基于LBL声信标的AUV快速精确定位

长基线声学定位系统是水下机器人广泛应用的外部导航设备。以对"CR-02"6000m自治水下机器人(简称AUV)技术的深入开发为背景,提出在原有长基线(LBL)定位系统的基础上增加导航功能的方案。由于海水介质非均匀性与复杂的时空变化特性,给基于测距的位置计算带来很大困难。采用平均声速法计算耗时小而误差大,波阵面定位法误差小而耗时大。为解决这个矛盾,根据AUV深度传感器给出的深度信息,采用本征声线快速计算方法解算AUV的水平面位置。与波阵面法、平均声速法进行了综合比较。仿真实验表明该方法具有优良的性能,满足AUV导航需要。

深水机器人低成本导航系统的位置估计方法研究

依据6000米自治水下机器人及其长基线声学定位系统现有的导航设备,将测距声信标和机器人载体携带的低成本导航传感器:涡轮式计程仪,压力传感器以及TCM2电子罗盘测量的导航数据相融合,分别提出两种基于EKF的导航数据融合算法,对机器人的位置以及水流参数进行估计,解决复杂环境下的深水机器人位置估计问题.蒙特卡洛仿真实验和湖上试验数据后处理表明,设计的位置估计算法收敛快,精度高,计算时间小,能够满足深水机器人的导航需要.

Study on the Performance of a Compact Compound Oil/Gas/Water Separator for Offshore Oil Industry

High-efficiency separation of the oil/gas/water mixtures is a significant issue in offshore oil industry. To reduce the total cost by means of reduction in weight and space compared with conventional separators, a novel compact compound oil/gas/water separator is developed. The research works on oil-gas-water separation by compound separating techniques is described in this paper. The innovative separator is a gravity settling tank with helical pipes within and T-shaped pipes outside. Both experiments and numerical simulations are presented to study the separating performance and efficiency of the helical pipes, which are the main part of the separator.

Multiphase Flow Measurement in the Offshore Oil Industry

In recent years, considerable research has been conducted into the development of a three-phase flowmeter suitable for use in an offshore environment, and oil/gas/water three-phase metering becomes an important aspect in multiphase flow measurement. This paper discusses the importance of three-phase flow measurement in offshore oil industry, describes the current development in this area, and points out the principal strategies which may be used to meter three-phase flow.