CN-121763208-B - Dynamic relative positioning system and method for deepwater collaborative work platform

CN121763208BCN 121763208 BCN121763208 BCN 121763208BCN-121763208-B

Abstract

The application discloses a dynamic relative positioning system and a dynamic relative positioning method for a deepwater collaborative work platform, which relate to the field of deepwater engineering, wherein the system comprises a first work platform, a first beacon and a second beacon are symmetrically arranged on the first work platform along a central axis; the system comprises a first working platform, a second working platform, a dynamic positioning network, an edge computing unit, a data processing mechanism and a three-dimensional relative position and relative yaw angle solving unit, wherein the first working platform is symmetrically provided with a first beacon and a second beacon along a central axis, the dynamic positioning network is formed by continuously performing two-way distance measurement between beacons, the edge computing unit is arranged on the first working platform and comprises a data acquisition interface and a data processing mechanism, the data acquisition interface is used for receiving original distance observation data and gesture data and depth data of each beacon, and the data processing mechanism is used for integrating all beacon coordinates to a horizontal coordinate system through fusing the distance measurement data, the depth data and the gesture data. The system and the method can overcome the problem of deep water transmission delay by utilizing multi-source data fusion and edge calculation, and can realize high-precision real-time feedback of dynamic relative pose between collaborative work platforms.

Inventors

ZHANG LONG
YANG LIU
LEI PENG
YU XIAOGANG
ZHANG KAIHUA
LIU ZHIBO
SUI HAICHEN
MA WEIPENG
WANG CHONGMING
ZHU XIAODONG
Gao Yangshuo
ZHAO YANG
HAN DEZHONG
WANG FANGZHENG

Assignees

交通运输部天津水运工程科学研究所
天津水运工程研究院有限公司
交通运输部上海打捞局

Dates

Publication Date: 20260512
Application Date: 20260302

Claims (9)

1. The dynamic relative positioning system of the deepwater collaborative work platform is characterized by comprising the following components: the system comprises a first working platform, a second working platform, a first beacon and a second beacon, wherein the first working platform is provided with the first beacon and the second beacon which are symmetrically arranged about the central axis of the first working platform; The system comprises a first working platform, a second working platform, a third beacon, a fourth beacon, a first sensor, a second sensor, a third sensor and a fourth sensor, wherein the first beacon and the second beacon are arranged on the first working platform; the dynamic positioning network is used for generating original distance observation data and is formed by continuously performing two-way ranging among the first beacon, the second beacon, the third beacon and the fourth beacon; The edge computing unit is arranged on the second working platform and comprises a data acquisition interface and a data processing mechanism, wherein the data acquisition interface is used for locally receiving original distance observation data of all beacons in the dynamic positioning network, gesture data and depth data of each beacon, the data processing mechanism comprises a data preprocessing module, a fusion resolving module and a adjustment optimizing module, the data preprocessing module is used for preprocessing the original distance observation data by adopting a one-dimensional data filtering algorithm to obtain preprocessed distance measurement data, the fusion resolving module is used for resolving a three-dimensional relative position and a relative yaw angle between the first working platform and the second working platform based on the preprocessed distance measurement data, the gesture data and the depth data of each beacon, and the adjustment optimizing module is used for optimizing a resolving result by adopting a least square method.
2. The deep water collaborative work platform dynamic relative positioning system according to claim 1, wherein the built-in attitude sensor comprises an inertial measurement unit, and the attitude data comprises roll angle phi, pitch angle theta and heading angle The three-dimensional relative position is expressed as (DeltaX, deltaY, deltaZ), and the relative yaw angle is 。
3. The deep water collaborative work platform dynamic relative positioning system according to claim 2, wherein the first work platform is a liquid extraction storage shuttle platform, the second work platform is a deep water ROV platform, and an independent right-hand coordinate system is established for each of the first work platform and the second work platform.
4. The deep water collaborative work platform dynamic relative positioning system according to claim 3, wherein for the first work platform coordinate system, the center of the first work platform is taken as an origin, the direction of the central axis of the first work platform pointing to the heading is taken as an X axis, the upward direction perpendicular to the deck is taken as a Z axis, and the Y axis is determined by a right hand rule, wherein the coordinates of the first beacon and the second beacon in the first work platform coordinate system are (d P ,0,0) T and (-d P ,0,0) T , wherein d P is the distance from the first beacon or the second beacon to the central axis of the first work platform; And for the second operation platform coordinate system, taking the center of the second operation platform as an origin, taking the direction of the central axis of the second operation platform pointing to the heading as an X axis, taking the upward direction perpendicular to the deck as a Z axis, and determining a Y axis by right hand rule, wherein the coordinates of the third beacon and the fourth beacon in the second operation platform coordinate system are (d R ,0,0) T and (-d R ,0,0) T ), wherein d R is the distance from the third beacon or the fourth beacon to the central axis of the second operation platform respectively.
5. The deep water collaborative work platform dynamic relative positioning system according to claim 4, wherein the fusion calculation module is configured to calculate three-dimensional coordinates of each beacon in a unified horizontal coordinate system based on the preprocessed ranging data, depth data and gesture data of each beacon, and further calculate a three-dimensional relative position and a relative yaw angle between the first work platform and the second work platform, and the calculating the three-dimensional coordinates of each beacon in the unified horizontal coordinate system includes: The method comprises the steps of 1, calculating the platform gesture of a platform where each beacon is based on gesture data of the beacon, respectively taking arithmetic average of roll angle and pitch angle in gesture data of the two beacons on the same platform to be used as the roll angle phi and the pitch angle theta of the platform, and processing the course angle in the gesture data of the two beacons through geometric relationship or average to be used as the course angle phi of the platform; step 2, constructing a rotation matrix from each platform coordinate system to a horizontal coordinate system, wherein for any platform, the rotation matrix R is calculated by the following formula: ; Wherein, the 、、 A basic rotation matrix around X, Y, Z axes, respectively; Step 3, establishing the relation between the beacon coordinates and the center coordinates of the platform in the horizontal coordinate system, wherein the coordinates of the center of the platform in the horizontal coordinate system are set as The coordinates on the platform are Coordinates of the beacon of (c) in a horizontal coordinate system The method comprises the following steps: ; step 4, establishing a depth observation equation by combining the beacon depth data, wherein the depth value H measured by the pressure sensor of the beacon and the Z coordinate under the horizontal coordinate system The method meets the following conditions: ; Step 5, establishing a distance observation equation by combining the distance measurement data, and for any two beacons i and j, the coordinates of the beacons in a horizontal coordinate system And The method meets the following conditions: ; Wherein the method comprises the steps of The distance measurement data after pretreatment; And 6, combining the depth observation equation in the step 4 and the distance observation equation in the step 5, solving the coordinate T of the center of each platform under the horizontal coordinate system, and further obtaining the three-dimensional coordinates of all beacons under the horizontal coordinate system through the step 3.
6. The deep water collaborative work platform dynamic relative positioning system according to claim 5, wherein the solving for a three-dimensional relative position and relative yaw angle between the first work platform and the second work platform comprises: Setting the coordinates of the center of the first working platform in a horizontal coordinate system as The coordinates of the center of the second working platform under the horizontal coordinate system are The three-dimensional relative position is: ; Setting the rotation matrix from the first working platform coordinate system to the horizontal coordinate system as The rotation matrix from the second working platform coordinate system to the horizontal coordinate system is A relative rotation matrix from the second work platform coordinate system to the first work platform coordinate system The method comprises the following steps: ; From the slave The rotation angle around the Z axis is extracted, and the rotation angle is the relative yaw angle Calculated by the following formula: ; Wherein atan2 is a four-quadrant arctangent function, Representation matrix The ith row and jth column element of (c).
7. The deep water collaborative work platform dynamic relative positioning system of claim 1, wherein the one-dimensional data filtering algorithm comprises a moving average filtering algorithm or a kalman filtering algorithm.
8. The dynamic relative positioning system of the deepwater collaborative work platform according to claim 1, further comprising an output and alarm unit for displaying real-time relative distance and azimuth information optimized by the adjustment optimizing module and giving an alarm when the relative distance is less than a safety threshold.
9. A method for dynamically and relatively positioning a deepwater collaborative work platform, which is characterized in that the method uses the system according to any one of claims 1-8 for positioning, and comprises the following steps: Step 10, operation preparation, multi-beam accurate measurement is carried out on an operation area, an operation background field is established, and the first operation platform and the second operation platform are arranged in the operation area; Step S20, constructing the dynamic positioning network in the operation area; Step S30, data acquisition, namely locally receiving all original distance observation data, depth data and attitude data of each beacon generated in the dynamic positioning network through the edge computing unit; step S40, data preprocessing, namely performing one-dimensional data filtering processing on the original distance observation data to obtain preprocessed distance measurement data; Based on the preprocessed ranging data, depth data and gesture data, the three-dimensional coordinates of each beacon under a horizontal coordinate system are calculated, and then the three-dimensional relative position and the relative yaw angle between the first operation platform and the second operation platform are obtained; Step 60, optimizing the geometric adjustment, namely optimizing the solution result by adopting a least square method to obtain the optimal relative position and azimuth estimation; And step S70, outputting and monitoring the optimized relative pose information.

Description

Dynamic relative positioning system and method for deepwater collaborative work platform Technical Field The specification relates to the technical field of deep sea engineering, in particular to a dynamic relative positioning system and method for a deep water collaborative work platform. Background With the development of deep sea exploration and development, the operations of deep sea sunken ship salvage, residual oil recovery and the like are increased. In deep water environments, work-level ROVs (Remotely Operated Vehicle, remotely operated vehicles) are commonly employed in conjunction with dedicated pump storage shuttle platforms. Due to the complex working environment, the sunken ship is unstable in structure, and fluid interference can exist between the platforms, so that it is important to ensure the safe distance between the working platforms. In the prior art, underwater positioning is mostly dependent on ultra-short baseline (USBL) or Long Baseline (LBL) systems, and underwater targets are positioned absolutely by a mother ship. However, in a deep environment, the acoustic signal is transmitted from the water surface to the underwater platform and then returned, so that a significant delay exists, and the real-time and high-update-rate relative position monitoring requirement cannot be met. In addition, a small error in the absolute position is amplified in calculating the relative position, resulting in that the relative orientation and distance between the stages cannot be accurately obtained. The prior art lacks an effective means for establishing a stable, real-time, high-precision relative positional relationship directly between deep sea work platforms. Disclosure of Invention In view of the defects of the prior art, an object of the present specification is to provide a dynamic relative positioning system and method for a deep water collaborative work platform, which can overcome the problem of deep water transmission delay and accurately feed back dynamic relative position information between collaborative work platforms in real time. In order to achieve the above object, an embodiment of the present disclosure provides a dynamic relative positioning system for a deep water collaborative work platform, including: the system comprises a first working platform, a second working platform, a first beacon and a second beacon, wherein the first working platform is provided with the first beacon and the second beacon which are symmetrically arranged about the central axis of the first working platform; The system comprises a first working platform, a second working platform, a third beacon, a fourth beacon, a first sensor, a second sensor, a third sensor and a fourth sensor, wherein the first beacon and the second beacon are arranged on the first working platform; the dynamic positioning network is used for generating original distance observation data and is formed by continuously performing two-way ranging among the first beacon, the second beacon, the third beacon and the fourth beacon; The edge computing unit is arranged on the second working platform and comprises a data acquisition interface and a data processing mechanism, wherein the data acquisition interface is used for locally receiving original distance observation data of all beacons in the dynamic positioning network, gesture data and depth data of each beacon, the data processing mechanism comprises a data preprocessing module, a fusion resolving module and a adjustment optimizing module, the data preprocessing module is used for preprocessing the original distance observation data by adopting a one-dimensional data filtering algorithm to obtain preprocessed distance measurement data, the fusion resolving module is used for resolving a three-dimensional relative position and a relative yaw angle between the first working platform and the second working platform based on the preprocessed distance measurement data, the gesture data and the depth data of each beacon, and the adjustment optimizing module is used for optimizing a resolving result by adopting a least square method. As a preferred embodiment, the built-in attitude sensor comprises an inertial measurement unit, and the attitude data comprises roll angle phi, pitch angle theta and heading angleThe three-dimensional relative position is expressed as (DeltaX, deltaY, deltaZ), and the relative yaw angle is。 As a preferable implementation mode, the first operation platform is an extraction liquid storage shuttle platform, the second operation platform is a deep water ROV platform, and independent right-hand coordinate systems are established for the first operation platform and the second operation platform. As a preferred embodiment, for the first working platform coordinate system, the coordinates of the first beacon and the second beacon in the first working platform coordinate system are respectively (d P,0,0)T and (-d P,0,0)T, wherein d P is the distance from the first