中文摘要：

针对深海石油钻井开发过程中半潜式钻井平台的姿态测量问题，提出一套基于姿态监测技术、使用相关姿态传感器来进行实时姿态测量的半潜式钻井平台监测系统架构。就加速度计传感器、陀螺仪传感器和方位角度传感器这3类辅助运动传感器，在姿态信息测量过程中的信号干扰和表达方式差异带来的测量精度不高等问题，采用UKF滤波算法和四元数收敛算法加以解决。依据平台姿态监测系统所测量数据和解算结果，对半潜式钻井平台的基本运动参量进行求解，得到半潜式钻井平台在纵荡、横荡和升沉运动过程中三轴向线性加速度分量的数学表达式。该姿态监测系统可为平台复杂运动机理研究和相关升沉补偿装置设计提供理论和数据支持，使该系统在实际工况条件下具有应用前景。

英文摘要：

Aiming to solve the problem of attitude measuring for semi-submersible drilling platform in deep- water oil drilling operation, this study proposes a set of semi-submersible drilling platform monitoring system framework based on attitude monitoring technology, where attitude sensors are used to realize real-time attitude measuring. The problem of accuracy deterioration of three different auxiliary motion sensors -- accelerometer, gyroscope sensor and azimuth-angle sensor, caused by signal interfering and expression differences during signal measuring process is solved by UKF filtering algorithm and quaternion algorithm. Basic motion parameters of the semi-submersible platform can be calculated both on the basis of measured data and the calculated results to obtain the mathematical expression of its three axial acceleration components during surge, sway and heave motions. This attitude monitoring system provides some theoretical and data support for the study of complex platform motion mechanism as well as for the design of heave compensation device, thus to bring an application potential for the system under actual operational conditions.