation (AREA)
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  • General Physics & Mathematics (AREA)
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Abstract

The invention discloses a submarine pipe cable burying underwater positioning system and a working method thereof, and relates to the submarine pipe cable burying field. When the submarine pipe cable burying plough works, the submarine pipe cable burying plough is invisible, and the posture of the burying plough is not obtained in real time by an effective method. The invention comprises a submarine cable burying construction ship, a burying plow, a survey ship, an ultra-short baseline transducer and a plurality of ultra-short baseline beacons arranged on the burying plow; an object coordinate system is arranged on the embedding plough, a position vector of the ultra-short baseline beacon under the object coordinate system and a position vector of the submarine pipe cable under the object coordinate system are determined according to the structural shape and the size of the embedding plough, and different embedding depths correspond to different submarine cable guide pipe positions; during operation, the ultra-short baseline transducer is used as an origin, a global coordinate system is established, and the position information of the ultra-short baseline beacon is obtained through ultra-short baseline beacon positioning. The technical scheme is simple in method and reliable in work, and the real-time position of the submarine pipe cable can be accurately acquired in real time.

Description

Submarine pipe cable embedded underwater positioning system and working method thereof
Technical Field
The invention relates to the field of submarine cable burying, in particular to a submarine cable burying underwater positioning system and a working method thereof.
Background
When the submarine pipe cable burying plough works, the submarine pipe cable burying plough is invisible, so that the posture of the burying plough is not effectively acquired in real time, and the real-time position of the submarine pipe cable is further known.
Disclosure of Invention
The invention aims to solve the technical problems and provide a technical task for perfecting and improving the prior technical scheme and providing a submarine pipe cable burying underwater positioning system so as to achieve the purpose of acquiring the posture of a burying plow and further knowing the real-time position of a submarine pipe cable. Therefore, the invention adopts the following technical scheme.
A submarine pipe cable burying underwater positioning system comprises a submarine cable burying construction ship, a burying plough dragged by the submarine cable burying construction ship, a survey ship positioned at the rear side of the submarine cable burying construction ship, an ultra-short baseline transducer arranged on the survey ship, and a plurality of ultra-short baseline beacons arranged on the burying plough; an object coordinate system is arranged on the embedding plough, a position vector of the ultra-short baseline beacon under the object coordinate system and a position vector of the submarine pipe cable under the object coordinate system are determined according to the structural shape and the size of the embedding plough, and different embedding depths correspond to different submarine cable guide pipe positions;
during operation, a global coordinate system is established by taking the ultra-short baseline transducer as an origin, and the position information of the ultra-short baseline beacon is obtained through ultra-short baseline beacon positioning, namely the position vector of the ultra-short baseline beacon under the global coordinate system is obtained.
When the submarine pipe cable is buried, the buried submarine cable construction ship drags the buried plow to move forward, and the submarine pipe cable on the submarine cable construction ship is buried into the seabed continuously through the buried plow; an ultra-short baseline transducer on the survey vessel is immersed downwards into the water, receives signals from an ultra-short baseline beacon on the burying plow, obtains the real-time depth, position and posture of the submarine umbilical burying plow, and obtains the real-time position of the submarine umbilical according to the structural dimension of the burying plow.
The technical scheme is as follows:
1. an ultra-short baseline is used to determine the position of the subsea umbilical burying plow.
2. The attitude of the buried plow is determined using a combination of ultra-short baseline beacons.
3. And determining the real-time position of the submarine umbilical according to the obtained attitude and the structural size of the buried plough.
The method is simple and reliable in work, and the real-time position of the submarine pipe cable can be accurately acquired in real time.
As a preferable technical means: the buried plough comprises a plough body and a submarine cable guide pipe which is obliquely arranged backwards, the shape and the size of the plough body are fixed, and the ultrashort baseline beacon is arranged on the periphery of the plough body; the position of the submarine cable guide pipe is fixed with the plough body. The plough body does not deform such as unfolding, folding, shrinking and the like, and the shape and the size of the plough body are fixed, so that the posture can be conveniently determined. After the plough body posture is determined, the submarine cable guide pipe and the plough body are fixed, so that the real-time position of the submarine cable can be accurately determined.
As a preferable technical means: the plough body is a square body, each corner is provided with an ultra-short baseline beacon, and the ultra-short baseline beacons are fixedly connected with the plough body. The plough body posture is convenient to calculate, the ultrashort baseline beacons are positioned on the corners of the plough body, the sum of the distances between the ultrashort baseline beacons is maximum, the influence on judgment of the plough body posture caused by measurement errors is favorably reduced, and the obtained plough body posture is more accurate.
As a preferable technical means: four points of the plow body correspond to four beacons of the ultra-short baseline, an object coordinate system is set on the embedded plow, and position vectors of the beacons at the four end points under the object coordinate system are determined according to the structural shape and the size of the embedded plow
Figure BDA0003270405040000031
And the position vector of the submarine cable under the object coordinate system
Figure BDA0003270405040000032
Different burial depths correspond to different submarine cable guide pipe positions;
during operation, the ultra-short baseline transducer is used as an origin, a global coordinate system is established, and the position information of the four beacons is obtained through ultra-short baseline beacon positioning, namely the position vectors of the four beacons in the global coordinate system are obtained
Figure BDA0003270405040000033
Because the transducer is used in cooperation with the GPS device, the position vector determined by the transducer is the position information referenced by the GPS system coordinate system. Because the embedded plough is of a rigid body structure, the embedded plough passes through the relation vector under the coordinate system of the object
Figure BDA0003270405040000034
Position vector in GPS coordinate system
Figure BDA0003270405040000035
The conversion relation between the two can be obtained, the relative position and posture relation of the embedded plough relative to the energy converter can be calculated, and further, the position and posture of the embedded plough under the GPS coordinate system can be determined.
As a preferable technical means: the attitude of the object coordinate system is determined by the physical attitude of the embedded plough, and a rotation matrix between the two coordinate systems is obtained according to the beacon position and the position vectors under the two coordinate systems according to the inverse kinematics; the plough body posture is set to be determined by rotating angles alpha, beta and gamma around a Z axis, a Y axis and an X axis in sequence, and the rotation matrix is as follows:
Figure BDA0003270405040000036
correspondingly, through rnnThe result is matched, and the calculation formula of alpha, beta and gamma is as follows:
Figure BDA0003270405040000037
Figure BDA0003270405040000041
Figure BDA0003270405040000042
if β is 90, α is 0 or β is-90, and when α is 0, γ is as follows:
γ＝Atan2(r12，r22)(β＝90，α＝0)
γ＝-Atan2(r12，r22)(β＝-90，α＝0)
the position vector of the submarine cable catheter in the object coordinate system is point-multiplied by the rotation matrix
Figure BDA0003270405040000043
Obtaining a position vector in a global coordinate system
Figure BDA0003270405040000044
Wherein, the position coordinate of the submarine cable conduit is a vector parameter; the depth of the submarine cable guide pipe from the surface of the seabed is obtained by the difference between the depth H of the point obtained by submarine exploration data and the depth H of the submarine cable guide pipe; the attitude information of the submarine cable conduit is the rotation angle information of three axes, which is alpha, beta and gamma. So far, the attitude and position of the embedded plow are determined. c is the abbreviation of cos, e.g., c β is cos β, c α is cos α, c γ is cos γ, s is sin, e.g., s α is sin α, s β is sin β, s γ is sin γ.Parameter r11、r12、r13、r21、r22、r23、r31、r32、r33The position vector relationship can be obtained.
Another object of the present invention is to provide a method for operating a submarine umbilical burying underwater positioning system, comprising:
which comprises the following steps:
1) obtaining a positioning basis, wherein the positioning basis comprises the shape and the size of the embedded plough (2) and the position of the ultra-short baseline beacon on the embedded plough (2), and the shape and the size of the embedded plough (2) comprise the shape and the size of a plough body (8) and a submarine cable rigid conduit (9);
2) establishing a coordinate system; establishing a global coordinate system by using the ultra-short baseline transducer as an origin, and obtaining the position information of the four beacons through ultra-short baseline beacon positioning, namely obtaining the position vectors of the four beacons in the global coordinate system
Figure BDA0003270405040000051
Four points of the plow body correspond to four beacons of the ultra-short baseline, an object coordinate system is set on the embedded plow, and position vectors of the beacons at the four end points under the object coordinate system are determined according to the structural shape and the size of the embedded plow
Figure BDA0003270405040000052
And the position vector of the submarine cable under the object coordinate system
Figure BDA0003270405040000053
3) Solving the coordinates of the position of the beacon; when in operation, the transducer is matched with the GPS device, so the position vector determined by the transducer is the position information under the reference of the GPS system coordinate system; because the embedded plough is of a rigid body structure, the embedded plough passes through the relation vector under the coordinate system of the object
Figure BDA0003270405040000054
Position vector in GPS coordinate system
Figure BDA0003270405040000055
The conversion relation between the two can be obtained, the relative position and posture relation of the embedded plough relative to the energy converter can be calculated, and further, the position and posture of the embedded plough under a GPS coordinate system can be determined; the calculation model is as follows:
the attitude of the object coordinate system is determined by the physical attitude of the embedded plough, and a rotation matrix between the two coordinate systems is obtained according to the beacon position and the position vectors under the two coordinate systems according to the inverse kinematics; the plough body posture is set to be determined by rotating angles alpha, beta and gamma around a Z axis, a Y axis and an X axis in sequence, and the rotation matrix is as follows:
Figure BDA0003270405040000056
parameter rnnThe position vector relation can be obtained;
correspondingly, through rnnThe result is matched, and the calculation formula of alpha, beta and gamma is as follows:
Figure BDA0003270405040000057
Figure BDA0003270405040000058
Figure BDA0003270405040000061
if β is 90, α is 0 or β is-90, and when α is 0, γ is as follows:
γ＝Atan2(r12，r22)(β＝90，α＝0)
γ＝-Atan2(r12，r22)(β＝-90，α＝0)
the position vector of the submarine cable catheter in the object coordinate system is point-multiplied by the rotation matrix
Figure BDA0003270405040000062
Obtaining a position vector in a global coordinate system
Figure BDA0003270405040000063
Wherein, the position coordinate of the submarine cable conduit is a vector parameter; the depth of the submarine cable guide pipe from the surface of the seabed is obtained by the difference between the depth H of the point obtained by submarine exploration data and the depth H of the submarine cable guide pipe; the attitude information of the submarine cable guide pipe is the rotation angle information of three shafts, and is alpha, beta and gamma; so far, the attitude and position of the embedded plow are determined.
In step 3), the calculation of the position is performed in a processor, the processor being operative to include the steps of:
31) communication
The ultra-short baseline transducer is connected with the processor through a serial port, and the processor receives a message frame which is sent by the ultra-short baseline transducer and has 9600 baud of normal parameters, 8-bit data, 1 stop bit and no check bit;
32) treatment of
321) After the processor obtains the information of the upper computer, extracting key information, and finishing the acquisition of serial port information by using a serial library of python; transcoding the information in the byte format to convert the information into string str information;
322) slicing the character string information to obtain coordinates and depth information of four beacons, wherein one coordinate has four parameters; converting the information of the four parameters from a string str format to a floating point float64 format so as to calculate the parameters;
323) in the calculation, the operation of a math library is used for carrying out linear arrangement on equations containing unknown parameters and known parameters to form a linear equation set as follows, and the required content is obtained;
Figure BDA0003270405040000071
by inverse trigonometric function, from rnnReversely solving the deflection angle information of the embedded plough;
33) interaction
331) The position information is sent to the UI display module by the processor through a corresponding protocol, and the data communication adopts a TCP mode of socket, namely a server-client mode; the Client is used for returning data; the Server is used for receiving the data and then storing the data into the database;
332) storing, because of different communication frequencies, information cannot be sent one by one; therefore, the content needs to be cached, each piece of information sent by the processing module is stored, and then the UI module extracts and displays the information one by one;
34) display device
341) The embedded plough modeling data is modeled through OpenGL, and the view angle can be dragged in an operation window so as to conveniently check the posture condition of the embedded plough by 360 degrees;
342) and after the digital information is read from the database, the digital information is reflected to an operation interface.
Has the advantages that: the technical scheme is that the position of the submarine pipe cable burying plow is determined by adopting an ultra-short base line, the posture of the burying plow is determined by adopting the combination of ultra-short base line beacons, and the real-time position of the submarine pipe cable is determined according to the obtained posture and the structural size of the burying plow. The submarine pipe cable burying device is simple in structure, convenient to operate and reliable in working, the depth, the position and the posture of the submarine pipe cable burying plow can be monitored in real time, and the position of the submarine pipe cable can be obtained according to the structural size of the burying plow. Therefore, the submarine pipe cable can be better controlled to be buried, and technical guarantee is provided for submarine pipe cable burying.
Drawings
FIG. 1 is a block diagram of the present invention.
FIG. 2 is a top view of the buried plow of the present invention.
FIG. 3 is a side view of the buried plow of the present invention.
Fig. 4 is a coordinate system establishment reference diagram of the present invention.
In the figure: 1. burying a submarine cable construction ship; 2. burying a plough; 3. a survey vessel; 4. an ultra-short baseline transducer; 5. an ultra-short baseline beacon; 6. a subsea umbilical; 7. a seabed; 8. a plow body; 9. rigid conduit for sea cable.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings in the specification.
As shown in fig. 1, the present invention includes a submarine cable burying construction vessel 1, a burying plow 2 towed by the submarine cable burying construction vessel 1, a survey vessel 3 located at the rear side of the submarine cable burying construction vessel, an ultra-short baseline transducer 4 located on the survey vessel 3, and 4 ultra-short baseline beacons 5 located on the burying plow 2;
when the submarine pipe cable 6 is buried, the buried submarine cable construction ship 1 drags the buried plough 2 to move forward, and the submarine pipe cable 6 on the submarine cable construction ship is continuously buried into the seabed 7 through the buried plough 2; an ultra-short baseline transducer 4 on the survey vessel 3 is immersed downwards in the water, the ultra-short baseline transducer 4 receives signals from an ultra-short baseline beacon 5 on the buried plow, the real-time depth, position and attitude of the buried plow 2 of the submarine umbilical 6 are obtained, and the real-time position of the submarine umbilical 6 is obtained according to the structural dimensions of the buried plow 2. The technical scheme is as follows: determining the position of the buried plough 2 of the submarine pipe cable 6 by adopting an ultra-short baseline; determining the posture of the embedded plough 2 by adopting the combination of the ultra-short baseline beacons 5; the real-time position of the subsea umbilical 6 is determined from the obtained attitude and the structural dimensions of the buried plow 2. The method is simple, works reliably, and can accurately acquire the real-time position of the submarine pipe cable 6 in real time.
As shown in fig. 2 and 3, in order to obtain the position more accurately and quickly, the buried plough 2 comprises a plough body 8 and a submarine cable duct 9 which is obliquely arranged backwards, the shape and the size of the plough body 8 are fixed, and the ultrashort baseline beacon 5 is arranged on the periphery of the plough body 8; the position of the submarine cable guide pipe 9 is fixed with the plough body 8. The shape and the size of the plough body 8 are fixed, so that the posture can be conveniently determined. After the posture of the plough body 8 is determined, the real-time position of the submarine umbilical 6 can be determined due to the fixed positions of the submarine umbilical guide pipe 9 and the plough body 8.
In order to improve the rapidity and the accuracy of position calculation, the plough body 8 is a square body, each corner is provided with an ultra-short baseline beacon 5, and the ultra-short baseline beacon 5 is fixedly connected with the plough body 8. The posture of the plow body 8 is convenient to calculate, the ultrashort baseline beacons 5 are positioned at the corners of the plow body 8, the sum of the distances between the ultrashort baseline beacons 5 is maximum, and the posture calculation of the plow body 8 is more accurate.
As shown in fig. 4, four points of the plow body 8 correspond to four beacons of the ultra-short baseline positioning system, an object coordinate system body frame is set on the embedded plow, and position vectors of the beacons at the four end points under the object coordinate system can be determined according to the structural shape and size of the embedded plow
Figure BDA0003270405040000091
And the position vector of the submarine pipe cable 6 under the object coordinate system
Figure BDA0003270405040000092
Different depths of burial correspond to different positions of the submarine cable guide pipe 9.
During operation, a global coordinate system (global frame) is established with the ultra-short baseline transducer 4 as an origin, and the position information of the four beacons, namely the position vectors of the four beacons in the global coordinate system, can be obtained through positioning by the ultra-short baseline beacon 5
Figure BDA0003270405040000093
The attitude of the object coordinate system is determined by the physical attitude of the embedded plough, and a Rotation Matrix (Rotation Matrix) between the two coordinate systems is obtained according to the position vectors under the two coordinate systems by the beacon position and the inverse kinematics. The posture of the plough body (8) is set to be determined by rotating angles alpha, beta and gamma around the Z axis, the Y axis and the X axis in sequence, and the rotation matrix is as follows:
Figure BDA0003270405040000101
by inverse kinematics, taking beacon a as an example, let:
Figure BDA0003270405040000102
from the above formula, the specific coefficient relationship between the two can be obtained as:
Figure BDA0003270405040000103
three sets of equations can thus be derived, and similarly, the same transformation is applied to the other two sets of vectors in the B, C, D beacons to derive the other two sets of three reference-containing equations. Linearly arranging the three sets of relational equations yields:
Figure BDA0003270405040000104
at this time, the equation can be solved, the parameter rnnAnd obtaining a concrete numerical value of the solution. Since information of the four sets of beacons can be obtained at the same time, the fourth set of data, which is not used for calculation, is used to check the calculation result accuracy.
By a rotation matrix
Figure BDA0003270405040000105
The calculation formula of alpha, beta and gamma is obtained by the inverse operation of (2):
Figure BDA0003270405040000111
Figure BDA0003270405040000112
Figure BDA0003270405040000113
if β is 90, α is 0 or β is-90, and when α is 0, γ is as follows:
γ＝Atan2(r12，r22)(β＝90，α＝0)
γ＝-Atan2(r12，r22)(β＝-90，α＝0)
the position vector of the submarine cable guide pipe (9) in the object coordinate system is point-multiplied by the rotation matrix
Figure BDA0003270405040000114
Obtaining a position vector in a global coordinate system
Figure BDA0003270405040000115
Wherein, the position coordinate of the submarine cable guide pipe (9) is a vector parameter; the depth of the submarine cable conduit (9) from the surface of the seabed is obtained by the difference between the depth H of the point obtained by submarine exploration data and the depth H of the submarine cable conduit (9); the attitude information of the submarine cable guide pipe (9), namely the rotation relation of the object coordinate system under the global coordinate system, namely alpha, beta and gamma.
The working method of the submarine pipe cable burying underwater positioning system is provided: which comprises the following steps:
1) obtaining a positioning basis, wherein the positioning basis comprises the shape and the size of the embedded plough (2) and the position of the ultra-short baseline beacon on the embedded plough (2), and the shape and the size of the embedded plough (2) comprise the shape and the size of a plough body (8) and a submarine cable rigid conduit (9);
2) establishing a coordinate system; establishing a global coordinate system by using the ultra-short baseline transducer as an origin, and obtaining the position information of the four beacons through ultra-short baseline beacon positioning, namely obtaining the position vectors of the four beacons in the global coordinate system
Figure BDA0003270405040000116
Four points of the plow body correspond to four beacons of the ultra-short baseline, an object coordinate system is set on the embedded plow, and position vectors of the beacons at the four end points under the object coordinate system are determined according to the structural shape and the size of the embedded plow
Figure BDA0003270405040000117
And the position vector of the submarine cable under the object coordinate system
Figure BDA0003270405040000121
3) Solving the coordinates of the position of the beacon; when in operation, the transducer is matched with the GPS device, so the position vector determined by the transducer is the position information under the reference of the GPS system coordinate system; since the plough is embeddedRigid body structure by means of a relation vector in a coordinate system to the object
Figure BDA0003270405040000122
Position vector in GPS coordinate system
Figure BDA0003270405040000123
The conversion relation between the two can be obtained, the relative position and posture relation of the embedded plough relative to the energy converter can be calculated, and further, the position and posture of the embedded plough under a GPS coordinate system can be determined; the calculation model is as follows:
the attitude of the object coordinate system is determined by the physical attitude of the embedded plough, and a rotation matrix between the two coordinate systems is obtained according to the beacon position and the position vectors under the two coordinate systems according to the inverse kinematics; the plough body posture is set to be determined by rotating angles alpha, beta and gamma around a Z axis, a Y axis and an X axis in sequence, and the rotation matrix is as follows:
Figure BDA0003270405040000124
parameter rnnThe position vector relation can be obtained;
correspondingly, through rnnThe result is matched, and the calculation formula of alpha, beta and gamma is as follows:
Figure BDA0003270405040000125
Figure BDA0003270405040000126
Figure BDA0003270405040000127
if β is 90, α is 0 or β is-90, and when α is 0, γ is as follows:
γ＝Atan2(r12,r22)(β＝90，α＝0)
γ＝-Atan2(r12,r22)(β＝-90，α＝0)
the position vector of the submarine cable catheter in the object coordinate system is point-multiplied by the rotation matrix
Figure BDA0003270405040000131
Obtaining a position vector in a global coordinate system
Figure BDA0003270405040000132
Wherein, the position coordinate of the submarine cable conduit is a vector parameter; the depth of the submarine cable guide pipe from the surface of the seabed is obtained by the difference between the depth H of the point obtained by submarine exploration data and the depth H of the submarine cable guide pipe; the attitude information of the submarine cable guide pipe is the rotation angle information of three shafts, and is alpha, beta and gamma; so far, the attitude and position of the embedded plow are determined.
In step 3), the calculation of the position is performed in a processor, the processor being operative to include the steps of:
31) communication
The ultra-short baseline transducer is connected with the processor through a serial port, and the processor receives a message frame which is sent by the ultra-short baseline transducer and has 9600 baud of normal parameters, 8-bit data, 1 stop bit and no check bit;
32) treatment of
321) After the processor obtains the information of the upper computer, extracting key information, and finishing the acquisition of serial port information by using a serial library of python; transcoding the information in the byte format to convert the information into string str information;
322) slicing the character string information to obtain coordinates and depth information of four beacons, wherein one coordinate has four parameters; converting the information of the four parameters from a string str format to a floating point float64 format so as to calculate the parameters;
323) in the calculation, the operation of a math library is used for carrying out linear arrangement on equations containing unknown parameters and known parameters to form a linear equation set as follows, and the required content is obtained;
Figure BDA0003270405040000141
by inverse trigonometric function, from rnnReversely solving the deflection angle information of the embedded plough;
33) interaction
331) The position information is sent to the UI display module by the processor through a corresponding protocol, and the data communication adopts a TCP mode of socket, namely a server-client mode; the Client is used for returning data; the Server is used for receiving the data and then storing the data into the database;
332) storing, because of different communication frequencies, information cannot be sent one by one; therefore, the content needs to be cached, each piece of information sent by the processing module is stored, and then the UI module extracts and displays the information one by one;
34) display device
341) The embedded plough modeling data is modeled through OpenGL, and the view angle can be dragged in an operation window so as to conveniently check the posture condition of the embedded plough by 360 degrees;
342) and after the digital information is read from the database, the digital information is reflected to an operation interface.
An underwater submarine umbilical laying positioning system as described above with reference to fig. 1-4 is an embodiment of the present invention. The invention has shown the substantive features and advantages of the invention, and it can be modified in shape, structure and the like equally according to the practical use requirements, all within the scope of protection of the scheme.

Claims (7)

1. The utility model provides a submarine pipeline cable buries underwater positioning system underground which characterized in that: the device comprises a submarine cable burying construction ship (1), a burying plow (2) dragged by the submarine cable burying construction ship (1), a survey ship (3) positioned at the rear side of the submarine cable burying construction ship, an ultra-short baseline transducer (4) arranged on the survey ship (3), and a plurality of ultra-short baseline beacons (5) arranged on the burying plow (2); an object coordinate system is set on the embedding plough, a position vector of the ultra-short baseline beacon (5) under the object coordinate system and a position vector of the submarine pipe cable (6) under the object coordinate system are determined according to the structural shape and the size of the embedding plough, and different embedding depths correspond to different submarine cable guide pipes (9);
during operation, a global coordinate system is established by taking the ultra-short baseline transducer (4) as an origin, and the position information of the ultra-short baseline beacon (5) is obtained through positioning of the ultra-short baseline beacon (5), namely the position vector of the ultra-short baseline beacon (5) in the global coordinate system is obtained;
when the submarine pipe cable (6) is buried, the buried submarine cable construction ship (1) drags the buried plough (2) to move forward, and the submarine pipe cable (6) on the submarine cable construction ship is continuously buried into the seabed (7) through the buried plough (2); an ultra-short baseline transducer (4) on the survey vessel (3) is immersed downwards into water, the ultra-short baseline transducer (4) receives signals from an ultra-short baseline beacon (5) on the burying plow, the real-time depth, position and posture of the burying plow (2) of the submarine umbilical (6) are obtained, and the real-time position of the submarine umbilical (6) is obtained according to the structural dimension of the burying plow (2).
2. A submarine umbilical burying and positioning system as claimed in claim 1 wherein: the embedded plough (2) comprises a plough body (8) and a submarine cable rigid conduit (9) which is obliquely arranged backwards, the shape and the size of the plough body (8) are fixed, and the ultrashort baseline beacon (5) is arranged on the periphery of the plough body (8); the position of the submarine cable rigid conduit (9) is fixed with the plough body (8).
3. A submarine umbilical burying and positioning system according to claim 2, wherein: the plough body (8) is a square body, each corner is provided with an ultra-short baseline beacon (5), and the ultra-short baseline beacon (5) is fixedly connected with the plough body (8).
4. A submarine umbilical burying and positioning system according to claim 3, wherein: four points of the plow body (8) correspond to four beacons of the ultra-short baseline, an object coordinate system is set on the embedded plow, and position vectors of the beacons at the four end points under the object coordinate system are determined according to the structural shape and the size of the embedded plow
Figure FDA0003270405030000021
And the position vector of the submarine cable (6) in the object coordinate system
Figure FDA0003270405030000022
Different burial depths correspond to different positions of the submarine cable guide pipe (9);
during operation, the ultra-short baseline transducer (4) is used as an origin, a global coordinate system is established, and the position information of the four beacons is obtained through positioning of the ultra-short baseline beacon (5), namely the position vectors of the four beacons in the global coordinate system are obtained
Figure FDA0003270405030000023
5. The subsea umbilical burying positioning system as recited in claim 4, wherein: the attitude of the object coordinate system is determined by the physical attitude of the embedded plough, and a rotation matrix between the two coordinate systems is obtained according to the beacon position and the position vectors under the two coordinate systems according to the inverse kinematics; the posture of the plough body (8) is set to be determined by rotating angles alpha, beta and gamma around the Z axis, the Y axis and the X axis in sequence, and the rotation matrix is as follows:
Figure FDA0003270405030000024
Figure FDA0003270405030000025
the calculation formula of alpha, beta and gamma is as follows:
Figure FDA0003270405030000026
Figure FDA0003270405030000027
Figure FDA0003270405030000031
if β is 90, α is 0 or β is-90, and when α is 0, γ is as follows:
γ＝Atan2(r12,r22)(β＝90，α＝0)
γ＝-Atan2(r12,r22)(β＝-90，α＝0)
the position vector of the submarine cable guide pipe (9) in the object coordinate system is point-multiplied by the rotation matrix
Figure FDA0003270405030000032
Obtaining a position vector in a global coordinate system
Figure FDA0003270405030000033
Wherein r is11、r12、r13、r21、r22、r23、r31、r32、r33As parameters, the position coordinates of the submarine cable guide pipe (9) are vector parameters; alpha, beta and gamma are attitude information of the submarine cable guide pipe (9).
6. The method of operating an underwater submarine umbilical burying positioning system as recited in claim 1, comprising the steps of:
1) obtaining a positioning basis, wherein the positioning basis comprises the shape and the size of the embedded plough (2) and the position of the ultra-short baseline beacon on the embedded plough (2), and the shape and the size of the embedded plough (2) comprise the shape and the size of a plough body (8) and a submarine cable rigid conduit (9);
2) establishing a coordinate system; establishing a global coordinate system by using the ultra-short baseline transducer as an origin, and obtaining the position information of the four beacons through ultra-short baseline beacon positioning, namely obtaining the position vectors of the four beacons in the global coordinate system
Figure FDA0003270405030000034
Four points of the plow body correspond to four beacons of the ultra-short baseline, an object coordinate system is set on the embedded plow, and the object coordinate system is set according to the structural shape of the embedded plowAnd size, determining the position vector of the beacon at the four end points under the object coordinate system
Figure FDA0003270405030000035
And the position vector of the submarine cable under the object coordinate system
Figure FDA0003270405030000036
3) Solving the coordinates of the position of the beacon; when in operation, the transducer is matched with the GPS device, so the position vector determined by the transducer is the position information under the reference of the GPS system coordinate system; because the embedded plough is of a rigid body structure, the embedded plough passes through the relation vector under the coordinate system of the object
Figure FDA0003270405030000041
Position vector in GPS coordinate system
Figure FDA0003270405030000042
The conversion relation between the two can be obtained, the relative position and posture relation of the embedded plough relative to the energy converter can be calculated, and further, the position and posture of the embedded plough under a GPS coordinate system can be determined; the calculation model is as follows:
the attitude of the object coordinate system is determined by the physical attitude of the embedded plough, and a rotation matrix between the two coordinate systems is obtained according to the beacon position and the position vectors under the two coordinate systems according to the inverse kinematics; the plough body posture is set to be determined by rotating angles alpha, beta and gamma around a Z axis, a Y axis and an X axis in sequence, and the rotation matrix is as follows:
Figure FDA0003270405030000043
parameter rnnThe position vector relation can be obtained;
correspondingly, through rnnThe result is matched, and the calculation formula of alpha, beta and gamma is as follows:
Figure FDA0003270405030000044
Figure FDA0003270405030000045
Figure FDA0003270405030000046
if β is 90, α is 0 or β is-90, and when α is 0, γ is as follows:
γ＝Atan2(r12,r22)(β＝90，α＝0)
γ＝-Atan2(r12,r22)(β＝-90，α＝0)
the position vector of the submarine cable catheter in the object coordinate system is point-multiplied by the rotation matrix
Figure FDA0003270405030000047
Obtaining a position vector in a global coordinate system
Figure FDA0003270405030000048
Wherein, the position coordinate of the submarine cable conduit is a vector parameter; the attitude information of the submarine cable guide pipe is the rotation angle information of three shafts, and is alpha, beta and gamma; so far, the attitude and position of the embedded plow are determined.
7. The method of operation of claim 6, wherein: in step 3), the calculation of the position is performed in a processor, the processor being operative to include the steps of:
31) communication
The ultra-short baseline transducer is connected with the processor through a serial port, and the processor receives a message frame which is sent by the ultra-short baseline transducer and has 9600 baud of normal parameters, 8-bit data, 1 stop bit and no check bit;
32) treatment of
321) After the processor obtains the information of the upper computer, extracting key information, and finishing the acquisition of serial port information by using a serial library of python; transcoding the information in the byte format to convert the information into string str information;
322) slicing the character string information to obtain coordinates and depth information of four beacons, wherein one coordinate has four parameters; converting the information of the four parameters from a string str format to a floating point float64 format so as to calculate the parameters;
323) in the calculation, the operation of a math library is used for carrying out linear arrangement on equations containing unknown parameters and known parameters to form a linear equation set as follows, and the required content is obtained;
Figure FDA0003270405030000051
by inverse trigonometric function, from rnnReversely solving the deflection angle information of the embedded plough;
33) interaction
331) The position information is sent to the UI display module by the processor through a corresponding protocol, and the data communication adopts a TCP mode of socket, namely a server-client mode; the Client is used for returning data; the Server is used for receiving the data and then storing the data into the database;
332) storing, because of different communication frequencies, information cannot be sent one by one; therefore, the content needs to be cached, each piece of information sent by the processing module is stored, and then the UI module extracts and displays the information one by one;
34) display device
341) The embedded plough modeling data is modeled through OpenGL, and the view angle can be dragged in an operation window so as to conveniently check the posture condition of the embedded plough by 360 degrees;
342) and after the digital information is read from the database, the digital information is reflected to an operation interface.
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KR101782456B1 (en) * 2016-05-31 2017-09-27 유한회사 티오씨 Submarine cable laying apparatus and laying method
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203240094U (en) * 2013-05-23 2013-10-16 国家电网公司 Submarine pipeline positioning and laying system
CN204676554U (en) * 2015-04-17 2015-09-30 武汉理工大学 A kind of immersed tube subaqueous construction navigation system
KR101782456B1 (en) * 2016-05-31 2017-09-27 유한회사 티오씨 Submarine cable laying apparatus and laying method
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