海洋平台FPSO姿态监测技术与数据融合

发布时间：2018-05-08 08:10

本文选题：FPSO + GPS　；参考：《大连理工大学》2015年硕士论文

【摘要】：海洋平台是人类在海洋作业的重要基础设施之一,也是在海洋中开采石油资源和天然气资源的必要工具和设备,海洋平台长期受到海洋环境复杂性和不确定性等因素的影响导致海洋平台存在一定的安全隐患。风、浪、流等复杂环境因素的影响导致海洋平台运动姿态变得极其复杂,为了海洋平台能够安全地生产和生活以及为安全工作提供预警,需要长期有效地监测海洋平台及其周围的海域环境。本文以FPSO单点系泊海洋平台为背景,结合海洋平台的结构及其所处的海洋环境特点,对海洋平台的监测技术进行深入探讨。本文主要通过安装在FPSO船体以及系泊系统的倾角传感器、惯导传感器、加速度传感器以及GPS传感器实时监测FPSO船体以及系泊系统的姿态信息和位置信息,并通过集成的现场监测系统,实时显示监测到的姿态信息。GPS传感器在海洋平台现场监测中起着重要的作用,主要测量FPSO海洋平台的位置和姿态信息,本文基于FPSO海洋平台的结构特点以及运用GPS测量船体姿态的实际需要,设计了多个GPS组合测量船体姿态的方案,并得出基于GPS定位数据进行姿态解算的公式,使用多个GPS解算船体的姿态信息为后续的数据融合校正传感器测量数据提供了有效的途径,此外对GPS解算姿态时所用的关键算法进行了详细地介绍。本文针对FPSO单点系泊海洋平台在位监测中传感器测量数据的误差问题,提出了一种利用多传感器冗余监测数据的数据融合方法。该方法利用FPSO船体以及系泊系统上安装的多个传感器的实时监测数据建立了FPSO软钢臂单点系泊的多刚体运动方程,确立了冗余数据之间的约束关系,采用非线性最小二乘法修正测量数据误差。实验表明利用该方法能够有效地修正监测数据的误差,能够极大地提高数据约束的精度。FPSO现场监测系统是国内首次实现针对FPSO软刚臂单点系泊系统的长期现场监测,为该类系泊系统姿态数据研究和结构设计提供了宝贵的资料。相比于模型计算和水池实验,通过现场多传感器监测得到的数据可以更加真实地体现海洋平台的运动姿态和系泊受力情况,对监测数据进行误差校准可以为后续海洋平台的数据分析提供准确的数据。
[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.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U674.38

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