Based on the research of ship automatic positioning technology and deviation correction technology, combined with the gravel laying technology of single ridge subgrade bed of immersed tunnel, the control strategy of riprap barge is determined: ship automatic positioning technology based on tension control and rope length control. Combined with the gravel laying technology of single ridge subgrade bed and the control strategy of riprap barge, the algorithm of automatic positioning and moving of riprap barge is studied. Combined with the engineering practice, control strategy and control algorithm, the intelligent anchoring positioning control system is designed to realize the high-precision and fast intelligent displacement of gravel bed laying ship.

It is very important to level foundation bed by riprap in water and soil engineering. In this paper, a real-time feedback convergence control method is proposed to control the position and heading angle of the riprap leveling ship. The wind, wave, current and hydrodynamic parameters are obtained by empirical formula; the tension of four cables is calculated according to the balance equation of six degrees of freedom, and then the cable deformation is obtained. According to the deformation of the cable, the length of the cable in a certain equilibrium state can be obtained. The length of four cables can be lengthened or shortened by comparing the length of cables at two balanced positions. The length of cables can be controlled by winch to complete the anchoring and positioning control of leveling ship.