本文選題：FPSO + GPS��； 參考：《大連理工大學(xué)》2015年碩士論文

【摘要】：海洋平臺是人類在海洋作業(yè)的重要基礎(chǔ)設(shè)施之一,也是在海洋中開采石油資源和天然氣資源的必要工具和設(shè)備,海洋平臺長期受到海洋環(huán)境復(fù)雜性和不確定性等因素的影響導(dǎo)致海洋平臺存在一定的安全隱患。風(fēng)、浪、流等復(fù)雜環(huán)境因素的影響導(dǎo)致海洋平臺運(yùn)動姿態(tài)變得極其復(fù)雜,為了海洋平臺能夠安全地生產(chǎn)和生活以及為安全工作提供預(yù)警,需要長期有效地監(jiān)測海洋平臺及其周圍的海域環(huán)境。本文以FPSO單點(diǎn)系泊海洋平臺為背景,結(jié)合海洋平臺的結(jié)構(gòu)及其所處的海洋環(huán)境特點(diǎn),對海洋平臺的監(jiān)測技術(shù)進(jìn)行深入探討。本文主要通過安裝在FPSO船體以及系泊系統(tǒng)的傾角傳感器、慣導(dǎo)傳感器、加速度傳感器以及GPS傳感器實(shí)時(shí)監(jiān)測FPSO船體以及系泊系統(tǒng)的姿態(tài)信息和位置信息,并通過集成的現(xiàn)場監(jiān)測系統(tǒng),實(shí)時(shí)顯示監(jiān)測到的姿態(tài)信息。GPS傳感器在海洋平臺現(xiàn)場監(jiān)測中起著重要的作用,主要測量FPSO海洋平臺的位置和姿態(tài)信息,本文基于FPSO海洋平臺的結(jié)構(gòu)特點(diǎn)以及運(yùn)用GPS測量船體姿態(tài)的實(shí)際需要,設(shè)計(jì)了多個(gè)GPS組合測量船體姿態(tài)的方案,并得出基于GPS定位數(shù)據(jù)進(jìn)行姿態(tài)解算的公式,使用多個(gè)GPS解算船體的姿態(tài)信息為后續(xù)的數(shù)據(jù)融合校正傳感器測量數(shù)據(jù)提供了有效的途徑,此外對GPS解算姿態(tài)時(shí)所用的關(guān)鍵算法進(jìn)行了詳細(xì)地介紹。本文針對FPSO單點(diǎn)系泊海洋平臺在位監(jiān)測中傳感器測量數(shù)據(jù)的誤差問題,提出了一種利用多傳感器冗余監(jiān)測數(shù)據(jù)的數(shù)據(jù)融合方法。該方法利用FPSO船體以及系泊系統(tǒng)上安裝的多個(gè)傳感器的實(shí)時(shí)監(jiān)測數(shù)據(jù)建立了FPSO軟鋼臂單點(diǎn)系泊的多剛體運(yùn)動方程,確立了冗余數(shù)據(jù)之間的約束關(guān)系,采用非線性最小二乘法修正測量數(shù)據(jù)誤差。實(shí)驗(yàn)表明利用該方法能夠有效地修正監(jiān)測數(shù)據(jù)的誤差,能夠極大地提高數(shù)據(jù)約束的精度。FPSO現(xiàn)場監(jiān)測系統(tǒng)是國內(nèi)首次實(shí)現(xiàn)針對FPSO軟剛臂單點(diǎn)系泊系統(tǒng)的長期現(xiàn)場監(jiān)測,為該類系泊系統(tǒng)姿態(tài)數(shù)據(jù)研究和結(jié)構(gòu)設(shè)計(jì)提供了寶貴的資料。相比于模型計(jì)算和水池實(shí)驗(yàn),通過現(xiàn)場多傳感器監(jiān)測得到的數(shù)據(jù)可以更加真實(shí)地體現(xiàn)海洋平臺的運(yùn)動姿態(tài)和系泊受力情況,對監(jiān)測數(shù)據(jù)進(jìn)行誤差校準(zhǔn)可以為后續(xù)海洋平臺的數(shù)據(jù)分析提供準(zhǔn)確的數(shù)據(jù)。
[Abstract]:The offshore platform is one of the important infrastructure for human operations in the ocean and is also an essential tool and equipment for the exploitation of oil and natural gas resources in the ocean, The offshore platform is affected by the complexity and uncertainty of marine environment for a long time. The effects of complex environmental factors, such as wind, waves, currents, and so on, make the motion posture of offshore platforms extremely complex, so that offshore platforms can safely produce and live and provide early warning for safety work. There is a need for long-term and effective monitoring of the offshore platform and its surrounding marine environment. Based on the FPSO single-point moored offshore platform and the structure of the offshore platform and the characteristics of the marine environment, the monitoring technology of the offshore platform is discussed in this paper. In this paper, the attitude information and position information of FPSO hull and mooring system are monitored in real time by means of inclination sensor, inertial navigation sensor, acceleration sensor and GPS sensor installed in FPSO hull and mooring system. Through the integrated field monitoring system, the attitude information is displayed in real time. The GPS sensor plays an important role in the field monitoring of the offshore platform. It mainly measures the position and attitude information of the FPSO offshore platform. Based on the structural characteristics of the FPSO offshore platform and the actual requirement of using GPS to measure the hull attitude, this paper designs several GPS combination schemes to measure the hull attitude, and obtains the formula of attitude calculation based on the GPS positioning data. Using multiple GPS to calculate the attitude information of the hull provides an effective way for the subsequent data fusion to correct the measured data of the sensor. In addition, the key algorithms used in the calculation of the attitude of the GPS are introduced in detail. In this paper, a data fusion method based on multisensor redundant monitoring data is proposed to solve the error problem of sensor measurement data in FPSO single point mooring offshore platform. Using the real-time monitoring data of FPSO hull and multiple sensors installed on the mooring system, the multi-rigid body motion equation of single point mooring of FPSO soft steel arm is established, and the constraint relationship between redundant data is established. The nonlinear least square method is used to correct the measurement data error. Experiments show that the method can effectively correct the error of monitoring data and greatly improve the precision of data constraint. The field monitoring system of FPSO is the first time in China to realize long-term monitoring for FPSO soft rigid arm single point mooring system. It provides valuable data for attitude data research and structure design of this kind of mooring system. Compared with the model calculation and tank experiment, the data obtained by field multi-sensor monitoring can reflect the motion attitude and mooring force of the offshore platform more realistically. Error calibration of monitoring data can provide accurate data for subsequent data analysis of offshore platform.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：U674.38

【參考文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前1條

1 劉超;深水浮式平臺原型測量與分析[D];大連理工大學(xué);2012年

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本文編號：1860633