共查询到20条相似文献，搜索用时 156 毫秒
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影响GPS PPK无验潮水深测量精度的几个因素 总被引：4，自引：1，他引：3
针对作用距离、数据同步、姿态、声速等因素对全球定位系统动态后处理(GPS PPK)无验潮沿岸水深测量精度的影响进行了讨论,分析了GPS PPK无验潮水深测量作业模式消除涌浪影响的机理,对姿态传感器的测量和安装精度以及GPS天线与测深仪换能器相对位置的量测精度等提出了定量要求。 相似文献
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在海域进行水深测量时,由于波浪、风力等因素的影响,测量船只或大或小的存在着上下、横纵摇摆运动。这种运动在测深点位和测深值两个方面影响着测深数据的稳定性、准确性,导致所描述的水下地形与实际的水下地形严重脱节,影响各项工程建设的需要。利用瑞士徕卡公司生产的DMC数字罗盘仪实时记录测深换能器的姿态,并实施换能器姿态纠正,可有效地削弱测深数据的误差,更好地满足各类工程建设对测深成果的需要。 相似文献
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多波束测深技术是目前水下地形测量的主要技术手段,测量平台的瞬时姿态及方位是影响多波束测深系统最终成果准确度的重要因素。GNSS方位辅助惯性导航系统,作为目前应用较为广泛的方位、姿态、及位置综合测量系统,不仅能够提供高精度位置信息,同时也能提供测量平台的瞬时姿态及方位数据,而且因为具有GNSS方位辅助测量,使得最终方位测量结果比传统方位测量精度大大提高,这对于多波束最终测量成果精度提高具有重要意义。文中从GNSS方位辅助惯性导航系统原理及技术优势出发,结合Trimble RTX后处理技术,从姿态测量、方位测量及辅助高程测量方面分析了在多波束水下地形测量中的应用,并以实际测量成果来展现其在水下地形精密测量技术方面的优势,结果显示,定位精度可以达到优于2 cm级别,方位精度可以优于0.01°(依赖于双GNSS天线之间的基线长度),该技术对水下地形测量准确度提升作用显著。 相似文献
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This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle(ROV) system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized-a implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilical cable is the key feature of this analysis. The presented formulation is firstly validated, and then three numerical examples for the umbilical cable in a deep-sea ROV system are demonstrated and discussed, including the steady configurations only under the action of depth-dependent ocean current, the dynamic responses in the case of the only ship heave motion, and in the case of the combined action of the ship heave motion and ocean current. 相似文献
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This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle (ROV) system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized- implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilical cable is the key feature of this analysis. The presented formulation is firstly validated, and then three numerical examples for the umbilical cable in a deep-sea ROV system are demonstrated and discussed, including the steady configurations only under the action of depth-dependent ocean current, the dynamic responses in the case of the only ship heave motion, and in the case of the combined action of the ship heave motion and ocean current. 相似文献
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In practical maritime conditions, ship hulls experience heave motion due to the action of waves, which can further drive the ship’s propellers to oscillate relative to the surrounding water. In order to investigate the motion of a propeller working behind a surface vessel sailing in waves, a numerical simulation is conducted on a propeller impacted by heave motion in cavitating flow using the Reynolds-averaged Navier-Stokes (RANS) method. The coupling of the propeller’s rotation and translation is fulfilled using equations of motion defined for this purpose. The heave motion is simplified as a periodic motion based on a sinusoidal function. The numerical transmission of information from the unsteady flow field is achieved using the overset grid approach. In this manner, the unsteady thrust coefficient and torque coefficient of propellers in different periods of heave motion are analyzed. A comparative study is implemented on the unsteady cavitation performance and wake characteristics of propeller. With the propeller’s heave motion, the flow field non-uniformity constantly changes the load on the propeller during each revolution period and each heaving period, the propeller load and the wake field are closely related to the variation of heave motion period. The results obtained from the numerical simulation are expected to serve as a useful theoretical reference for the numerical analysis of a propeller in a heave motion. 相似文献
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Nonlinear control of an active heave compensation system 总被引：2，自引：0，他引：2
Heave motion of a vessel or a rig has an adverse impact on the response of a drill-string or a riser. To compensate for heave motion, passive and active devices are usually used. Active heave compensators, in which a control system is an essential part, allow conducting operations under more extreme weather conditions than passive ones. This paper presents a constructive method to design a nonlinear controller for an active heave compensation system using an electro-hydraulic system driven by a double rod actuator. The control system reduces the effect of the heave motion of the vessel on the response of the riser by regulating the distance from the upper end of the riser to the seabed. The control development is based on Lyapunov's direct method and disturbance observers. The paper also includes a method to select the control and disturbance observer gains such that actuator saturations are avoided. Stability of the closed loop system is carefully examined. Simulation results illustrate the effectiveness of the proposed control system. 相似文献
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Compensation for source heave by use of a Kalman filter 总被引：2，自引：0，他引：2
This paper presents a procedure for data filtering to compensate for the effects of the towed body dynamics (heave), in shallow marine seismic reflection records. A method to extract an approximate record of the heave contribution to data collected is outlined. The method utilizes the time to water-sediment interface on each acoustic return record to construct the required approximate heave motion record. The frequency response of the heave component record provides the basis for a proposed linear model for the heave motion. A formulation of the heave compensation requirement as a Kalman filtering problem in optimal linear estimation theory is given. A discussion of the computational aspects and practical results are discussed to conclude the paper. 相似文献
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合理的刚度和潜深设计可以使升沉水平板获得优异的消浪性能。基于考虑流体黏性的二维不可压缩Navier-Stokes方程,以高阶紧致插值CIP(constrained interpolation profile)方法求解方程对流项,采用VOF(volume of fluid)方法重构自由液面,构建二维数值波浪水槽。采用试验数据验证模型后,研究孤立波与升沉水平板相互作用,分析相对刚度K*、相对潜深d/h、相对波高H/h对于升沉板的消浪性能和运动响应的影响,揭示升沉板对孤立波的消浪机理。研究表明:在孤立波通过时,升沉板会经历一个先上升后下降的运动,随后非线性自由振动,板下方水体近似均匀流动,且水流的垂向流动与板的垂荡方向一致;升沉板主要通过不对称涡旋脱落、浅水变形、波浪反射与辐射波转化等方式消耗孤立波能量;一定条件下,采用最优相对刚度K*=4.0和最优相对潜深d/h=0.52可以取得良好的消浪效果,此时透射系数最小,同时升沉板的运动响应在合理的范围内。 相似文献
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A method of extracting wave parameters from surface displacement measured from a moving platform is presented. The article first presents a method for accurately measuring surface displacement using a single beam altimeter and heave sensor. A least squares approach is presented to estimate wave parameters using vessel velocity and perceived wave frequency that eliminates Doppler due to vessel motion. Two techniques for estimating wave frequency are presented: a block data method using MUSIC and a real-time method using demodulation. Sea trial results demonstrate that this method is as effective as a WaveRider buoy for estimating wave parameters. 相似文献
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基于Newton法优化ARMA模型参数的船舶升沉运动预测研究 总被引：1，自引：1，他引：0
为解决波浪补偿系统中时延现象导致的控制性能下降问题,通过建立Newton-ARMA模型提前预测船舶升沉运动来消除时延现象。首先设计卡尔曼滤波器对船舶升沉运动加速度信号进行降噪滤波处理;然后使用加速度二次积分模块将加速度信号转换为位移信号;最后建立自回归滑动平均(ARMA)模型,并使用牛顿(Newton)法对模型参数进行优化,得到船舶升沉运动的Newton-ARMA预测模型。仿真结果表明,Newton-ARMA模型对船舶升沉运动的预测时间可达10 s,预测误差随着预测时间的增加而增大; Newton-ARMA模型对二级海况、三级海况和四级海况下的船舶升沉运动平均预测精度分别达到89.43%、88.53%以及87.78%,远高于ARMA模型对船舶升沉运动预测的精度,说明采用Newton法优化ARMA模型参数可以显著提高船舶升沉运动的预测精度,也即Newton-ARMA模型对控制波浪补偿系统时延具有较好的补偿效果。 相似文献
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垂荡板对半潜式风机基础水动力性能有极大的影响,从而影响基础拖航安装过程的安全。为了研究垂荡板对半潜式基础拖航过程中运动响应的影响,建立了拖缆—WindFloat浮式风机半潜式基础拖航系统模型。首先,基于三维势流理论,采用AQWA开展了拖航系统的频域水动力分析,分析了垂荡板的尺寸及形状对基础水动力性能的影响规律;进一步采用时域方法对拖航系统的运动响应进行分析,探究了垂荡板的尺寸及形状在不同浪向下对基础运动响应的影响规律。结果表明：垂荡板能有效抑制基础的垂荡RAO,但垂荡板形状对基础的水动力性能无明显影响;具有圆形垂荡板的半潜式基础在拖航过程中的运动性能略优于六边形垂荡板,在原设计基础上继续增大垂荡板尺寸对基础运动响应的抑制效果呈现先增大后减小的趋势,说明半潜式风机基础存在一个最优的垂荡板尺寸。 相似文献
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The analytical method developed by Svendsen (1968) for a forced heave motion is extended to the general problem of wave induced heave, roll and sway motions of a long ship at a depth of water which is only slightly larger than the draught of the ship. This corresponds, for example, to the situation of a fully loaded ship in a harbour area.After linearization of the problem, the water motion is considered for each of the three individual motions and for the wave reflection-transmission problem for a fixed ship. The ensuing results for the forces on the ship are then synthesized to form the equations of motion, which are presented with all coefficients given, including mooring forces.Analytical and numerical results are given for the three components of motion, for the associated resonance frequencies, and for the hydrodynamic masses and moments of inertia. Finally, the assumptions used are analyzed and evaluated by comparison with measurements and with other results for a special case. 相似文献