阅读说明：本技术 一种基于北斗rtk技术的双壁钢吊箱围堰实时定位方法 (Double-wall steel suspension box cofferdam real-time positioning method based on Beidou RTK technology ) 是由 赵健 安路明 任延龙 齐东建 王国强 安东省 严学开 王东波 程鹏 何峰 邓见佐 于 2020-06-19 设计创作，主要内容包括：本发明公开了一种基于北斗RTK技术的双壁钢吊箱围堰实时定位方法。“北斗”导航系统是我国自主研发的卫星导航定位通信系统,实时动态载波相位差分技术(RTK技术)的出现与应用,使利用卫星实现精密测量成为可能。与传统仪器测绘相比,采用北斗RTK技术不仅具有对现场环境要求低、操作简便等优势,而且具有全天候、连续性、实时性的精密三维导航与定位能力。本发明将北斗RTK定位技术应用到双壁钢吊箱围堰浮运定位的施工过程中,实时提供围堰三维位置坐标,并自动成像到用户服务器终端设备,为围堰浮运过程调控和定位提供依据。本发明特别适用于台风区潮汐往复流条件下的围堰定位,成功解决了大型钢围堰在繁忙航道、水文条件变化频繁的潮汐水道中精确定位的难题,具有领先性和新颖性。(The invention discloses a double-wall steel suspension box cofferdam real-time positioning method based on the Beidou RTK technology. The Beidou navigation system is a satellite navigation positioning communication system independently developed in China, and the occurrence and application of a real-time dynamic carrier phase difference technology (RTK technology) enable the realization of precision measurement by using satellites to be possible. Compared with the traditional instrument surveying and mapping, the Beidou RTK technology has the advantages of low requirement on the site environment, simplicity and convenience in operation and the like, and has all-weather, continuous and real-time precise three-dimensional navigation and positioning capabilities. According to the invention, the Beidou RTK positioning technology is applied to the construction process of floating positioning of the double-wall steel suspension box cofferdam, the three-dimensional position coordinates of the cofferdam are provided in real time, and the three-dimensional position coordinates are automatically imaged to the user server terminal equipment, so that a basis is provided for regulating and positioning the floating process of the cofferdam. The method is particularly suitable for positioning the cofferdam in the typhoon area under the condition of tidal reciprocating flow, successfully solves the problem of accurate positioning of the large steel cofferdam in a busy channel and a tidal channel with frequent change of hydrological conditions, and has precedence and novelty.)

1. A double-wall steel suspension box cofferdam real-time positioning method based on Beidou RTK technology is characterized by comprising the following steps: and dynamic positioning receivers are arranged at a reference station and a cofferdam flowing station with known accurate coordinates, real-time dynamic information interaction is carried out on the dynamic positioning receivers and a space Beidou satellite, and a carrier phase differential technology is adopted to obtain accurate position coordinates in the floating transportation process of the cofferdam, so that a basis is provided for positioning regulation and control of the cofferdam.

2. The double-wall steel suspension box cofferdam real-time positioning method based on the Beidou RTK technology of claim 1, characterized in that: the principle of the carrier phase differential technology is as follows: a receiver is arranged on a reference station to continuously observe the Beidou satellite, and the carrier phase correction is transmitted to a mobile station in real time through radio transmission equipment; on one hand, the rover station receives Beidou satellite signals through the receiver, meanwhile, the rover station receives carrier phase correction quantity transmitted by the reference station through the radio receiving equipment, then correction and check are carried out on observation data in real time according to a relative positioning principle, and three-dimensional coordinates are transmitted to the client terminal server in real time with centimeter-level accuracy.

3. The double-wall steel suspension box cofferdam real-time positioning method based on the Beidou RTK technology of claim 1, characterized in that: the reference station with known accurate coordinates is used as a reference station for differential positioning, and should be arranged at a height-making point with relatively accurate point coordinates in the measurement control network, and the periphery of the reference station has a wide visual field and no signal reflector. The datum point is close to the floating movement distance of the double-wall steel cofferdam, so that the carrier phase correction signal is transmitted to the mobile station quickly and accurately.

4. The double-wall steel suspension box cofferdam real-time positioning method based on the Beidou RTK technology of claim 1, characterized in that: the dynamic positioning receiver is arranged at the end of the top of the double-wall steel suspension box cofferdam and the midspan part of the side walls at two sides, so that the accurate positioning and tracking of the plane position of the double-wall steel cofferdam are realized through three-point positioning.

5. The double-wall steel suspension box cofferdam real-time positioning method based on the Beidou RTK technology as claimed in claims 1 and 2, characterized in that: and a calibration core processor and a calibration emitter are arranged at the reference station at the same time, the calibration core processor is provided with a navigation differential processor which compares the Beidou space satellite positioning coordinate with the accurate position coordinate of the reference station to obtain a carrier phase correction amount and transmits the calibration result to the double-wall steel cofferdam flowing station through the emitter.

6. The double-wall steel suspension box cofferdam real-time positioning method based on the Beidou RTK technology as claimed in claims 1 and 5, characterized in that: and the navigation difference processor sends the corrected and checked accurate three-dimensional coordinates of the mobile station to a client terminal server with a three-dimensional coordinate imaging function through a data transmitter.

7. The double-wall steel suspension box cofferdam real-time positioning method based on the Beidou RTK technology as claimed in claims 1 and 6, characterized in that: and the client terminal server displays the real-time dynamic position of the double-wall steel suspension box cofferdam in the floating transportation process on a user computer through a three-dimensional digital imaging technology, and performs position deviation analysis on the real-time dynamic position and the preset final position of the double-wall steel suspension box cofferdam.

8. The double-wall steel suspension box cofferdam real-time positioning method based on the Beidou RTK technology as claimed in claims 1 and 7, characterized in that: and through position deviation analysis, when the position deviation is greater than the standard allowable deviation, a position regulating and controlling instruction is sent out to guide the direction of the next floating transportation and positioning of the cofferdam.

9. The double-wall steel suspension box cofferdam real-time positioning method based on the Beidou RTK technology as claimed in claims 1 and 8, characterized in that: according to a regulation instruction, a main dragging tug is arranged in the advancing direction of the cofferdam in the floating stage, a pushing tug is arranged at the tail of the cofferdam, drag riding wheels are arranged on two side walls, an anchor pier, a positioning ship and a heavy anchor are combined in the accurate positioning stage, the cofferdam is tensioned and abutted against an abutment pier by an upstream side through a pull cable so as to bear the water flow force in the main water flow direction, and two groups of side cables are arranged to adjust the transverse position of the upstream side of the cofferdam and bear the transverse wind force and the water flow force of the cofferdam; the downstream side of the cofferdam is provided with a tail stay cable side anchor and a positioning ship, and the side anchor can adjust the transverse position of the downstream side of the cofferdam and bear the transverse wind power and the water flow force of the cofferdam; the tail stay cable can adjust the position of the main water flow direction of the cofferdam and bear the water flow force and the pretension force of the tail anchor.

10. The method for positioning the double-wall steel suspension box cofferdam in real time based on the Beidou RTK technology as claimed in claims 1, 7 and 9, wherein: and circularly positioning and adjusting the position of the double-wall steel suspension box cofferdam until the position deviation analysis result is smaller than the standard allowable deviation, inserting and punching a positioning steel casing on the double-wall steel cofferdam, and finally realizing dynamic high-precision positioning.

Technical Field

The invention belongs to the technical field of deepwater foundation construction, and particularly relates to a double-wall steel suspension box cofferdam real-time positioning method based on the Beidou RTK technology.

Background

The Beidou satellite navigation system is a global satellite navigation positioning system which is independently researched and developed and operates independently in China. At present, the satellite system covers the whole Asia-Pacific region, and can provide navigation positioning, time service and communication service for users in the coverage area all the time. It is expected that 5 geostationary orbit satellites and 30 non-geostationary orbit satellites will be launched in total by 2020, thereby achieving global coverage. The emergence and the growing maturity of the differential positioning technology of the real-time carrier phase enable the precise positioning, and the precise satellite real-time differential positioning technology is widely concerned by people at present.

In recent years, the bridge construction business in China is changed from a big bridge country to a technically strong country. In particular, in the embodiment, the double-wall steel cofferdam is floated in place on a river channel, the water flow turbulence and the tide back-flow effect are obvious, and a floating line is positioned on a busy channel, so that the position coordinate of the cofferdam after launching is required to be monitored in real time, and the position of the cofferdam is required to be quickly regulated, controlled and pulled in place. Obviously, the measurement and control requirements of the embodiment are difficult to meet by the traditional measurement means, and it is particularly important to explore a new measurement control method.

Disclosure of Invention

In order to overcome the problems, the invention aims to provide a double-wall steel suspension box cofferdam real-time positioning method based on Beidou differential positioning, which is particularly suitable for the floating real-time positioning method of the double-wall steel suspension box cofferdam under the action of tidal reciprocating flow under severe hydrological conditions.

The technical solution adopted to achieve the above purpose is as follows:

the double-wall steel suspension box cofferdam real-time positioning method based on Beidou differential positioning is characterized by comprising the following steps of: and dynamic positioning receivers are arranged at a reference station and a cofferdam flowing station with known accurate coordinates, real-time dynamic information interaction is carried out on the dynamic positioning receivers and a space Beidou satellite, and a carrier phase differential technology is adopted to obtain accurate position coordinates in the floating transportation process of the cofferdam, so that a basis is provided for positioning regulation and control of the cofferdam.

Further, the principle of the carrier phase division technique is as follows: a receiver is arranged on a reference station to continuously observe the Beidou satellite, and the carrier phase correction is transmitted to a mobile station in real time through radio transmission equipment; on one hand, the rover station receives Beidou satellite signals through the receiver, meanwhile, the rover station receives carrier phase correction quantity transmitted by the reference station through the radio receiving equipment, then correction and check are carried out on observation data in real time according to a relative positioning principle, and three-dimensional coordinates are transmitted to the client terminal server in real time with centimeter-level accuracy.

Further, a reference station with known precise coordinates as a reference station for differential positioning should be set at a height-control point in the measurement control network where the point coordinates are relatively precise, and the surrounding area should be wide and have no signal reflector. Thereby facilitating rapid and accurate delivery of the carrier phase correction signal.

Further, the dynamic positioning receiver is arranged at the end of the top of the double-wall steel suspension box cofferdam and the midspan position of the side walls at two sides, so that the accurate positioning and tracking of the plane position of the double-wall steel cofferdam are realized through three-point positioning.

Further, a calibration core processor and a calibration transmitter are arranged at the reference station, the calibration core processor is provided with a navigation difference processor which compares the Beidou space satellite positioning coordinate with the precise position coordinate of the reference station to obtain a carrier phase correction amount and transmits the calibration result to the double-wall steel cofferdam flow station through the transmitter.

Further, the navigation difference processor sends the corrected and checked accurate three-dimensional coordinates of the mobile station to a client terminal server with a three-dimensional coordinate imaging function through a data transmitter.

Further, the client terminal server displays the real-time dynamic position of the double-wall steel suspension box cofferdam in the floating transportation process on a user computer through a three-dimensional digital imaging technology, and performs position deviation analysis on the real-time dynamic position and the preset final position of the double-wall steel suspension box cofferdam. And through position deviation analysis, when the position deviation is greater than the standard allowable deviation, a position regulating and controlling instruction is sent out to guide the direction of the next floating transportation and positioning of the cofferdam.

Further, according to the regulation and control instruction, in the floating transportation stage, a main dragging tug is arranged in the advancing direction of the cofferdam, a pushing tug is arranged at the tail of the cofferdam, dragging riding wheels are arranged on two side walls of the cofferdam, in the accurate positioning stage, a combined positioning mode of an anchor pier, a positioning ship and a heavy anchor is adopted, the cofferdam is tensioned on the upstream side and is abutted against a leaning pier through a pull cable so as to bear the water flow force in the main water flow direction, and two groups of side cables are arranged to adjust the transverse position of the upstream side of the cofferdam and bear the transverse wind force and the water flow; the downstream side of the cofferdam is provided with a tail stay cable side anchor and a positioning ship, and the side anchor can adjust the transverse position of the downstream side of the cofferdam and bear the transverse wind power and the water flow force of the cofferdam; the tail stay cable can adjust the position of the main water flow direction of the cofferdam and bear the water flow force and the pretension force of the tail anchor.

Further, the position of the double-wall steel suspension box cofferdam is adjusted in a circulating positioning mode until the analysis result of the position deviation amount is smaller than the standard allowable deviation, and then the positioning steel casing is inserted into the double-wall steel cofferdam, and finally dynamic high-precision positioning is achieved.

Compared with the prior art, the invention has the following advantages:

1) the invention replaces the traditional measuring method, applies the Beidou RTK positioning technology to the construction process of floating positioning of the double-wall steel suspension box cofferdam, provides the three-dimensional position coordinates of the cofferdam in real time, automatically images the coordinates to the user server terminal equipment and provides a basis for regulating and positioning the floating process of the cofferdam.

2) Compared with the traditional measurement, the automation degree is high, and the field operation time and the labor intensity are greatly reduced; the observation speed is high, and a double-frequency receiver is adopted to collect position signals every 5 minutes, so that real-time positioning is realized; the carrier phase differential technology is applied to correct the positioning result, so that most of navigation positioning errors are eliminated, and the positioning precision is high; adopt cofferdam three point location to with the real-time three-dimensional formation of image of accurate position coordinate, visual degree is high, is convenient for assign the cofferdam fast and pulls regulation and control instruction, shortens cofferdam positioning time greatly.

Drawings

FIG. 1 is a principal flow diagram of an embodiment of the present invention;

FIG. 2 is a schematic diagram of an RTK system of the present invention;

FIG. 3 is a floating positioning illustration of the double-walled steel suspension box cofferdam of an embodiment of the present invention;

description of reference numerals:

1-a spatial Beidou satellite; 2-a data chain; 3-a rover system; 4-double-wall steel suspension box cofferdam; 5-a dynamic satellite positioning receiver; 6-a reference station system; 7-a static satellite positioning receiver; 8-a reference site; 9-a user terminal system; 10-main dragging riding wheel; 11-pushing riding wheels; 12-a side-towing riding wheel; 13-anchor pier; 14-positioning the ship; 15-heavy anchor; 16-pulling a cable; 17-side cable; 18-leaning against the pier; 19-a steel casing; 20-an anchor chain; 21-anchor line; 22-side cable mooring platform.

Detailed Description

The following description will explain embodiments of the present invention with reference to the accompanying drawings. As shown in fig. 1 to 3: a double-wall steel suspension box cofferdam real-time positioning method based on Beidou RTK technology comprises the following steps: a reference station system 6, a rover system 3 and a user terminal system 8. Satellite positioning receivers 5 and 7 are arranged at a reference station and a cofferdam flowing station with known accurate coordinates, real-time dynamic information interaction is carried out with a space Beidou satellite 1 through a data link 2, and a carrier phase differential technology is adopted to obtain accurate position coordinates in the floating transportation process of the cofferdam 4, so that a basis is provided for positioning regulation and control of the cofferdam 4.

The principle of the carrier phase differential technology is as follows: a receiver 7 is arranged on a reference station 8, the Beidou satellite 1 is continuously observed, and the carrier phase correction quantity is transmitted to the rover station 3 through the data link 2 in real time through radio transmission equipment; the rover station 3 receives the Beidou satellite signals through the receiver 5 on one hand, and simultaneously receives the carrier phase correction quantity transmitted by the reference station 8 through the radio receiving equipment, then corrects and checks the observation data in real time according to the relative positioning principle, and transmits the three-dimensional coordinates to the client terminal server 9 in real time with centimeter-level precision.

The reference station 8 with known accurate coordinates is used as a reference station for differential positioning, and should be arranged at a height-making point with relatively accurate point coordinates in the measurement control network, and the periphery of the reference station has a wide visual field and no signal reflector. The datum point is close to the floating distance of the double-wall steel cofferdam 4, so that the carrier phase correction signal is transmitted to the mobile station 3 quickly and accurately.

The dynamic positioning receiver 5 is arranged at the end of the top of the double-wall steel suspension box cofferdam 4 and the midspan part of the side walls at two sides, so that the accurate positioning and tracking of the plane position of the double-wall steel cofferdam 4 are realized through three-point positioning.

And a calibration core processor and a calibration transmitter are arranged at the reference station 8 at the same time, wherein the calibration core processor is provided with a navigation differential processor which compares the Beidou space satellite positioning coordinate with the accurate position coordinate of the reference station to obtain a carrier phase correction amount and transmits the calibration result to the double-wall steel cofferdam flow station through the transmitter.

And the navigation difference processor sends the corrected and checked accurate three-dimensional coordinates of the mobile station to a client terminal server with a three-dimensional coordinate imaging function through a data transmitter.

The client terminal server 9 displays the real-time dynamic position of the double-wall steel suspension box cofferdam 4 in the floating transportation process on a user computer through a three-dimensional digital imaging technology, and performs position deviation analysis with the preset final position of the double-wall steel cofferdam.

And through position deviation analysis, when the position deviation is greater than the standard allowable deviation, a position regulating and controlling instruction is sent out to guide the direction of the next floating transportation and positioning of the cofferdam 4.

According to the regulation instruction and the regulation instruction, a main dragging tug 10 is arranged in the advancing direction of the cofferdam in the floating stage, a pushing tug 11 is arranged at the tail of the cofferdam, dragging tugs 12 are arranged on two side walls of the cofferdam, a combined positioning mode of an anchor pier 13, a positioning ship 14 and a heavy anchor 15 is adopted in the accurate positioning stage, the cofferdam 4 is tensioned and propped against a leaning pier 18 on the upstream side through a pull cable 16 so as to bear the water flow force in the main water flow direction, and two groups of side cables 17 are arranged to adjust the transverse position of the upstream side of the cofferdam 4 and bear the transverse wind force and the water flow force of the coffer; the downstream side of the cofferdam 4 is provided with a tail stay cable side anchor 13 and a positioning ship 14, and the side anchor 15 can adjust the transverse position of the downstream side of the cofferdam 4 and bear the transverse wind power and the water flow force of the cofferdam 4; the tail stay cable 16 can adjust the position of the main water flow direction of the cofferdam 4 and bear the water flow force and the pretension force of the tail anchor.

And circularly positioning and adjusting the position of the double-wall steel suspension box cofferdam 4 until the analysis result of the position deviation amount is smaller than the standard allowable deviation, inserting a positioning steel casing 19 into the double-wall steel cofferdam, and finally realizing dynamic high-precision positioning.