A novel deepwater structures pose measurement method and experimental study

With the rapid development of deepwater exploration and development, more and more deepwater offshore engineering such as gas pipeline, riser system, and mooring system will apply to deep seabed. The measurement of relative posture of submarine structures is one of the key for these engineering. Paper takes measurement of relative posture for two seabed pipeline as an example to design a deepwater pipeline flanges measuring system which is based on the stretching wire. After establishing the mathematical model, using the robot posture theory, the transition matrix theory and the principle of vector operations, using transition matrix pose algorithm, paper solves posture parameter’s solution of two pipelines such as relative distance and relative angles. For the complexity of the marine environment, paper carries out experimental studies measuring system to verify the accuracy of measurement method. Replace the positioning base of deepwater pipeline flanges measuring system can also be applied to the measurement of other submarine structures, which provides a valid method and approach for deepwater measurement techniques.

► Our work designs a deepwater structures pose measurement scheme and establishes mathematical model. ► Transition matrix pose algorithm solves the relative posture of submarine structures. ► These experiments verify system is accurate and feasible.