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1. 发明申请

WO1980001308A1 LINE LENGTH NAVIGATION SYSTEM 审中-公开
标题翻译：线长导航系统
公开(公告)号：WO1980001308A1
公开(公告)日：1980-06-26
申请号：PCT/US1979000864
申请日：1979-10-19
申请人： SPERRY CORP
发明人： SPERRY CORP , DEMATTE J , SIMONELLI N
IPC分类号： G06F15/50
CPC分类号： G01C21/203 , B63B35/03 , B63B2213/00 , B63H15/00 , B63H25/42 , G01C21/165
摘要： Guidance system used in laying undersea pipe or cable (3) from a pipe-laying vessel (1) when radio transmissions are unreliable. The system processes parameters derived from sensors (80, 88) normally aboard a pipe-laying vessel and sensors (83) cooperating with active winches (52) applying tension to the several anchor lines (12). The vessel's pitch, roll and heading angles are supplied from gyrocompass (88) and vertical gyroscopic instruments (80). Anchor line (12) elevation and azimuth angles with respect to deck coordinates are yielded by conventional angle pick offs (56, 60) associated with fairlead devices, as are the line axial tension and the length of anchor line paid out. Initial conditions, including the initial position of the vessel (1), are easily obtained in the usual manner (106). From certain of these parameters, the invention derives intermediate anchor line parameters for use in computing fairlead motion (93). The intermediate data is used to compute compensated fairlead motion data by first computing apparent fairlead motion from anchor line tension changes (110). This version of fairlead motion contains undesired terms due to apparent fairlead motion caused by anchor line length changes and also due to actual fairlead motion caused by vessel attitude changes. Therefore, second and third computations (112, 117) are made of the contributions of the latter effects. This is done so that apparent fairlead motion due to anchor line length change and actual fairlead motion due to vessel attitude change may be subtracted (114) from the measure of apparent fairlead motion as calculated from anchor line tension change, yielding the desired compensated fairlead motion value free of significant disturbing components (115). An estimated value of vessel position change is then obtained by a least squares estimation (130) involving these fairlead motion terms. Correction of vessel position (133) then follows by cooperative operation of the winch and thruster assemblies (52).
摘要翻译：当无线电传输不可靠时，用于从铺管船（1）铺设海底管道或电缆（3）的引导系统。系统处理通常在放管容器上传感器（80,88）的参数，以及与主动绞车（52）配合的传感器（83），其向几根锚定线（12）施加张力。船舶的俯仰，俯仰角和航向角由陀螺罗经（88）和垂直陀螺仪（80）提供。相对于甲板坐标的锚定线（12）的高程和方位角通过与导线装置相关联的常规角度拾取（56,60）产生，线路轴向张力和锚线长度被支付。初始条件，包括容器（1）的初始位置，以常规方式（106）容易获得。根据这些参数中的某些，本发明导出中间锚线参数以用于计算平行线运动（93）。中间数据用于通过首先从锚线张力变化计算明显的弹道运动来计算补偿的交错运动数据（110）。由于由锚线长度变化引起的明显的导线运动，并且由于船只姿态变化引起的实际的弹道运动，这种版本的导弹运动包含不需要的术语。因此，第二和第三计算（112,117）由后一种效应的贡献构成。这样做，使得由于锚线长度变化引起的明显的导线运动以及由于船舶姿态变化引起的实际的弹道运动可以从锚线张力变化计算出的明显的弹道运动的测量中减去（114），从而产生所需的补偿的弹道运动没有显着干扰组件（115）。然后通过涉及这些Fairlead运动项的最小二乘估计（130）获得船舶位置变化的估计值。然后通过绞盘和推进器组件（52）的协同操作来跟随船舶位置（133）的修正。

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