CN114413846B - Deep water jumper installation measurement method based on long baseline acoustic positioning system - Google Patents
Deep water jumper installation measurement method based on long baseline acoustic positioning system Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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Abstract
The invention relates to a deep water jumper installation and measurement method based on a long baseline acoustic positioning system, which comprises the following steps: s1, laying long baseline acoustic positioning system beacons according to the designed array positions to carry out array layout of a submarine long baseline measurement system, and finally obtaining absolute coordinates and depth of an array through adjustment calculation to serve as control network points for underwater positioning; s2, measuring the center shaft offset and the height difference from the top of the pressure cap to the hub surface on land; s3, installing measuring sensors on the two structures and measuring corresponding three-dimensional offset data; s4, preprocessing the data acquired in the step S3 in real time in the measuring process. The invention has the advantages that: 1. the pertinence is strong, and the connection measurement operation is specially performed on the underwater facility jumper tube; 2. the application scene is wide, and all offshore construction requirements exceeding the operation depth of 30 meters can be applied to replace underwater measurement operation of divers; 3. the precision is high, and the precision is not influenced by the operation water depth.
Description
Technical Field
The invention relates to a deep water jumper installation measurement method based on a long baseline acoustic positioning system, which is suitable for installation operation under the assistance of a deep sea ROV and ensures that an offshore deep water oil and gas field is successfully built and put into production.
Background
Currently, marine oil and gas exploration and development has moved from shallow sea to deep sea, and underwater production systems are widely applied to the development process of most deep sea oil and gas fields in the world by virtue of obvious comprehensive economic advantages of the underwater production systems in the development of deep water oil and gas fields. Deepwater Subsea connections of production facilities are an indispensable important link in building complete Subsea production systems, and Jumper pipes (jumpers) are often used for connections between Subsea Tree (Subsea Tree), subsea Manifold (manifield), subsea base plate (PLET/plenm) and oil pipelines, which are an important component of deepwater Subsea production facilities. The jumper pipe can be divided into a hard steel pipe and a soft pipe according to materials, and can be divided into a horizontal connection and a vertical connection according to connection arrangement modes. The jumper tubes are shaped differently, and have different sizes and masses, depending on the design and purpose of use, and rigid jumper tubes are typically used for connection between subsea facilities in deep water fields. Based on installation accuracy and installation process considerations, jumper design, construction, installation work is the last step in offshore installation work, and rigid jumper design is determined by the relative relationship between different subsea facility hubs (Hub) measured in the field. The need for underwater measurements prior to rigid vertical jumper design, subsea gauge measurements (Subsea Metrology) are a process to obtain accurate and traceable dimensional measurements for jumper or expansion bend inter-facility interconnect piping designs. The purpose of the subsea gauge measurement is to accurately determine the relative horizontal and vertical distances between subsea installations, the relative heading and attitude, and the designed jumper (jumper) route depth profile relative to the adjacent seabed. The pipe engineer then uses this information to design connectors to connect the facilities together. The measurement result and the precision directly determine whether the later jumper can be installed, and the high-precision measurement work has important significance for saving the construction period and the construction cost and ensuring the smooth production of development engineering.
Historically, the first water Metrology was measured by a diver using a tape from flange to flange, with the application of divers to work has been on until now, typically with divers using tension lines and digital tension lines for shallow water work. Currently, offshore oil and gas development is gradually approaching the deep sea, deep water oil field development has higher requirements on higher precision and stricter construction tolerances, meanwhile, diver operation has operation depth limitation, and various alternative and higher precision submarine metering mode methods, mainly Long Baseline (LBL) acoustics, photogrammetry, inertial Navigation System (INS), synchronous positioning and mapping (SLAM) technology and laser scanning, are developed internationally for deep water Metrology. The prior period of the underwater Metrology of the domestic oil and gas field is mainly focused on the application of a tensioning line by shallow water divers, the starting of the technology of the deep water oil and gas field Metrology is relatively late, the technology is mainly introduced, and the underwater engineering application of the domestic photogrammetry, inertial Navigation System (INS), SLAM technology and laser scanning, which is limited by a high-end inertial navigation technology 'neck' suitable for underwater engineering operation, is not further developed. Acoustic positioning systems are currently the dominant means of underwater positioning and navigation, and can be classified into Long Baseline (LBL), short Baseline (SBL), and ultra-short baseline (USBL) according to baseline length. The accuracy of the ultra-short baseline and the short baseline positioning system gradually decreases along with the increase of the water depth, the positioning accuracy of the long baseline positioning system is irrelevant to the water depth, and the system for calculating the target position by measuring the distance through time is provided, so that the ultra-short baseline positioning system has great advantages in the deepwater jumper operation.
The goal of the seafloor Metrology is to accurately determine the relative horizontal and vertical distances between the seafloor assets, as well as their relative heading and attitude. Each technology has advantages and limitations, and the technology comprehensively researches the conventional acoustic long baseline measurement technology by taking the engineering application of a development project of a certain ultra-deep water oil field in the south China sea with the depth of 1500 meters as the background, so that the integrated long baseline beacon is firstly applied to the metrology premise in China, the acoustic long baseline measurement technology is researched, and the engineering precision control means and the operation flow are researched.
The method mainly solves the problems of deep water distance measurement and precision control, single Hub attitude and heading measurement and precision control, hub (Hub) relative heading and attitude measurement and control among different facilities, operation flow optimization and construction guarantee.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a deep water jumper installation measuring method based on a long baseline acoustic positioning system, which is a relative relation operation method among underwater structure facility hubs such as an offshore oil and gas field production tree, an underwater manifold, an underwater base plate and the like, and has the following technical scheme:
a deep water jumper installation measurement method based on a long baseline acoustic positioning system comprises the following steps:
S1, laying long baseline acoustic positioning system beacons according to the designed array positions to carry out array layout of a submarine long baseline measurement system, and finally obtaining absolute coordinates and depth of an array through adjustment calculation to serve as control network points for underwater positioning;
s2, measuring the center shaft offset and the height difference from the top of the pressure cap to the hub surface on land;
S3, installing measuring sensors on the two structures and measuring corresponding three-dimensional offset data; calculating the horizontal distance, the height difference and the inclination angle relation between hubs through an Euler rotation matrix, and submitting the final jumper measurement result; sequentially applying an ultra-short baseline of the ultra-short baseline acoustic positioning system and a long baseline of the long baseline acoustic positioning system to track the position and the posture of the structure in the process of lowering the structure; after the device is installed on the seabed, a long baseline acoustic positioning system is used for acquiring the final position of a structure, and a measuring sensor is used for acquiring heading and attitude information of the structure;
S4, preprocessing the data acquired in the step S3 in real time in the measuring process, and timely compensating and retesting the coarse error or overrun condition to ensure the reliability of the data.
The step S1 specifically comprises the following steps: after the long baseline acoustic positioning system is arranged, acquiring the absolute coordinates of an underwater array through standard calibration program single-point absolute position calibration and baseline calibration, wherein the single-point absolute position calibration is used for locking the absolute position of the array, and the baseline calibration is used for calculating the relative distance of a long baseline beacon in the array; and finally obtaining the absolute coordinates and depth of the matrix through adjustment calculation, and meeting the requirements of structural object installation positioning and jumper measurement relative positioning when the absolute accuracy of the point position is better than 0.5m and the relative accuracy is better than 0.02m after the matrix is calibrated as a control network point of underwater positioning.
The step S2 specifically comprises the following steps:
when the center axis offset is measured, the specific steps are as follows: because the center shaft is hollow, measuring a plurality of point location data of the periphery of the center shaft, and fitting and calculating to the center of a circle by using Bestfit software;
When the height difference from the top of the pressure cap to the hub surface is measured: three-dimensional coordinates (X top,Ytop,Ztop) and (X hub,Yhub,Zhub) of the top of the pressure cap and the hub surface are measured by using a total station, and finally, the height difference of the top of the pressure cap and the hub surface is calculated by Z top-Zhub; the long baseline jumper measurement tool offset is calculated in advance.
The step S3 specifically comprises the following steps:
s3-1, collecting the skew distance between hubs of two structures:
the method comprises the steps that a measurement sensor is mounted on a hub through an unmanned remote control underwater robot, the A face of the two measurement sensors is respectively north of a structure of two structures, the B face of the two measurement sensors is east of the structure of the two structures, the C face of the two measurement sensors is south of the structure of the two structures, the D face of the two measurement sensors is west of the structure of the two structures, and then the inclined distances between hubs of the two structures are collected in the directions of A-A, B-B, C-C and D-D respectively; exchanging the positions of the two measuring sensors, and collecting the slant distances among the measuring sensors on four surfaces respectively;
S3-2, measuring the vertical inclination angles and inclination directions of the hubs of the two structures:
Installing measuring sensors on a hub through an underwater robot, wherein the A surfaces of the two measuring sensors are north directions of two structures respectively, acquiring heading, trim and heel on four surfaces of A, B, C, D respectively, calculating the acquired data, and finally determining the inclination angle and the inclination direction of the hub interface surfaces of the two structures;
s3-3, measuring the height difference between two structural hubs:
Hub surface depth measurement: the accurate depth of the hub surface is calculated by accurately measuring the atmospheric pressure values of the sea surface and the submarine hub surface. The calculation formula is as follows:
Wherein: d is a depth value, the unit is m, P H is a Hub surface pressure value, and the unit is Pa; p S is the sea surface pressure value, and the unit is Pa; g is gravity acceleration, the unit is m/s 2, ρ is sea water average density, and the unit is kg/m 3;
S3-4, measuring a routing depth profile between two structural hubs:
The reference is set on a hub, a water depth value is measured every 3m by the underwater robot, and the operation is performed in a flat tide section in consideration of the influence of tide and sea water density and is completed within 30-75 minutes to ensure measurement accuracy.
S3-5, calculating the relative relation between two structural hubs:
the data obtained by measurement of the measuring sensor are all indirect data, the data cannot be directly applied to construction, the relative relation between the inclined posture of the hub and the hub surface cannot be obtained through simple addition and subtraction operation, the horizontal distance, the height difference and the inclination angle relation of the hub are calculated through an Euler rotation matrix in engineering application, and the final jumper measurement result is submitted, wherein the formula is as follows:
wherein: h is the heading, and the unit is degree; p is pitch in degrees; r is transverse inclination, and the unit is °
The step S4 specifically comprises the following steps:
S4-1, analyzing the sound ray propagation distance of a work area: introducing a sound velocity profile by using RayTrace refraction analysis tools to generate a sound wave refraction pattern, analyzing the distance between two structures, and determining the optimal support height above the structures; acoustic ray tracing is a graphical representation of the path of acoustic waves transmitted from an array long baseline acoustic positioning system beacon; as the sound waves bend toward the low velocity region, the ray path bends due to the change in the sound velocity profile through the water column; when the transmission distance is between 800 and 1900 meters under the working condition environment, the requirement of the array is met.
S4-2, acoustic line trafficability analysis of the long baseline acoustic positioning system matrix:
Taking the actual topography of the seabed into consideration, analyzing by using a digital ground model obtained by using a factory survey to determine a baseline sight and a maximum tracking range; in the analysis process, the influence of sound ray bending is fully considered, if sound ray shielding exists, the position of the matrix is adjusted.
S4-3, analyzing the control range of the array of the long-baseline acoustic positioning system:
The more measured baselines for any tracking point within the target work area, the more reliable the position solution. The array maximum coverage analysis is helpful for optimizing the array design; setting a long base line beacon at a height selected after the sound ray tracking analysis is completed, and displaying that any point in the base array range is in the base line range of 6 long base line beacons and is higher than the basic requirements of at least 4;
S4-4, analyzing the array precision of the long baseline acoustic positioning system:
under the set working condition, when the relative precision in the designed matrix is 3-5cm, the underwater engineering measurement requirement is met.
In the step S3-3, when the height difference between hubs is measured, the influence of tide and sea water density is considered, and the operation process is completed within 25 minutes, so that the accuracy meets the measurement requirement. And respectively placing the pressure depth sensors on the two hub surfaces through the underwater robot, repeatedly measuring for 3 times, and finally taking the average value of the measurement as the height difference between the two hubs.
In the step S3-4, the depth of the surface of the seabed is checked by a digital depth finder on the underwater robot, and then the actual surface height of the node is detected by using a long base line jumper measurement auxiliary tool to detect the thickness of drilling mud with the maximum downward insertion capacity of the underwater robot.
The invention has the advantages that: the method analyzes factors affecting the operation precision, provides precision control indexes, optimizes the operation flow, and is successfully applied to offshore practical operation, and the method for installing and measuring the deepwater jumper based on the long baseline acoustic positioning system under the assistance of the underwater robot is an accurate and efficient mode.
The invention has the advantages that:
1. the pertinence is strong, and the connection measurement operation is specially performed on the underwater facility jumper tube;
2. The method has wide application scene, can be applied to all offshore construction requirements with the operation depth of more than 30 meters, replaces underwater measurement operation of divers, and is particularly suitable for deep water measurement operation which can not be reached by saturated diving of more than 300 meters;
3. The precision is high, and the precision is not affected by the operation water depth;
4. The efficiency is high, the operation is performed by surveying along the pipe cable instead of transversely cutting the pipe cable, the operation efficiency is greatly improved, the operation time efficiency is improved, and the engineering cost is saved;
5. the data redundancy is high, and the data reliability is ensured by multiple data proofreading of multiple sensors;
6. The achievement interface is friendly, and provides all the relative relations required by jumper construction, including relative distance, relative height, flange inclination angle and relative posture among flanges;
7. The operation flow is controllable, the quality control is carried out in multiple links, the problem that the installation is impossible due to the lack of quality control measures is avoided, the reworking delays the construction period, and great economic loss is caused.
Detailed Description
The invention will be further described with reference to specific embodiments, and advantages and features of the invention will become apparent from the description. These examples are merely exemplary and do not limit the scope of the invention in any way. It will be understood by those skilled in the art that various changes and substitutions of details and forms of the technical solution of the present invention may be made without departing from the spirit and scope of the present invention, but these changes and substitutions fall within the scope of the present invention.
The invention relates to a method for measuring installation of a deepwater jumper based on a long baseline acoustic positioning system, which comprises the following steps:
S1, laying long baseline acoustic positioning system beacons according to the designed array positions to carry out array layout of a submarine long baseline measurement system, and finally obtaining absolute coordinates and depth of an array through adjustment calculation to serve as control network points for underwater positioning;
s2, measuring the center shaft offset and the height difference from the top of the pressure cap to the hub surface on land;
S3, installing measuring sensors on the two structures and measuring corresponding three-dimensional offset data; calculating the horizontal distance, the height difference and the inclination angle relation between hubs through an Euler rotation matrix, and submitting the final jumper measurement result; sequentially applying an ultra-short baseline of the ultra-short baseline acoustic positioning system and a long baseline of the long baseline acoustic positioning system to track the position and the posture of the structure in the process of lowering the structure; after the device is installed on the seabed, a long baseline acoustic positioning system is used for acquiring the final position of a structure, and a measuring sensor is used for acquiring heading and attitude information of the structure;
S4, preprocessing the data acquired in the step S3 in real time in the measuring process, and timely compensating and retesting the coarse error or overrun condition to ensure the reliability of the data.
The step S1 specifically comprises the following steps: after the long baseline acoustic positioning system is arranged, acquiring the absolute coordinates of an underwater array through standard calibration program single-point absolute position calibration and baseline calibration, wherein the single-point absolute position calibration is used for locking the absolute position of the array, and the baseline calibration is used for calculating the relative distance of a long baseline beacon in the array; and finally obtaining the absolute coordinates and depth of the matrix through adjustment calculation, and meeting the requirements of structural object installation positioning and jumper measurement relative positioning when the absolute accuracy of the point position is better than 0.5m and the relative accuracy is better than 0.02m after the matrix is calibrated as a control network point of underwater positioning.
The step S2 specifically comprises the following steps:
when the center axis offset is measured, the specific steps are as follows: because the center shaft is hollow, measuring a plurality of point location data of the periphery of the center shaft, and fitting and calculating to the center of a circle by using Bestfit software;
When the height difference from the top of the pressure cap to the hub surface is measured: three-dimensional coordinates (X top,Ytop,Ztop) and (X hub,Yhub,Zhub) of the top of the pressure cap and the hub surface are measured by using a total station, and finally, the height difference of the top of the pressure cap and the hub surface is calculated by Z top-Zhub; the long baseline jumper measurement tool offset is calculated in advance.
The step S3 specifically comprises the following steps:
s3-1, collecting the skew distance between hubs of two structures:
the method comprises the steps that a measurement sensor is mounted on a hub through an unmanned remote control underwater robot, the A face of the two measurement sensors is respectively north of a structure of two structures, the B face of the two measurement sensors is east of the structure of the two structures, the C face of the two measurement sensors is south of the structure of the two structures, the D face of the two measurement sensors is west of the structure of the two structures, and then the inclined distances between hubs of the two structures are collected in the directions of A-A, B-B, C-C and D-D respectively; exchanging the positions of the two measuring sensors, and collecting the slant distances among the measuring sensors on four surfaces respectively;
S3-2, measuring the vertical inclination angles and inclination directions of the hubs of the two structures:
Installing measuring sensors on a hub through an underwater robot, wherein the A surfaces of the two measuring sensors are north directions of two structures respectively, acquiring heading, trim and heel on four surfaces of A, B, C, D respectively, calculating the acquired data, and finally determining the inclination angle and the inclination direction of the hub interface surfaces of the two structures;
s3-3, measuring the height difference between two structures Hub:
Hub surface depth measurement: the accurate depth of the hub surface is calculated by accurately measuring the atmospheric pressure values of the sea surface and the submarine hub surface. The calculation formula is as follows:
Wherein: d is a depth value, the unit is m, P H is a pressure value of the hub surface, and the unit is Pa; p S is the sea surface pressure value, and the unit is Pa; g is gravity acceleration, the unit is m/s 2, ρ is sea water average density, and the unit is kg/m 3;
S3-4, measuring a routing depth profile between two structural hubs:
The reference is set on a hub, a water depth value is measured every 3m by the underwater robot, and the operation is performed in a flat tide section in consideration of the influence of tide and sea water density and is completed within 30-75 minutes to ensure measurement accuracy.
S3-5, calculating the relative relation between two structural hubs:
the data obtained by measurement of the measuring sensor are all indirect data, the data cannot be directly applied to construction, the relative relation between the inclined posture of the hub and the hub surface cannot be obtained through simple addition and subtraction operation, the horizontal distance, the height difference and the inclination angle relation of the hub are calculated through an Euler rotation matrix in engineering application, and the final jumper measurement result is submitted, wherein the formula is as follows:
wherein: h is the heading, and the unit is degree; p is pitch in degrees; r is transverse inclination, and the unit is °
The step S4 specifically comprises the following steps:
S4-1, analyzing the sound ray propagation distance of a work area: introducing a sound velocity profile by using RayTrace refraction analysis tools to generate a sound wave refraction pattern, analyzing the distance between two structures, and determining the optimal support height above the structures; acoustic ray tracing is a graphical representation of the path of acoustic waves transmitted from an array long baseline acoustic positioning system beacon; as the sound waves bend toward the low velocity region, the ray path bends due to the change in the sound velocity profile through the water column; when the transmission distance is between 800 and 1900 meters under the working condition environment, the requirement of the array is met.
S4-2, acoustic line trafficability analysis of the long baseline acoustic positioning system matrix:
Taking the actual topography of the seabed into consideration, analyzing by using a digital ground model obtained by using a factory survey to determine a baseline sight and a maximum tracking range; in the analysis process, the influence of sound ray bending is fully considered, if sound ray shielding exists, the position of the matrix is adjusted.
S4-3, analyzing the control range of the array of the long-baseline acoustic positioning system:
The more measured baselines for any tracking point within the target work area, the more reliable the position solution. The array maximum coverage analysis is helpful for optimizing the array design; setting a long base line beacon at a height selected after the sound ray tracking analysis is completed, and displaying that any point in the base array range is in the base line range of 6 long base line beacons and is higher than the basic requirements of at least 4;
S4-4, analyzing the array precision of the long baseline acoustic positioning system:
under the set working condition, when the relative precision in the designed matrix is 3-5cm, the underwater engineering measurement requirement is met.
In the step S3-3, when the height difference between hubs is measured, the influence of tide and sea water density is considered, and the operation process is completed within 25 minutes, so that the accuracy meets the measurement requirement. And respectively placing the pressure depth sensors on the two hub surfaces through the underwater robot, repeatedly measuring for 3 times, and finally taking the average value of the measurement as the height difference between the two hubs.
In the step S3-4, the depth of the surface of the seabed is checked by a digital depth finder on the underwater robot, and then the actual surface height of the node is detected by using a long base line jumper measurement auxiliary tool to detect the thickness of drilling mud with the maximum downward insertion capacity of the underwater robot.
According to the design, construction and installation requirements of the jumper tube, the elements required to be obtained in deepwater measurement are as follows: a horizontal distance; depth difference; hub attitude; a seabed gap; relative angles between hubs, etc. The underwater operation environment is complex, the relative relation between underwater hubs is directly measured by optical equipment unlike the relative relation between surface facilities, and the relative relation between underwater hubs must be obtained by comprehensively applying different instruments and equipment to obtain corresponding parameters and indirectly obtained by strict calculation.
In the engineering construction implementation process, a pressure protection cap is usually arranged on the hub surface and used for installing a measuring instrument and preventing the hub interface from being damaged, the relative relation between hubs cannot be directly obtained, the relative relation is indirectly obtained through calculation after the data is obtained through a sensor, and the sensor and a special auxiliary tool thereof perform accurate structural control measurement before the measurement. The beacons of the long baseline acoustic positioning system are respectively arranged on the pressure caps of the hubs at the two ends of the jumper to be installed, acoustic measurement is applied, the transmission time of signals between two measuring sensors can be accurately measured, the real-time sound velocity of the depth layer is acquired through sound velocity measuring equipment, and the skew distance between the two measuring sensors is finally determined; the inclination angle and direction of the hub surface are calculated by accurately measuring the cross and pitch values of the hub surface by a measuring sensor.
Because the deepwater measuring environment is complex, the underwater distance is measured by adopting an acoustic measuring mode, and the real-time changes of parameters such as the temperature, the salinity and the density of the seawater can influence the sound velocity, so that the measuring accuracy of the distance is influenced. Due to the high measurement accuracy requirements of the jumper tube, the error can be reduced by the following three aspects:
1) Measuring in multiple directions, and taking an average value;
2) The sound velocity of the water depth profile can be considered unchanged in a short time, so that the measurement speed is increased and the purpose of improving the precision is achieved;
3) The depth of the water depth layer is collected before each measurement, so that the latest sound velocity is ensured when each baseline distance is collected.
For hub height difference and routing depth measurements, the influence of tides on their accuracy is critical, and measurement errors can be reduced from three aspects:
1) Predicting tides of the operation points in advance, and selecting a tide leveling time period for measurement;
2) Weighting adjustment is carried out according to the measured time interval, and closing difference caused by tidal influence is calculated to each measuring station;
3) The ROV operators are trained in advance to be familiar with the operation flow, the measurement speed is improved, and the tidal influence is reduced.
The deep water jumper LBL Metrology is a comprehensive application of multiple subjects and multiple devices, the precision requirement is high, errors in any links can cause unreliable measurement results, and the later period can not be installed or the stress is overlarge after the installation is directly caused, so that the service life can be greatly shortened. Therefore, the whole operation link needs strict QC quality control, and the operation flow is optimized by combining the construction of a certain deepwater oil-gas field.
After the data acquisition is completed, the data processing is particularly critical, the data with poor quality is removed in the processing process, the distance between the hubs for 8 times of measurement (two times of measurement of four surfaces and eight times of measurement in total) is ensured to meet the limit difference, and the average value is taken as the final slant distance; the average value of three measurement results is taken as the height difference between hubs, the hub of the reference station is affected by tide, the average depth value of single measurement is taken to eliminate the influence of the tide, so that the height difference between two hubs is accurately determined, and if the acquisition time is too long, the tide correction is considered; the routing depth measurement between hubs often causes overrun of closing difference due to long time consumption and tidal influence, and the method comprises the steps of selecting a tide level section for measurement through tide prediction, and distributing the closing difference value to each measuring station according to time interval weighting adjustment when processing data; and (3) respectively calculating the inclination angle and the direction between hubs in the horizontal length between hubs by using the Euler matrix, and calculating measurement results including the horizontal length between hubs, the height difference, the routing water depth, the inclination angle of the hub surface and the inclination direction.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (4)
1. The deepwater jumper installation measurement method based on the long baseline acoustic positioning system is characterized by comprising the following steps of:
S1, laying long baseline acoustic positioning system beacons according to the designed array positions to carry out array layout of a submarine long baseline measurement system, and finally obtaining absolute coordinates and depth of an array through adjustment calculation to serve as control network points for underwater positioning;
s2, measuring the center shaft offset and the height difference from the top of the pressure cap to the hub surface on land;
S3, installing measuring sensors on the two structures and measuring corresponding three-dimensional offset data; calculating the horizontal distance, the height difference and the inclination angle relation between hubs through an Euler rotation matrix, and submitting the final jumper measurement result; sequentially applying an ultra-short baseline of the ultra-short baseline acoustic positioning system and a long baseline of the long baseline acoustic positioning system to track the position and the posture of the structure in the process of lowering the structure; acquiring a final position of the structure by using a long baseline acoustic positioning system after the installation on the seabed;
s4, preprocessing the data acquired in the step S3 in real time in the measuring process, and timely compensating and retesting under the condition of coarse error or overrun to ensure the reliability of the data;
The step S1 specifically comprises the following steps: after the long baseline acoustic positioning system is arranged, acquiring the absolute coordinates of an underwater array through standard calibration program single-point absolute position calibration and baseline calibration, wherein the single-point absolute position calibration is used for locking the absolute position of the array, and the baseline calibration is used for calculating the relative distance of a long baseline beacon in the array; finally obtaining the absolute coordinates and depth of the matrix through adjustment calculation, and when the absolute accuracy of the point position of the matrix after calibration is better than 0.5m and the relative accuracy is better than 0.02m, the requirements of structural object installation and positioning and jumper measurement are met;
The step S2 specifically comprises the following steps:
when the center axis offset is measured, the specific steps are as follows: because the center shaft is hollow, measuring a plurality of point location data of the periphery of the center shaft, and fitting and calculating to the center of a circle by using Bestfit software;
When the height difference from the top of the pressure cap to the hub surface is measured: three-dimensional coordinates (Xtop, yoop, ztop) and (Xhub, yhub, zhub) of the top of the pressure cap and the hub surface are measured by using a total station, and finally, the height difference of the two is calculated by the Ztop-Zhub; calculating the offset of a long baseline jumper measuring tool in advance;
The step S3 specifically comprises the following steps:
s3-1, collecting the skew distance between hubs of two structures:
the method comprises the steps that a measurement sensor is mounted on a hub through an unmanned remote control underwater robot, the A face of the two measurement sensors is respectively north of a structure of two structures, the B face of the two measurement sensors is east of the structure of the two structures, the C face of the two measurement sensors is south of the structure of the two structures, the D face of the two measurement sensors is west of the structure of the two structures, and then the inclined distances between hubs of the two structures are collected in the directions of A-A, B-B, C-C and D-D respectively; exchanging the positions of the two measuring sensors, and collecting the slant distances among the measuring sensors on four surfaces respectively;
S3-2, measuring the vertical inclination angles and inclination directions of the hubs of the two structures:
Installing measuring sensors on a hub through an underwater robot, wherein the A surfaces of the two measuring sensors are north directions of two structures respectively, acquiring heading, trim and heel on four surfaces of A, B, C, D respectively, calculating the acquired data, and finally determining the inclination angle and the inclination direction of the hub interface surfaces of the two structures;
s3-3, measuring the height difference between two structural hubs:
Hub surface depth measurement: the accurate depth of the Hub surface is calculated by accurately measuring the atmospheric pressure values of the sea surface and the submarine Hub surface, and the calculation formula is as follows:
Wherein: d is a depth value, the unit is m, P H is a Hub surface pressure value, and the unit is Pa; p S is the sea surface pressure value, and the unit is Pa; g is gravity acceleration, the unit is m/s 2, ρ is sea water average density, and the unit is kg/m 3;
S3-4, measuring a routing depth profile between two structural hubs:
The reference is set on a hub, a water depth value is measured every 3m by the underwater robot, and the operation is performed in a flat tide section in consideration of the influence of tide and sea water density and is completed within 30-75 minutes to ensure measurement accuracy.
S3-5, calculating the relative relation between two structural hubs:
The data obtained by measurement of the measuring sensor are all indirect data, the data cannot be directly applied to construction, the relative relation between the hub inclination posture and the hub surface cannot be obtained through simple addition and subtraction operation, the horizontal distance, the height difference and the inclination angle relation of hub are calculated through an Euler rotation matrix in engineering application, and the final jumper measurement result is submitted, wherein the formula is as follows:
wherein: h is the heading, and the unit is degree; p is pitch in degrees; r is transverse inclination, and the unit is.
2. The method for measuring the installation of the deepwater jumper based on the long baseline acoustic positioning system according to claim 1, wherein the step S4 is specifically:
S4-1, analyzing the sound ray propagation distance of a work area: introducing a sound velocity profile by using RayTrace refraction analysis tools to generate a sound wave refraction pattern, analyzing the distance between two structures, and determining the optimal support height above the structures; acoustic ray tracing is a graphical representation of the path of acoustic waves transmitted from an array long baseline acoustic positioning system beacon; as the sound waves bend toward the low velocity region, the ray path bends due to the change in the sound velocity profile through the water column; when the transmission distance is between 800 and 1900 meters under the working condition environment, the requirement of the array is met;
S4-2, acoustic line trafficability analysis of the long baseline acoustic positioning system matrix:
Taking the actual topography of the seabed into consideration, analyzing by using a digital ground model obtained by using a factory survey to determine a baseline sight and a maximum tracking range; the influence of sound ray bending is fully considered in the analysis process, if sound ray shielding exists, the position of the matrix is adjusted;
S4-3, analyzing the control range of the array of the long-baseline acoustic positioning system:
The more measurement baselines of any tracking points in the target working area are, the more reliable the position calculation is, and the maximum coverage analysis of the matrix is helpful for optimizing the array design; setting a long base line beacon at a height selected after the sound ray tracking analysis is completed, and displaying that any point in the base array range is in the base line range of 6 long base line beacons and is higher than the basic requirements of at least 4;
S4-4, analyzing the array precision of the long baseline acoustic positioning system:
under the set working condition, when the relative precision in the designed matrix is 3-5cm, the underwater engineering measurement requirement is met.
3. The method for measuring the installation of the deepwater jumper based on the long baseline acoustic positioning system according to claim 1, wherein in the step S3-3, when the height difference between hubs is measured, the influence of tide and sea water density is considered, the operation process is completed within 25 minutes, the accuracy is ensured to reach the measurement requirement, the pressure depth sensor is respectively placed on two hub surfaces through the underwater robot, the measurement is repeatedly performed for 3 times, and finally, the average value of the measurement is taken as the height difference between the two hubs.
4. The method for measuring the installation of the deepwater jumper based on the long baseline acoustic positioning system according to claim 1, wherein in the step S3-4, the depth of the surface of the seabed is checked by a digital depth finder on the underwater robot, and the actual surface height of the drilling mud thickness detection node is detected by using a long baseline jumper measurement auxiliary tool with the maximum downward insertion capability of the underwater robot.
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