沉管隧道管节对接水下摄影测量定位方法

doi:10.11947/j.AGCS.2024.20240030

测绘学报 ›› 2024, Vol. 53 ›› Issue (9): 1671-1678.doi: 10.11947/j.AGCS.2024.20240030

• 精密工程测量 • 上一篇

沉管隧道管节对接水下摄影测量定位方法

田霖¹^,²(), 李清泉²^,³^,⁴, 马华川², 薛彪², 管明雷²^,⁵, 张德津²^,³()

^1.深圳大学物理与光电工程学院，广东　深圳　518060
^2.广东省城市空间信息工程重点实验室，广东　深圳　518060
^3.深圳大学建筑与城市规划学院，广东　深圳　518060
^4.深圳市人工智能与数字经济广东省实验室，广东　深圳　518060
^5.深圳职业技术学院人工智能学院，广东　深圳　518055

收稿日期:2024-01-16 发布日期:2024-10-16
通讯作者: 张德津 E-mail:tianlin.hust@live.com;djzhang@szu.edu.cm
作者简介:田霖（1987—），男，博士，副研究员，研究方向为水下测量与定位。E-mail：tianlin.hust@live.com
基金资助:
深圳市科技计划技术攻关项目(JSGG20220831103800001);珠江人才计划(2021JC02G046);深圳大学科研团队培育项目(2023JCT003)

Underwater photogrammetry positioning of immersed tunnel element interfacing

Lin TIAN¹^,²(), Qingquan LI²^,³^,⁴, Huachuan MA², Biao XUE², Minglei GUAN²^,⁵, Dejin ZHANG²^,³()

^1.College of Physics and Optoelectronic Engineering, Shenzhen University, Shenzhen 518060, China
^2.Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), Shenzhen 518060, China
^3.School of Architecture and Urban Planning, Shenzhen University, Shenzhen 518060, China
^4.Guangdong Key Laboratory for Urban Informatics, Shenzhen University, Shenzhen 518060 China
^5.School of Artificial Intelligence, Shenzhen Polytechnic, Shenzhen 518055, China

Received:2024-01-16 Published:2024-10-16
Contact: Dejin ZHANG E-mail:tianlin.hust@live.com;djzhang@szu.edu.cm
About author:TIAN Lin (1987—), male, PhD, associate researcher, majors in underwater measurement and positioning. E-mail: tianlin.hust@live.com
Supported by:
Shenzhen Science and Technology Program(JSGG20220831103800001);Pearl River Recruitment Program of Talents(2021JC02G046);Shenzhen University Research Team Cultivation Project(2023JCT003)

摘要/Abstract

摘要：

利用卫星测量塔将水下定位转换为水上定位是国内外沉管隧道管节定位的主要方法。然而，测量塔变形和管节变形的耦合影响定位精度，且无法适应大水深安装对接。本文提出了一种水下主动光源编码合作靶标摄影测量管节对接定位方法，利用主动光源增加光学作用距离，抑制后向散射，靶标编码克服悬浮颗粒、浮游生物影响。结合透射光分离成像和折射率作为未知参数的测量平差，克服水体浑浊和折射率诱导的光学畸变对水下摄影测量的影响。通过在待沉管节对接端两侧顶部安装摄影测量系统，已沉管节对应位置安装合作靶标并贯通测量确定其在施工坐标系的位置和姿态，通过后方交会计算得到待沉管节在施工坐标系的位置，与需要沉放到的理论位置对比，生成待沉管节位姿调整信息辅助对接。深中通道和大连湾沉管隧道工程应用表明，管节对接线形精度达到2 cm和100 m，为未来大水深沉管隧道建设提供关键技术支撑。

关键词: 水下工程测量, 沉管隧道, 管节定位, 水下摄影测量, 主动光源合作靶标

Abstract:

Using a measurement tower to convert underwater positioning to above-water positioning is the main method for positioning submarine tunnel segments at home and abroad. However, the coupled effects of measurement tower deformation and segment deformation affect positioning accuracy and are unable to adapt to deep-water docking. This article proposes an underwater active light encoding cooperative target photogrammetry segment docking positioning method, which uses active light to increase the optical distance, suppress backscattering, and encode the target to overcome the influence of suspended particles and plankton. Combined transmission light separation imaging and refractive index as unknown parameter measurement adjustment, overcoming the influence of water body turbidity and refractive index induced optical distortion on underwater photogrammetry. A photogrammetry system is installed on the top of the approaching segment's docking end, and a cooperative target is installed at the corresponding position of the already-submerged segment to ensure measurement and determine its position and attitude in the construction coordinate system. The position of the approaching segment in the construction coordinate system is obtained through rear intersection calculation, and the positional and attitude adjustment information of the segment is generated by comparing it with the theoretical position it needs to be sunk to, which assists in docking. The application of this method in the Deep Channel and Dalian Bay Submarine Tunnel projects shows that the segment docking linear accuracy reaches 2 cm and 100 m, providing key technical support for the construction of submarine tunnels under deep-water conditions in the future.

Key words: underwater engineering measurement, immersed tunnel, immersed tunnel positioning, under water photogrammetry, illumination cooperative target

中图分类号:

P258

田霖, 李清泉, 马华川, 薛彪, 管明雷, 张德津. 沉管隧道管节对接水下摄影测量定位方法[J]. 测绘学报, 2024, 53(9): 1671-1678.

Lin TIAN, Qingquan LI, Huachuan MA, Biao XUE, Minglei GUAN, Dejin ZHANG. Underwater photogrammetry positioning of immersed tunnel element interfacing[J]. Acta Geodaetica et Cartographica Sinica, 2024, 53(9): 1671-1678.

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测量差值	坐标值	前进100 mm			前进200 mm			前进500 mm
测量差值	坐标值	101	102	103	201	202	203	301	302	303
水上测量差值/mm	ΔX	－0.9	－1.2	1.3	－1.4	－1.9	1.1	－2.0	－2.1	2.9
	ΔY	－1.7	－1.2	0.6	－2.2	－2.1	0.4	－2.2	－2.1	0.7
	ΔZ	－2.0	－2.4	2.3	－2.8	－3.0	2.3	－2.7	－2.8	2.8
水下测量差值/mm	ΔX	－0.8	－1.4	－1.0	1.3	－0.4	－0.2	2.7	0.6	0.2
	ΔY	－3.4	－3.9	－4.6	－3.4	－4.0	－4.3	－3.3	－3.8	－4.2
	ΔZ	－2.6	－2.2	－2.0	－4.6	－4.3	－4.5	－4.7	－4.1	－4.0

位置	左侧相机	右侧相机	测量塔定位	贯通测量
纵向	—	—	5	8
横向	0.301	0.494	7	3
垂直	1.169	1.264	—	—

沉管隧道管节对接水下摄影测量定位方法

Underwater photogrammetry positioning of immersed tunnel element interfacing

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