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隧道建设（中英文） ›› 2025, Vol. 45 ›› Issue (7): 1370-1377.DOI: 10.3973/j.issn.2096-4498.2025.07.014

• 施工技术 • 上一篇    下一篇

深中通道沉管隧道最终接头水下定位技术研究

锁旭宏1, 2， 闫浩文1, *， 李振洪3， 张德津4， 苏小宁1， 刘兆权2， 田霖5， 管明雷6， 马华川7   

  1. （1. 兰州交通大学测绘与地理信息学院， 甘肃 兰州 730070； 2. 中交第一航务工程局有限公司， 天津 300461； 3. 长安大学地质工程与测绘学院， 陕西 西安 710054； 4. 深圳大学建筑与城市规划学院， 广东 深圳 518060； 5. 深圳大学物理与光电工程学院， 广东 深圳 518060； 6. 深圳职业技术大学人工智能学院， 广东 深圳 518055； 7. 深圳大学土木与交通工程学院， 广东 深圳 518060）
  • 出版日期:2025-07-20 发布日期:2025-07-20
  • 作者简介:锁旭宏（1988—），男，甘肃白银人，兰州交通大学摄影测量与遥感专业在读博士，高级工程师，现从事沉管隧道施工新型测量技术研究与管理工作。E-mail： 1398900215@qq.com。*通信作者： 闫浩文， E-mail: yanhw@lzjtu.edu.cn。

Underwater Positioning Technology for Closure Joint of Shenzhen-Zhongshan Link Immersed Tunnel

SUO Xuhong1, 2, YAN Haowen1, *, LI Zhenhong3, ZHANG Dejin4, SU Xiaoning1, LIU Zhaoquan2, TIAN Lin5, GUAN Minglei6, MA Huachuan7   

  1. (1. Faculty of Geomatics, Lanzhou Jiaotong University, Lanzhou 730070, Gansu, China; 2. CCCC First Harbor Engineering Co., Ltd., Tianjin 300461, China; 3. School of Geological Engineering and Geomatics, Chang′an University, Xi′an 710054, Shaanxi, China; 4. School of Architecture & Urban Planning, Shenzhen University, Shenzhen 518060, Guangdong, China; 5. College of Physics and Optoelectronic Engineering, Shenzhen University, Shenzhen 518060, Guangdong, China; 6. School of Artificial Intelligence, Shenzhen Polytechnic University, Shenzhen 518055, Guangdong, China; 7. College of Civil and Transportation Engineering, Shenzhen University, Shenzhen 518060, Guangdong, China)
  • Online:2025-07-20 Published:2025-07-20

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摘要： 为解决深中通道沉管隧道“水下整体推出式”最终接头在复杂水下环境中的毫米级实时定位难题，提出一种基于双目摄影视觉定位与水下拉线测角测距的组合定位方法。该方法通过双目摄影系统和水下拉线系统分别获取最终接头在推出过程中的姿态与位置数据，并结合管内贯通测量成果，实现最终接头高精度的水下实时定位。其中，双目摄影系统通过照相机实时捕捉特征点的三维位移，水下拉线系统通过激光测角与编码器测距，使用角度和距离实时解算特征点三维坐标。开发包含硬件、软件与协议的管节定位监测系统，其中，硬件集成摄影-拉线组合单元与同步控制器，软件构建三维可视化界面与数据管理平台，实现了半封闭空间内三维姿态的实时监测与冗余测量。经陆上推退试验、水下重载推出试验及现场应用，该系统定位精度在10 mm以内，满足最终接头安装的精度要求。该方法突破了传统GNSS-RTK测量塔定位系统在水下狭小半封闭受限空间难以应用的困境，同时打破了传统GNSS-RTK与声呐技术于此类空间的应用瓶颈，为水下环境中大吨位构件的安装提供了高精度动态定位可行方案。

关键词: 深中通道, 沉管隧道, 最终接头, 双目摄影, 水下拉线

Abstract: To achieve millimeter-level real-time positioning of an "integral underwater thrust-type" closure joint in the Shenzhen-Zhongshan link immersed tunnel, which operates under complex subaqueous environments, the authors propose a hybrid positioning method that combines binocular camera vision with angle and distance measurements using a laser-wire system. The binocular camera system, in conjunction with the laser-wire system, facilitates the real-time acquisition of attitude and position data for the closure joint during the thrusting process. Integrating the results from in-tube surveys, high-precision underwater real-time positioning of the closure joint is achieved. The binocular camera vision system captures three-dimensional (3D) displacements of feature points, and the laser-wire system measures angles using a laser and distances using an encoder. These measurements allow for the real-time calculation of 3D coordinates for the feature points. In addition, a positioning and monitoring system is developed for the immersed tunnel, which includes hardware, software, and protocols. The hardware integrates the binocular camera-laser wire composite units with synchronous controllers, and the software creates a 3D visualization interface and data management platform. This system enables real-time monitoring and redundant measurement of the 3D attitude in a semi-enclosed space. Verification through onshore push-back tests, underwater heavy-load tests, and field installations demonstrates that the positioning accuracy of the system is within 10 mm, meeting the installation accuracy requirements for the closure joint. This approach addresses the challenges faced by traditional global navigation satellite system real-time kinematic (GNSS-RTK) survey tower positioning systems, which are difficult to apply in narrow, semi-enclosed, and restricted underwater spaces. It also overcomes the limitations of traditional GNSS-RTK and sonar technologies in these environments, providing a viable high-precision dynamic positioning solution for the installation of large-tonnage components underwater.

Key words: Shenzhen-Zhongshan link, immersed tunnel, closure joint, binocular camera, underwater laser-wire system

主办单位：中铁隧道勘察设计研究院有限公司    主管单位：中铁隧道局集团有限公司

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