技术领域technical field
本发明涉及的是一种全参数三维海上钻井平台与采油平台的对接定位引导方法，特别是涉及一种海上钻井平台平台对接定位引导方法。The invention relates to a full-parameter three-dimensional docking positioning guidance method for an offshore drilling platform and an oil production platform, in particular to a docking positioning guidance method for an offshore drilling platform.
背景技术Background technique
在海上工程中为满足更高的精度和可靠性要求以及节省人力、物力资源，海上石油钻井平台对接不仅要求在恶劣环境下系统的工作适应能力，同时也要求系统能够实时提供三维相对位置、速度、姿态等信息，在动态应用过程中为决策人员提供直观、准确、实时的对接状态参数信息。In order to meet higher precision and reliability requirements and save manpower and material resources in offshore engineering, the docking of offshore oil drilling platforms not only requires the system's work adaptability in harsh environments, but also requires the system to be able to provide real-time three-dimensional relative position and speed. , posture and other information, providing decision makers with intuitive, accurate and real-time docking status parameter information during the dynamic application process.
目前针对于海上钻井平台对接作业的研究较少。在国内处于领先水平的“舰船多功能定位引导系统”能够提供二维定位信息，精度一般，不具有高精度目标跟踪能力，对接过程无虚拟现实场景实时显示；国外对于钻井平台对接较为常见的是位置参考系统/位置监测设备，其系统构成、安装复杂，资金和燃料消费较高，精度一般，且针对性强，扩展应用不便。At present, there are few studies on the docking operation of offshore drilling platforms. The "Multifunctional Positioning and Guidance System for Ships" which is at the leading level in China can provide two-dimensional positioning information, but its accuracy is average, it does not have high-precision target tracking capabilities, and there is no real-time display of virtual reality scenes during the docking process; foreign countries are more common for drilling platforms. It is a position reference system/position monitoring device, its system composition and installation are complicated, its capital and fuel consumption are high, its accuracy is average, and it is highly targeted, and it is inconvenient to expand and apply.
发明内容Contents of the invention
本发明的目的是提供一种安全、可靠、低成本，能提高钻井平台对接作业的安全性以及对环境的适应能力的海上石油钻井平台对接定位引导方法。The purpose of the present invention is to provide a safe, reliable, low-cost, offshore oil drilling platform docking positioning guidance method that can improve the safety of the drilling platform docking operation and the adaptability to the environment.
本发明的目的是这样实现的：The purpose of the present invention is achieved like this:
(1)差分GPS基准站和全站仪靶标安装于采油平台上；(1) The differential GPS reference station and the total station target are installed on the oil production platform;
(2)在钻井平台上，利用光纤陀螺航姿系统实时测量钻井平台的横摇角、纵摇角、航向角，利用光纤陀螺航姿系统、差分GPS、电罗经构成的组合系统实时测量钻井平台的方位，差分GPS和全站仪实时测量钻井平台相对采油平台的相对位置与倾角，设计对接引导线，并存储差分GPS信息；(2) On the drilling platform, use the fiber optic gyro attitude system to measure the roll angle, pitch angle, and heading angle of the drilling platform in real time, and use the combined system composed of the fiber optic gyro attitude system, differential GPS, and gyro compass to measure the drilling platform in real time Differential GPS and total station measure the relative position and inclination of the drilling platform relative to the oil production platform in real time, design the docking guide line, and store the differential GPS information;
(3)将步骤(2)中得到的定位导引信息传输至计算机，进行时间同步处理；(3) Transmitting the positioning guidance information obtained in step (2) to a computer for time synchronization processing;
(4)将步骤(3)得到的数据进行空间同步处理，建立多传感器时间、空间统一基准；(4) carry out spatial synchronization processing to the data that step (3) obtains, set up multi-sensor time, unified benchmark of space;
(5)通过统一基准内的量测量更新，实时获取并存储钻井平台对接导引过程中相对预设引导线的误差，并进行误差补偿；(5) Acquire and store the error relative to the preset guide line during the docking and guiding process of the drilling platform in real time through the measurement update in the unified benchmark, and perform error compensation;
(6)对步骤(2)中存储的差分GPS信息以及步骤(5)中补偿后的对接导引信息，进行高精度数据后处理；(6) Carry out high-precision data post-processing to the differential GPS information stored in step (2) and the docking guidance information after compensation in step (5);
所述高精度数据后处理的方法为：采集并存储差分GPS数据，构造基于奇异值分解的奇偶矢量，利用进行归一化处理的故障特征向量，得到卫星故障特征向量构成的故障特征平面，进一步根据特征向量是否在故障特征平面上来判断相应卫星故障与否，较传统的基于识别门限的方法有效地避免了漏检和误警的发生，解决了系统的完好性检测问题；The post-processing method of the high-precision data is as follows: collecting and storing differential GPS data, constructing parity vectors based on singular value decomposition, utilizing the fault feature vectors for normalization processing to obtain a fault feature plane formed by satellite fault feature vectors, and further Judging whether the corresponding satellite is faulty or not according to whether the eigenvector is on the faulty feature plane, compared with the traditional method based on the recognition threshold, effectively avoids missed detection and false alarms, and solves the problem of system integrity detection;
(7)将步骤(5)中补偿后的对接导引信息传输至无置位式联邦卡尔曼滤波器，进行滤波解算，实时输出解算结果；(7) Transmitting the docking guide information after compensation in step (5) to the non-positioning federated Kalman filter, performing filtering calculation, and outputting the calculation result in real time;
所述的无置位式联邦卡尔曼滤波器采用四个航向子滤波器以及一个相对位置滤波器作为子滤波器，四个航向子滤波器分别由FOG航姿系统和DGPS、FOG航姿系统和电罗经、差分GPS和电罗经、全站仪和DGPS提供量测信息，相对位置滤波器由全站仪和DGPS提供量测信息；The positionless federal Kalman filter adopts four course sub-filters and a relative position filter as sub-filters, and the four course sub-filters are respectively composed of FOG attitude system and DGPS, FOG attitude system and Gyrocompass, differential GPS and gyrocompass, total station and DGPS provide measurement information, relative position filter provides measurement information by total station and DGPS;
(8)将步骤(7)中输出的滤波信息，输出至平台对接导引作用器，利用拖船以及钻井平台的锚缆，使钻井平台沿设定的引导线向采油平台靠近，并通过虚拟现实技术，实现对接过程的三维动态显示；(8) Output the filtering information output in step (7) to the platform docking guide actuator, use the tugboat and the anchor cable of the drilling platform to make the drilling platform approach the oil production platform along the set guide line, and through the virtual reality technology to realize the three-dimensional dynamic display of the docking process;
所述的虚拟现实技术是：采用基于内存和外存协同数据处理方法，利用基于分形算法和海面建模方法实现整个对接过程的全程三维显示。The virtual reality technology described is: adopting a cooperative data processing method based on memory and external memory, and using a fractal algorithm and a sea surface modeling method to realize a full three-dimensional display of the entire docking process.
(9)重复步骤(2)～步骤(8)，直至钻井平台的悬臂梁移动窗口完全覆盖采油平台的作业井口，并进行插桩固定，完成海上石油钻井平台对接定位引导作业。(9) Steps (2) to (8) are repeated until the moving window of the cantilever beam of the drilling platform completely covers the operating wellhead of the oil production platform, and the piles are inserted and fixed to complete the docking and positioning guidance operation of the offshore oil drilling platform.
本发明的积极效果在于：The positive effects of the present invention are:
低成本：本发明采用差分GPS、光纤陀螺航姿系统、电罗经、全站仪作为核心设备，不仅获得了高精度的测量信息，而且在系统购置费用、安装使用、燃料消耗等方面具有很大优势。Low cost: the present invention uses differential GPS, fiber optic gyro attitude system, gyro compass, and total station as core equipment, which not only obtains high-precision measurement information, but also has great advantages in terms of system purchase cost, installation and use, and fuel consumption. Advantage.
易用性：系统构成简洁、安装使用方便，三维虚拟现实技术的引入使得对接过程更为直观。Ease of use: The system is simple in structure, easy to install and use, and the introduction of 3D virtual reality technology makes the docking process more intuitive.
自主性：借助该系统，工作人员可以根据需求进行信息回放，并进行相关技术培训，同时可以进行演练，以提高自身技能水平。Autonomy: With the help of this system, staff can replay information according to needs, conduct relevant technical training, and at the same time conduct drills to improve their own skills.
可靠性：该系统方案经过充分论证，具有多套冗余测量信息，经信息融合不仅得到了高精度测量结果，而且保证了系统的可靠性。同时，事后数据处理回放模块的引入可进一步巩固和加强了工作人员的业务水平，保证可靠性。Reliability: The system scheme has been fully demonstrated and has multiple sets of redundant measurement information. After information fusion, not only high-precision measurement results are obtained, but also the reliability of the system is guaranteed. At the same time, the introduction of the post-event data processing and playback module can further consolidate and strengthen the professional level of the staff and ensure reliability.
针对性：系统针对海上石油开发企业中钻井平台相关设备对接开发，设备对接相关参数获取全面实时，借助虚拟现实技术及其平台，工作人员可对相关信息进行实时判断和决策，提高工作成功率和效率。Pertinence: The system is developed for the docking of drilling platform-related equipment in offshore oil development enterprises. The relevant parameters of equipment docking are obtained in real time. With the help of virtual reality technology and its platform, staff can make real-time judgments and decisions on relevant information, improving the success rate of work and efficiency.
扩展性：本发明由于组成设备的便携性和安装使用环境的适应性，不仅可用于海上平台对接，通过修改三维显示模块，同样可用于工厂、建筑等方面的大部件高精度对接。Expansibility: Due to the portability of the components and the adaptability of the installation and use environment, the present invention can not only be used for docking of offshore platforms, but also can be used for high-precision docking of large parts in factories and buildings by modifying the three-dimensional display module.
本发明由于组成设备的便携性和安装使用环境的适应性，该系统不仅可用于海上平台对接，通过修改三维显示模块，同样可为大型工厂、建筑等方面的大部件设备对接提供技术保障。Due to the portability of the component equipment and the adaptability of the installation and use environment, the system can not only be used for the docking of offshore platforms, but also provide technical support for the docking of large-scale equipment in large factories and buildings by modifying the three-dimensional display module.
附图说明Description of drawings
图1是一种海上石油钻井平台对接定位引导方法数据处理过程图。Fig. 1 is a data processing process diagram of an offshore oil drilling platform docking positioning guidance method.
具体实施方式detailed description
下面对本发明的应用过程做进一步描述。The application process of the present invention will be further described below.
钻井平台与采油平台的对接应保证钻井平台悬臂梁伸出后，悬臂梁上的钻台在纵向和横向上最大的移动范围内覆盖采油平台上的作业井口，即钻井平台的悬臂梁移动窗口完全覆盖作业井口区。The docking of the drilling platform and the oil production platform should ensure that after the cantilever beam of the drilling platform is stretched out, the drilling platform on the cantilever beam can cover the operating wellhead on the oil production platform within the maximum movement range in the vertical and horizontal directions, that is, the cantilever beam of the drilling platform can move completely. Cover the wellhead area of the operation.
平台对接系统主要由光纤陀螺航姿系统、差分GPS、电罗经、全站仪和计算机主机构成。The platform docking system is mainly composed of fiber optic gyro attitude system, differential GPS, gyro compass, total station and computer host.
所述的光纤陀螺航姿系统安装于钻井平台上，用于测量钻井平台姿态，即横摇角、纵摇角、航向角。The fiber optic gyro attitude system is installed on the drilling platform and is used to measure the attitude of the drilling platform, that is, roll angle, pitch angle and heading angle.
所述的差分GPS基准站安装于采油平台上，移动站安装于钻井平台上，用于测量钻井平台的航向角以及钻井平台与采油平台的相对位置。The differential GPS reference station is installed on the oil production platform, and the mobile station is installed on the drilling platform for measuring the heading angle of the drilling platform and the relative positions of the drilling platform and the oil production platform.
所述的电罗经安装于钻井平台上，用于测量钻井平台的航向信息。The gyro compass is installed on the drilling platform and is used for measuring the heading information of the drilling platform.
所述的全站仪安装于钻井平台上，其靶标安装于采油平台上，用于测量钻井平台相对于采油平台的位置和倾角，并辅助差分GPS测量钻井平台的航向。The total station is installed on the drilling platform, and its target is installed on the oil production platform for measuring the position and inclination of the drilling platform relative to the oil production platform, and assisting the differential GPS to measure the heading of the drilling platform.
本发明采用了组合导航技术、差分GPS技术、激光测距测角技术、信息融合技术、虚拟现实技术、高精度数据后处理等多项技术，经多种传感器的无置位式联邦卡尔曼滤波信息融合，实现钻井平台与采油平台对接过程中三维相对位置、相对方位、钻井平台的三维姿态等实时变化信息的测量、传输和作业全过程的逼真显示。The present invention adopts multiple technologies such as integrated navigation technology, differential GPS technology, laser ranging and angle measuring technology, information fusion technology, virtual reality technology, high-precision data post-processing, etc. Information fusion realizes the measurement, transmission and realistic display of the whole process of real-time changing information such as the three-dimensional relative position, relative orientation, and three-dimensional attitude of the drilling platform during the docking process of the drilling platform and the oil production platform.
具体实施步骤为：The specific implementation steps are:
(1)对接作业前，工作人员首先到达采油平台，将差分GPS基准站和全站仪靶标安装于采油平台上，精确测量采油平台上差分GPS基准站的位置以及导管架的方位信息。(1) Before the docking operation, the staff first arrive at the oil production platform, install the differential GPS reference station and the total station target on the oil production platform, and accurately measure the position of the differential GPS reference station on the oil production platform and the orientation information of the jacket.
(2)对准作业开始，在钻井平台上，利用光纤陀螺航姿系统实时测量钻井平台的横摇角、纵摇角、航向角，利用光纤陀螺航姿系统、差分GPS、电罗经构成的组合系统实时测量钻井平台的方位，差分GPS和全站仪实时测量钻井平台相对采油平台的相对位置与倾角，设计对接引导线，并存储差分GPS信息；(2) At the beginning of the alignment operation, on the drilling platform, use the fiber optic gyro attitude system to measure the roll angle, pitch angle, and heading angle of the drilling platform in real time, and use the combination of the fiber optic gyro attitude system, differential GPS, and gyro compass The system measures the orientation of the drilling platform in real time, and the differential GPS and total station measure the relative position and inclination of the drilling platform relative to the oil production platform in real time, design the docking guide line, and store the differential GPS information;
(3)将步骤(2)中得到的定位导引信息传输至计算机，在主机中对采集到的数据进行质量控制处理和数据一致性处理，通过进行时间、空间同步处理，建立多传感器时间、空间统一基准；(3) Transmit the positioning guide information obtained in step (2) to the computer, perform quality control processing and data consistency processing on the collected data in the host computer, and establish multi-sensor time, Spatial unified benchmark;
所述的时间同步处理：以GPS时钟信息为时间参考基准，通过计算GPS接收机与光纤陀螺航姿系统、电罗经、全站仪在数据融合时间段内的数据同步时间差，进而运用拉格朗日三点插值法计算出光纤陀螺航姿系统、电罗经、全站仪在GPS数据更新时刻的虚拟测量值，实现多传感器时间同步。Described time synchronization processing: take GPS clock information as the time reference, by calculating the data synchronization time difference between the GPS receiver and the fiber optic gyro attitude system, gyro compass, and total station within the data fusion time period, and then using Lagrange The daily three-point interpolation method calculates the virtual measurement values of the fiber optic gyro attitude system, gyro compass, and total station at the time of GPS data update, and realizes multi-sensor time synchronization.
所述的空间同步处理：采用WGS-84坐标系为公共坐标系，利用坐标变换，实现多传感器空间同步。The space synchronization processing: using the WGS-84 coordinate system as the common coordinate system, and utilizing coordinate transformation to realize multi-sensor space synchronization.
(4)通过统一基准内的量测量更新，实时获取并存储钻井平台对接导引过程中相对预设引导线的误差，并进行误差补偿；(4) Acquiring and storing the error relative to the preset guide line during the docking and guiding process of the drilling platform in real time through the measurement update of the unified reference, and performing error compensation;
所述的误差补偿方法是：通过测量杆臂效应和安装误差对光纤陀螺航姿系统进行误差补偿；通过归心计算对光纤陀螺航姿系统、GPS天线、电罗经、全站仪的安装位置进行补偿；通过汤姆松奇异值剔除法和五点拉格朗日插值跳点修复法对传感器数据进行补偿；通过数字滤波和数据融合对随机误差进行补偿。The error compensation method is as follows: the error compensation of the fiber optic gyro attitude system is performed by measuring the lever arm effect and the installation error; the installation position of the fiber optic gyro attitude system, GPS antenna, gyro compass, and total station is compensated by centering calculation ; Compensate sensor data through Thomson singular value elimination method and five-point Lagrangian interpolation jump point repair method; Compensate random errors through digital filtering and data fusion.
(5)对步骤(2)中存储的差分GPS信息以及步骤(4)中补偿后的对接导引信息，进行高精度数据后处理；(5) Carry out high-precision data post-processing to the differential GPS information stored in step (2) and the docking guidance information after compensation in step (4);
(6)将步骤(4)中补偿后的对接导引信息传输至无置位式联邦卡尔曼滤波器，进行滤波解算，实时输出解算结果；(6) Transmitting the docking guidance information compensated in step (4) to the non-positional federated Kalman filter, performing filtering calculation, and outputting the calculation result in real time;
所述的无置位式联邦卡尔曼滤波采用四个航向子滤波器以及一个相对位置滤波器作为子滤波器，所述的无置位式联邦卡尔曼滤波是：采用四个航向子滤波器以及一个相对位置滤波器作为子滤波器；四个航向子滤波器输出钻井平台的航向信息，分别由光纤陀螺航姿系统和差分GPS、光纤陀螺航姿系统和电罗经、差分GPS和电罗经、全站仪和差分GPS提供量测信息，相对位置滤波器输出钻井平台和采油平台的相对位置信息，由全站仪和差分GPS提供量测信息；各子滤波器的信息分配系数由传感器精度决定其权重；各子滤波器的估计值送入主滤波器进行信息融合；主滤波器输出钻井平台的航向信息以及钻井平台和采油平台的相对位置信息；主滤波器对子滤波器无信息重置。The no-position federated Kalman filter adopts four course sub-filters and a relative position filter as sub-filters, and the no-position federated Kalman filter is: adopts four course sub-filters and A relative position filter is used as a sub-filter; four heading sub-filters output the heading information of the drilling platform, which are composed of fiber optic gyro attitude system and differential GPS, fiber optic gyro attitude system and gyro compass, differential GPS and gyro compass, full The station instrument and differential GPS provide measurement information, and the relative position filter outputs the relative position information of the drilling platform and oil production platform, and the total station and differential GPS provide measurement information; the information distribution coefficient of each sub-filter is determined by the accuracy of the sensor. Weight; the estimated value of each sub-filter is sent to the main filter for information fusion; the main filter outputs the heading information of the drilling platform and the relative position information of the drilling platform and the oil production platform; the main filter has no information reset for the sub-filter.
(7)将步骤(6)中输出的滤波信息，输出至平台对接导引作用器，利用拖船以及钻井平台的锚缆，使钻井平台沿设定的引导线向采油平台靠近，并通过虚拟现实技术，实现对接过程的三维动态显示；(7) Output the filtered information output in step (6) to the platform docking guide device, use the tugboat and the anchor cable of the drilling platform to make the drilling platform approach the oil production platform along the set guide line, and through the virtual reality technology to realize the three-dimensional dynamic display of the docking process;
(8)重复步骤(2)～步骤(7)，直至钻井平台的悬臂梁移动窗口完全覆盖采油平台的作业井口，并进行插桩固定，完成海上石油钻井平台对接定位引导作业；(8) Steps (2) to (7) are repeated until the mobile window of the cantilever beam of the drilling platform completely covers the operating wellhead of the oil production platform, and the piles are inserted and fixed to complete the docking and positioning guidance operation of the offshore oil drilling platform;
所述的高精度数据后处理技术是：采集并存储差分GPS数据，构造基于奇异值分解的奇偶矢量，利用进行归一化处理的故障特征向量，得到卫星故障特征向量构成的故障特征平面，进一步根据特征向量是否在故障特征平面上来判断相应卫星故障与否。The high-precision data post-processing technology is: collecting and storing differential GPS data, constructing parity vectors based on singular value decomposition, utilizing the fault feature vectors for normalization processing to obtain a fault feature plane formed by satellite fault feature vectors, and further According to whether the eigenvector is on the fault feature plane, it is judged whether the corresponding satellite is faulty or not.
所述的虚拟现实技术，开发三维实景对接定位引导软件，采用基于内存和外存协同数据处理方法，利用基于分形算法和海面建模方法实现整个对接过程的全程三维显示。首先基于建立的模型数据库结合作用设备进行海上石油开发的虚拟场景仿真，通过纹理贴图光照计算、场景数据管理以及环境动态变化碰撞检测模拟生成平台对接三维模型，结合视角设置、场景绘制技术在显示屏上实现整个过程的三维动态实时显示。The virtual reality technology mentioned above develops a three-dimensional real-scene docking positioning guidance software, adopts a collaborative data processing method based on memory and external storage, and uses a fractal algorithm and a sea surface modeling method to realize a full three-dimensional display of the entire docking process. First, based on the established model database combined with functional equipment, the virtual scene simulation of offshore oil development is carried out. Through texture map lighting calculation, scene data management and environment dynamic change collision detection simulation generation platform docking 3D model, combined with viewing angle setting and scene rendering technology on the display screen Realize the 3D dynamic real-time display of the whole process.
如图1所示，光纤陀螺航姿系统、差分GPS、电罗经、全站仪分别采集各部分实时数据，通过串口将数据传送至计算机主机。差分GPS的数据可在计算机中保存至单独的区域，以便进行高精度数据后处理分析。As shown in Figure 1, the fiber optic gyro attitude system, differential GPS, gyrocompass, and total station collect real-time data from each part, and transmit the data to the host computer through the serial port. Differential GPS data can be saved to a separate area in the computer for high-precision data post-processing analysis.
在主机中提取各传感实时数据，对其进行数据时间和空间同步处理，进而进行各部分误差补偿，送入联邦卡尔曼滤波器进行信息融合，输出信息融合结果，同时将信息融合结果送入至三维显示软件，配合模型数据库，进行海上石油开发的虚拟场景仿真，实现纹理、贴图、光照进行计算、场景数据管理、环境动态变化检测，设定软件参数，进行场景绘制，进而将实时对接定位引导过程呈现在主机显示器上。Extract the real-time data of each sensor in the host computer, perform data time and space synchronization processing on it, and then perform error compensation for each part, send it to the federal Kalman filter for information fusion, output the information fusion result, and send the information fusion result to the To the 3D display software, cooperate with the model database to simulate the virtual scene of offshore oil development, realize the calculation of texture, map and light, scene data management, and detection of dynamic changes in the environment, set software parameters, perform scene drawing, and then real-time docking and positioning The boot process is presented on the host monitor.
整套系统基于多种传感器设备，特别地，对于方位角测量，除了差分GPS和全站仪共同测量方位信息之外，光纤陀螺航姿系统、电罗经、差分GPS都能够独立的测量方位信息，并且两两之间可以进行组合，保证了方位测量时系统的冗余度不小于3，而对于三维相对位置测量，利用差分GPS和全站仪能够保证至少存在一套冗余，系统可靠性高。The entire system is based on a variety of sensor devices, especially for azimuth measurement, in addition to the joint measurement of azimuth information by differential GPS and total station, the fiber optic gyro attitude system, gyrocompass, and differential GPS can all independently measure azimuth information, and Two pairs can be combined to ensure that the redundancy of the system is not less than 3 during azimuth measurement. For three-dimensional relative position measurement, the use of differential GPS and total stations can ensure at least one set of redundancy and high system reliability.
| Application Number | Priority Date | Filing Date | Title |
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