一体化USBL/INS在沉船打捞精准定位技术中的应用  

Application of integrated USBL/INS in precision positioning technology forshipwrecks salvage

作　　者：李昌 龙成 吴海金 东旭华 LI Chang;LONG Cheng;WU Haijin;DONG Xuhua(Guangzhou Salvage Bureau of the Ministry of Transport,Guangzhou 510260,China;Tianjin Research Institute for Water Transport Engineering,Tianjin 300456,China;Tianjin Survey and Design Institute for Water Transport Engineering Co.Ltd.,Tianjin Key Laboratory of Surveying and Mapping for Waterway Transport Engineering,Tianjin 300456,China)

机构地区：[1]交通运输部广州打捞局,广州510260 [2]交通运输部天津水运工程科学研究所,天津300456 [3]天津水运工程勘察设计院有限公司天津市水运工程测绘技术重点实验室,天津300456

出　　处：《水道港口》2024年第5期816-822,共7页Journal of Waterway and Harbor

基　　金：国家重点研发计划项目(2023YFB3907200,2023YFC2809700);天津市科技计划项目(23YDPYCG00010)。

摘　　要：海上沉船残骸的精准打捞主要取决于施工船和残骸的定位精度。针对沉船打捞精密定位问题,研究了多手段协同的技术路线,提出了一种船载超短基线和惯性导航系统(USBL/INS)的一体化安装姿态校准方法,构建了多信标的静态校准模型并提出了阻尼最小二乘的姿态安装偏差解算方法。通过消声水池一体化安装校准实验和海上动态安装校准实验,证明该方法与海上动态校准显比定位误差减小约54%,且其不需要反复校准的优势能有效提高作业效率。最后,以“SERASII”沉船解体打捞项目为例,对一体化USBL/INS定位精度进行了验证,并通过多波束扫测验证了其打捞定位的良好效果,为沉船细小残骸的精准打捞提供了技术支持。此外,该静态校准方法也为无动力施工船USBL精密定位提供了一种解决思路。The precise salvage of shipwrecks mainly depends on the positioning accuracy of ships and wrecks.The problem of precise positioning for wrecks salvage was focused on,the technical route of multi means collaboration was studied,an integrated installation and calibration method for ultra short baseline and inertial navigation system(USBL/INS)was proposed.A static calibration model for multiple beacons was constructed,and a posture installation deviation calculation method with the minimum damping coefficient was proposed.Through the integrated installation and calibration experiments of the sound-absorbing water tank and the dynamic installation and calibration experiments,it has been proven that this method reduces the positioning error by about 54%compared to the dynamic calibration.The advantage is not requiring repeated calibration and could effectively improve work efficiency.Finally,the"SERASII"sunken ship dismantling and salvage project was took as an example,the integrated USBL/INS positioning accuracy was verified,and the good effect of its salvage positioning was verified through multi beam scanning,providing technical support for the precise salvage of small wreckage of sunken ships.In addition,the static calibration method also provides a solution for the precise positioning of the unpowered construction ship USBL.

关 键 词：沉船打捞 超短基线 惯导 安装校准 精准定位 

分 类 号：U65[交通运输工程—港口、海岸及近海工程] P299[交通运输工程—船舶与海洋工程]