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  A Study on Precise Positioning Methods Based on Multiple Systems for Immersed Tunnel Element Installation in Shallow Waters

  For the immersed tunnel element installation in shallow waters，it is very important to provide automatically positioning solution of high accuracy and reliability to guarantee the safety of construction. Therefore, a precise positioning method is studied in this paper. First of all, a comprehensive monitoring system, which is composed of survey towers, total stations, GPSs, MRUs, compasses and radios, is developed. These sensors are used for monitoring the position, orientation and attitude of the immersed elements as well as logging and transmitting of the monitoring data from different sensors to the control center. Secondly, a data processing method for the precise pointing is systematically studied. For the attitude calculation of immersed elements, the coordinate systems and the relationships among them are studied firstly. Then, quality controls of observation factors are carried out. Based on above works, the model for the determination of butt joint’s coordinates of immersed element is put forward. Furthermore, the methods of cross-checking and data fusion of two positioning systems are studied for the final positioning solution. Finally, application of the system and methods in a simulation test and the Zhoutouzui Cross River Immersed Tunnel Project is introduced, with a positioning accuracy of less than 3 cm, showing that the system is reliable and the data processing method is correct.

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