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An Integrated Positioning and Attitude Determination System for Immersed Tunnel Elements: A Simulation Study.

Guanqing Li1,2, Lasse Klingbeil2, Florian Zimmermann2

  • 1School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China.

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A new system using Global Navigation Satellite System (GNSS), inclinometer, and range measurement precisely determines immersed tunnel element position and attitude. This ensures accurate real-time navigation for tunnel construction, achieving sub-0.02m accuracy in key directions.

Keywords:
GNSSattitude determinationimmersed tunnel elementinclinometerpositioningrange-measurement

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Area of Science:

  • Civil Engineering
  • Geomatics Engineering
  • Marine Engineering

Background:

  • Precise control of immersed tunnel elements during submersion is critical for successful tunnel construction.
  • Accurate real-time positioning and attitude determination are essential for navigating large elements to their final underwater locations.
  • Existing methods may lack the required accuracy or real-time capabilities for complex immersion operations.

Purpose of the Study:

  • To present a newly-developed integrated system for real-time positioning and attitude determination of immersed tunnel elements.
  • To evaluate the system's accuracy, particularly considering environmental factors like GNSS multipath and sound speed variations.
  • To demonstrate the system's capability in achieving high-precision positioning for critical underwater construction tasks.

Main Methods:

  • Integration of a 3-antenna Global Navigation Satellite System (GNSS), an inclinometer, and a range-measurement system.
  • Development of algorithms for real-time data fusion and position/attitude calculation.
  • Analysis of accuracy considering GNSS multipath errors and sound speed profile variations.
  • Performance evaluation through simulations under various operational scenarios.

Main Results:

  • The integrated system provides real-time absolute position and attitude data for both ends of the tunnel element.
  • Simulations indicate high accuracy, exceeding 0.02 m in directions perpendicular and along the tunnel axis when elements are in close proximity.
  • The system's performance is analyzed with respect to critical error sources, including GNSS multipath and sound speed fluctuations.

Conclusions:

  • The developed positioning and attitude determination system offers a viable solution for the precise control required in immersed tunnel construction.
  • The system demonstrates the potential for high-accuracy, real-time guidance, crucial for the safe and efficient immersion of tunnel elements.
  • Further validation with field data is recommended to confirm simulated performance in real-world conditions.