A broadband helical antenna assisted vibrator rod positioning method

Abstract

The application discloses a kind of wideband helical antenna auxiliary vibrating rod positioning method, and the position and time information are obtained by receiving the signal sent by reference station through master control box, and then positioning is realized after processing calculation;Worker's head coordinate is collected by wideband single helix positioning antenna, and the coil number in vibrating rod is obtained by flexible antenna;Euler angle is collected by attitude angle sensor inside master control box, and the grip point coordinate is obtained by head coordinate and Euler angle, the distance from grip point to vibrating rod insertion end point is calculated, the coordinate of grip point is obtained, finally the insertion point coordinate of vibrating rod is calculated by the coordinate of grip point, this method is simple and feasible, and wideband single helix antenna provides stable positioning performance in complex signal environment, with high accuracy and high stability.

Description

Technical Field

[0001] The invention relates to the field of vibration operation monitoring, and in particular to a wide-band helical antenna-assisted vibration rod positioning method. Background Art

[0002] During the concrete pouring process, vibration is necessary to ensure the concrete's strength and density, meeting project requirements. However, in actual projects, there is no effective monitoring method to ensure the quality of the vibration process, leaving it entirely dependent on the construction workers' daily vibration experience and the supervision of supervisors. As a result, during the actual vibration process, problems such as under-vibration and over-vibration, caused by improper operation, often occur, resulting in project delays.

[0003] Chinese patent document CN103696427A discloses a real-time monitoring and positioning system for manual vibrators. The system includes a manual vibrator equipped with a wireless signal transmitter and at least three wireless signal receivers within the concrete pouring construction area. Each wireless signal receiver transmits a signal received by the wireless signal transmitter to a server. However, the system contains a large number of steel structures in the corresponding construction area, which significantly interferes with the normal reception of wireless signals, significantly increasing the positioning error of the vibrator and affecting construction quality.

[0004] Chinese patent document CN105044753A proposes a method for fuzzy positioning of the vibrator's working position based on dual GPS and attitude correction. The method involves the following steps: 1) RTK positioning using two GPSs; 2) obtaining two positioning point coordinates in PJK format using GPS antennas; 3) using the difference between the height coordinates of the two positioning point coordinates as the attitude determination criterion, classifying the working attitude according to the vibrator's position into three types: front, left front, and right front; 4) calculating the coordinates of the vibrator in that working attitude based on the coordinate correction value given at that working attitude. However, this method requires very high GPS positioning accuracy. In actual construction environments, obstacles such as walls, buildings, and trees can block the signal, making it difficult to ensure ideal real-time GPS positioning accuracy, resulting in positioning accuracy that fails to meet the requirements of actual engineering construction.

[0005] Chinese patent document CN205894708U discloses a concrete vibrator positioning guide, comprising a positioning guide pipe and a vibrating rod passing through the positioning guide pipe. The positioning guide pipe comprises a working pipe and multiple connecting pipe sections, secured by a workbench. A ring-shaped fixture is welded to the topmost section of the connecting pipe 30 cm from its top. A video assembly is provided on the central outer wall of the working pipe, which is equipped with a video display terminal. The display terminal has a broadband LCD screen with built-in Wi-Fi functionality. The workbench is provided with a circular hole, and two butt-jointed and retractable stainless steel plates are connected by hinges around the hole. A reverse-locking workbench is used to fix or move the positioning guide pipe. However, during the vibration process, the high-definition camera located at the front end of the vibrating guide is likely to fail due to contamination from the concrete, and the vibration generated by the vibrating rod is difficult to eliminate from affecting the HD camera image.

[0006] Chinese patent document CN111021732A proposes a method for positioning a concrete vibrator based on fiber optic sensing. The method includes the following steps: laying a fiber optic sensor in the concrete pouring area, pre-designating several vibration detection points on the fiber optic sensor, and recording the coordinates of the vibration detection points; acquiring amplitude data from each vibration detection point in real time via the fiber optic sensor; determining the maximum amplitude point within the acquired amplitude data as the vibration detection point, and determining whether the maximum amplitude point is a valid peak point; and determining that the vibrator's position is within an area centered at the valid peak point and with a radius of r, where r is a preset value. However, the fiber core of a fiber optic sensor is typically made of glass or plastic, which is relatively fragile and susceptible to mechanical and physical damage. The vibration operation can cause the fiber to break or become damaged, thus affecting the sensor's performance and reliability. Compared to traditional sensors, fiber optic sensors are more expensive to manufacture and install. The fiber manufacturing and connection process is relatively complex, requiring expensive equipment and technology. Fiber optic sensors are sensitive to temperature fluctuations, and temperature fluctuations during vibration can cause slight changes in the fiber length, affecting the accuracy and stability of the sensor. Summary of the Invention

[0007] The purpose of the present invention is to provide a method for positioning a manually held vibrating rod with a simple structure, high precision and high stability.

[0008] To achieve the above object, the technical solution provided by the present invention is:

[0009] A wideband helical antenna-assisted vibrator positioning method includes a positioning antenna, a main control box, a vibrator, and a reference station. The main control box is mounted on the back of a worker holding the vibrator, an induction coil containing coded information is arranged at the gripping point of the vibrator, and the worker wears a flexible antenna on his hand that can contact the induction coil at the gripping point to obtain its coded information. The positioning antenna is a wideband single helical positioning antenna, mounted on the top of the worker's head, and is used to receive satellite positioning signals. The main control box is respectively connected to the flexible antenna, the reference station, and the positioning antenna signals. The flexible antenna transmits the serial number information of the vibrator held by the worker to the main control box. The reference station observes and receives satellite data, calculates error correction parameters, and transmits them to the main control box. The main control box corrects the satellite positioning signal received by the positioning antenna using the error correction parameters provided by the reference station.

[0010] The main control box is provided with an Euler angle information collector. Based on the Euler angle information collected by the Euler angle information collector, the distance difference between the top of the head and the grip point in the three-axis direction is calculated. Then, the coordinates of the grip point are obtained based on the coordinates of the top of the head and the distance difference between the top of the head and the grip point in the three-axis direction. Finally, the coordinates of the insertion point of the vibrator are calculated based on the coordinates of the grip point.

[0011] The Euler angle information collector includes a magnetometer, a gyroscope and an accelerometer, which respectively collect heading angle, roll angle and pitch angle information; an Euler angle coordinate system is established with the worker's forward direction as the X-axis, the angle Roll rotating around the X-axis is the roll angle β, the angle Pitch rotating around the Y-axis is the pitch angle α, and the angle Yaw rotating around the Z-axis is the heading angle γ. The absolute value of the roll angle β is used to determine the horizontal distance L between the top of the head and the grip point projected on the ground, and the absolute value of the pitch angle α is used to determine the value of the vertical distance H between the top of the head and the grip point.

[0012] To optimize the above technical solutions, specific measures / limitations adopted also include:

[0013] The flexible antenna is built into the gloves worn by workers when vibrating.

[0014] The positioning antenna 1 is installed on the top of the safety helmet of the worker holding the vibrator.

[0015] When calculating the distance difference between the top of the head and the grip point in the three axes using Euler angles, first check whether the heading angle γ is less than 0. If so, add 360 degrees to the heading angle γ to ensure that the heading angle γ is within the non-negative angle range, and then negate the heading angle γ.

[0016] The horizontal distance L between the top of the head and the grip on the ground and the vertical distance H between the top of the head and the grip are calculated as follows:

[0017] When abs (β) is less than 20 degrees, the values of L and H are determined according to the value of abs (α) : when abs (α) is less than 30 degrees, the value of L is 0.48 m, and the value of H is 0.73 m; when abs (α) is greater than or equal to 30 degrees and less than 60 degrees, the value of L is 0.22 m, and the value of H is 0.75 m; when abs (α) is greater than or equal to 60 degrees, the value of L is 0, and the value of H is 0.77 m;

[0018] When abs (β) is greater than or equal to 20 degrees, the values of L and H are determined according to the value of abs (α) : when abs (α) is less than 30 degrees, the value of L is 0.48 m, and the value of H is 0.81 m; when abs (α) is greater than or equal to 30 degrees and less than 60 degrees, the value of L is 0.22 m, and the value of H is 0.83 m; when abs (α) is greater than or equal to 60 degrees, the value of L is 0, and the value of H is set to 0.85 m.

[0019] Finally, the coordinates of the holding point are calculated by using the formula N2=N1+Lcosγ, E2=E1+Lsinγ, H2=H1-H, wherein the coordinates of the overhead (N1, E1, H1), the coordinates of the holding point (N2, E2, H2), and γ is the heading angle.

[0020] The vibrating rod is composed of a metal steel pipe and a hose at one end of the metal steel pipe, wherein the length of the steel pipe is fixed, the inductive coil is arranged at a distance of 5 cm from the rod head, and the inductive coil is numbered.

[0021] The worker vertically inserts the vibrating rod into the concrete, the horizontal coordinates and the vertical coordinates of the rod head of the vibrating rod are consistent with the holding point, the vertical coordinates of the rod head of the vibrating rod are calculated according to the vertical distance between the holding point and the rod head, and finally the position of the vibrating rod is determined.

[0022] The reference station comprises a reference station antenna and a reference station receiver; and the wide-band single-spiral positioning antenna is connected with a PRI interface on the main control box through an RTK shielding line.

[0023] The flexible antenna obtains the coil code of the inductive coil of the rod head after holding the vibrating rod, and the coil code obtained by the flexible antenna is sent to the main control box through the LORA communication module.

[0024] Compared with the prior art, the beneficial effects of the present application are:

[0025] In the application, the position and time information is obtained by receiving the signal sent by the reference station through the master box, and then the positioning is realized by processing and calculation; the worker's head coordinate is collected by the wideband single helix positioning antenna, the coil number in the vibrating rod is obtained by the flexible antenna; the Euler angle is collected by the attitude angle sensor inside the master box, the grip point coordinate is obtained by the head coordinate and the Euler angle, the distance from the grip point to the insertion end point of the vibrating rod is calculated, the coordinate of the grip point is obtained, and finally the insertion point coordinate of the vibrating rod is calculated through the coordinate of the grip point, the method is simple and feasible, and has high accuracy and high stability. The single helix positioning antenna has high directivity and radiation efficiency, can provide stronger receiving signal and transmitting signal capacity, can obtain high signal quality, improve the positioning accuracy, reduce the complexity of the system, save the cost, the wideband single helix antenna of the application can work in a wide frequency range, can adapt to the signal transmission demand of different frequencies, has high signal receiving sensitivity and anti-interference ability, can provide stable positioning performance in complex signal environment, the heading angle, roll angle and pitch angle information are collected by using the magnetometer, gyroscope and accelerometer respectively, the magnetometer can accurately and directly collect the heading angle, and further improve the accuracy of the system. BRIEF DESCRIPTION OF DRAWINGS

[0026] Fig. 1 The wideband helix antenna auxiliary vibrating rod positioning method of the application is a basic flowchart.

[0027] Fig. 2 The device installation position diagram of the application is a schematic diagram.

[0028] Fig. 3 The Euler angle and coordinate system diagram established by the application is a diagram.

[0029] In the figure: 1-positioning antenna, 2-master box, 3-vibrating rod, 4-reference station. DETAILED DESCRIPTION

[0030] The above content of the application will be further explained in the form of examples, but this should not be understood as the scope of the above subject matter of the application is limited to the following examples, and any technology realized based on the above content of the application belongs to the scope of the application.

[0031] The method comprises a positioning antenna 1, a master box 2, a vibrating rod 3 and a reference station 4; the master box 2 is installed on the back of a worker holding the vibrating rod 3, an inductive coil containing coding information is arranged at a certain position on the vibrating rod 3, which is the holding point of the worker, and a flexible antenna capable of obtaining the coding information of the inductive coil at the holding point through contact sensing is worn on the hand of the worker; the positioning antenna 1 is a wideband single helix positioning antenna, which is installed on the top of the head of the worker and used for receiving satellite positioning signals; the master box 2 is signal-connected with the flexible antenna, the reference station 4 and the positioning antenna 1 respectively; the flexible antenna sends the number information of the vibrating rod 3 held by the worker to the master box 2; the reference station 4 observes and receives satellite data and calculates error correction parameters and sends them to the master box 2, and the master box 2 corrects the satellite positioning signals received by the positioning antenna 1 through the error correction parameters provided by the reference station 4.

[0032] An Euler angle information collector is arranged in the master box 2, the distance difference between the top of the head and the holding point in the three-axis direction is calculated according to the Euler angle information collected by the Euler angle information collector, the coordinates of the holding point are obtained according to the top-of-the-head coordinates and the distance difference between the top of the head and the holding point in the three-axis direction, and finally the insertion point coordinates of the vibrating rod 3 are calculated through the coordinates of the holding point.

[0033] The Euler angle information collector comprises a magnetometer, a gyroscope and an accelerometer, which respectively collect heading angle, roll angle and pitch angle information; an Euler angle coordinate system is established with the forward direction of the worker as the X axis, the angle of rotation around the X axis is the roll angle β, the angle of rotation around the Y axis is the pitch angle α, and the angle of rotation around the Z axis is the heading angle γ, the absolute value of the roll angle β is used to determine the horizontal distance L of the top of the head and the holding point on the ground, and the absolute value of the pitch angle α is used to determine the vertical distance H between the top of the head and the holding point.

[0034] When calculating the distance difference between the top of the head and the holding point in the three-axis direction through Euler angles, first check whether the heading angle γ is less than 0, if yes, add 360 degrees to the value of the heading angle γ to ensure that the heading angle γ is in the non-negative angle range, and then take the inverse of the heading angle γ.

[0035] The horizontal distance L of the top of the head and the holding point on the ground and the vertical distance H between the top of the head and the holding point are calculated as follows:

[0036] When abs(β) is less than 20 degrees, the values of L and H are determined according to the value of abs(α): when abs(α) is less than 30 degrees, the value of L is 0.48 m and the value of H is 0.73 m, when abs(α) is greater than or equal to 30 degrees and less than 60 degrees, the value of L is 0.22 m and the value of H is 0.75 m, and when abs(α) is greater than or equal to 60 degrees, the value of L is 0 and the value of H is 0.77 m.

[0037] When abs(β) is greater than or equal to 20 degrees, the values of L and H are determined according to the value of abs(α): when abs(α) is less than 30 degrees, the value of L is 0.48 m and the value of H is 0.81 m, when abs(α) is greater than or equal to 30 degrees and less than 60 degrees, the value of L is 0.22 m and the value of H is 0.83 m, when abs(α) is greater than or equal to 60 degrees, the value of L is 0 and the value of H is set to 0.85 m.

[0038] Finally, the formula N2=N1+Lcosγ, E2=E1+Lsinγ, H2=H1-H is used to calculate the grip point coordinates; wherein the overhead coordinates (N1, E1, H1), the grip point coordinates (N2, E2, H2), and γ are the heading angle.

[0039] Further, the reference station comprises a reference station antenna and a reference station receiver, the reference station antenna transmits the received satellite signal to the reference station receiver for processing and solving to obtain positioning data and time information. The SEC interface of the main control box is connected with the 4G buzzer adapter; the wideband single helix positioning antenna is connected with the PRI interface on the main control box through the RTK shielding line. The flexible antenna obtains the coil code after sensing the induction coil of the rod head after holding the vibrating rod, and the coil code obtained by the flexible antenna is sent to the main control box 2 through the LORA communication module. The overhead coordinates, Euler angles and coil number information are all transmitted to the main control box and then transmitted to the cloud for calculation through the 4G module.

[0040] The attitude angle sensor inside the main control box comprises a magnetometer capable of collecting the heading angle, a gyroscope capable of collecting the roll angle, and an accelerometer capable of collecting the pitch angle. The Euler angle is calculated by an algorithm to calculate the distance difference of the overhead and the grip point in the three-axis direction, and then the overhead coordinates are calculated to calculate the grip point coordinates.

[0041] Further, the vibrating rod 3 is composed of a metal steel pipe and a hose at one end of the metal steel pipe, wherein the length of the steel pipe is fixed, the induction coil is arranged at a distance of 5 cm from the rod head of the hose, and the number is assigned. The worker vertically inserts the vibrating rod 3 into the concrete, the horizontal coordinate and the vertical coordinate of the rod head of the vibrating rod 3 are consistent with the grip point, and then the vertical coordinate of the rod head of the vibrating rod 3 is calculated according to the vertical distance between the grip point and the rod head of the vibrating rod 3, and finally the position of the vibrating rod 3 is determined.

[0042] In the method of the present invention, the main control box 2 obtains the position and time information by receiving the signal sent by the reference station 4, and then realizes positioning through processing and calculation; the coordinates of the worker's head are collected by the wide-band single-helix positioning antenna 1 fixed at the position of the safety helmet; the attitude angle sensor inside the main control box 2 collects the Euler angle, and the coordinates of the gripping point are calculated by the head coordinates and the Euler angle; the coil number in the vibrating rod 3 is obtained by the flexible antenna in the gloves worn during vibration, and the distance from the gripping point to the insertion end point of the vibrating rod 3 is calculated; the vibrating rod 3 is vertically inserted into the concrete, and the horizontal and vertical coordinates of the insertion end point of the vibrating rod 3 are consistent with the gripping point, and then the vertical coordinate of the insertion end point of the vibrating rod 3 is calculated according to the vertical distance from the gripping point to the insertion end point of the vibrating rod 3, and finally the coordinate position of the insertion end point of the vibrating rod 3 is determined.

[0043] The present invention is further described in detail below with reference to specific embodiments:

[0044] like Figs. 1-3 As shown, in a wide-band single-helix antenna assisted manual hand-held vibrator positioning method of the present invention, the base station antenna is first connected to the base station receiver through a single-hole aviation plug, and the base station receiver is connected to the power supply through a five-hole aviation plug. The base station 4 first observes and receives satellite data and calculates error correction parameters. These correction parameters can be sent to the mobile station main control box 2 using the same system through wireless communication; then the positioning antenna 1 is fixed at a position directly behind the safety helmet, and the positioning antenna 1 is connected to the PRI on the main control box 2 located on the back of the worker through the RTK shielded wire. After the positioning antenna 1 located on the top of the worker's head receives the correction parameters sent by the base station 4, it corrects the received satellite signal through the correction parameters; the USB interface on the top of the main control box 2 is connected to the power supply, the PRI interface is connected to the RTK positioning antenna 1, and the SEC interface is connected to 4 G buzzer adapter cable is connected; the overhead coordinates are obtained through the positioning antenna 1 and transmitted to the main control box 2; the heading angle, roll angle, and pitch angle information are respectively collected by the magnetometer, gyroscope, and accelerometer in the main control box 2, and the above Euler angles and overhead coordinate information are transmitted to the cloud through the 4G module to calculate the worker's grip position; at the same time, the flexible antenna in the gloves worn by the worker when vibrating obtains the coil number in the vibrating rod, and transmits the number to the main control box 2, and the main control box 2 transmits it to the cloud through the 4G module; the vibrating rod 3 is composed of a metal steel pipe and a hose, wherein the length of the steel pipe is fixed, and the position of the hose is arranged with an induction coil at a distance of 5 cm from the rod head and is assigned a number. A flexible antenna is placed on the worker's glove. When the hand holds the vibrating rod 3, it will sense the induction coil at the rod head and obtain the number; finally, the position of the vibrating rod 3 is calculated based on the information obtained.

[0045] After the positioning antenna 1 obtains the coordinates of the worker's head, the magnetometer, gyroscope, and accelerometer in the main control box 2 respectively collect the heading angle, roll angle, and pitch angle information. Then, an algorithm is used to calculate the distance difference between the top of the head and the grip point in the three-axis directions. The coordinates of the grip point are then calculated based on the top of the head coordinates and the distance difference in the three-axis directions. The specific algorithm is as follows:

[0046] like Fig. 3 As shown, Euler angles are divided into roll, pitch, and yaw. The X-axis represents the worker's forward direction. The angle "Roll" rotates around the X-axis, the angle "Pitch" rotates around the Y-axis, and the angle "Yaw" rotates around the Z-axis. First, check if the yaw angle is less than 0. If so, add 360 degrees to the yaw angle to ensure it's within the non-negative range. Then, negate the yaw angle.

[0047] Then, the absolute values ​​of the roll angle β and the pitch angle α are used to determine the values ​​of L and H, where L is the horizontal distance between the top of the head and the grip point (where the hand holds the vibrator) projected on the ground, and H is the vertical distance between the top of the head and the grip point. The grip point coordinates are calculated using the top coordinates (N1, E1, H1), the grip point coordinates (N2, E2, H2), and γ as the heading angle. The vibrating rod 3 is composed of a metal steel pipe and a hose. The length of the steel pipe is fixed, and the hose is equipped with induction coils at a distance of 5 cm from the rod head and is assigned a number. A flexible antenna is placed on the worker's gloves. When the hand holds the vibrating rod 3, it will sense the induction coil at the rod head and obtain the number. The glove sends the current number to the main control box 2 through the LORA communication module. The main control box 2 transmits its data to the cloud through the 4G module, and calculates the distance from the grip point to the head of the vibrating rod 3. Since the worker inserts the vibrating rod 3 vertically into the concrete, the x, y coordinates of the rod head of the vibrating rod 3 are consistent with the grip point. Then, based on the vertical distance, the z coordinate of the head of the vibrating rod 3 is calculated, and finally the position of the vibrating rod 3 is determined.

[0048] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Any simple modification, equivalent replacement and improvement made by any technician familiar with the profession to the above embodiment without departing from the scope of the technical solution of the present invention and based on the technical essence of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A method for positioning a vibrator using a wideband helical antenna, characterized in that: It includes a positioning antenna, a main control box, a vibrating rod and a reference station; the main control box is installed on the back of a worker holding the vibrating rod, an induction coil containing coded information is arranged at the gripping point of the vibrating rod, and the worker wears a flexible antenna on his hand that can contact the induction coil at the gripping point to obtain its coded information; the positioning antenna is a wide-band single-helix positioning antenna, which is installed on the top of the worker's head and is used to receive satellite positioning signals; the main control box is respectively connected to the flexible antenna, the reference station and the positioning antenna signals; the flexible antenna sends the serial number information of the vibrating rod held by the worker to the main control box; the reference station observes and receives satellite data, and calculates error correction parameters and sends them to the main control box, and the main control box corrects the satellite positioning signal received by the positioning antenna using the error correction parameters provided by the reference station; The main control box is provided with an Euler angle information collector. Based on the Euler angle information collected by the Euler angle information collector, the distance difference between the top of the head and the grip point in the three-axis direction is calculated. Then, the coordinates of the grip point are obtained based on the coordinates of the top of the head and the distance difference between the top of the head and the grip point in the three-axis direction. Finally, the coordinates of the insertion point of the vibrator are calculated based on the coordinates of the grip point. The Euler angle information collector includes a magnetometer, a gyroscope, and an accelerometer, which respectively collect heading angle, roll angle, and pitch angle information; an Euler angle coordinate system is established with the worker's forward direction as the X-axis, the angle Roll rotating around the X-axis is the roll angle β, the angle Pitch rotating around the Y-axis is the pitch angle α, and the angle Yaw rotating around the Z-axis is the heading angle γ. The absolute value of the roll angle β is used to determine the horizontal distance L between the top of the head and the grip point projected on the ground, and the absolute value of the pitch angle α is used to determine the value of the vertical distance H between the top of the head and the grip point.

2. The broadband helical antenna auxiliary vibrator positioning method according to claim 1, characterized in that: The flexible antenna is built into the gloves worn by workers when vibrating.

3. The broadband helical antenna auxiliary vibrator positioning method according to claim 1, characterized in that: The positioning antenna is installed on the top of the safety helmet of the worker holding the vibrator.

4. The broadband helical antenna auxiliary vibrator positioning method according to claim 1, characterized in that: When calculating the distance difference between the top of the head and the grip point in the three axes using Euler angles, first check whether the heading angle γ is less than 0. If so, add 360 degrees to the heading angle γ to ensure that the heading angle γ is within the non-negative angle range, and then negate the heading angle γ.

5. The broadband helical antenna auxiliary vibrator positioning method according to claim 4, characterized in that: The horizontal distance L between the top of the head and the grip on the ground and the vertical distance H between the top of the head and the grip are calculated as follows: When abs(β) is less than 20 degrees, the values ​​of L and H are determined according to the value of abs(α): when abs(α) is less than 30 degrees, the value of L is 0.48m and the value of H is 0.73m; When abs(α) is greater than or equal to 30 degrees and less than 60 degrees, the value of L is 0.22m and the value of H is 0.75m; when abs(α) is greater than or equal to 60 degrees, the value of L is 0 and the value of H is 0.77m; When abs(β) is greater than or equal to 20 degrees, the values ​​of L and H are determined according to the value of abs(α): when abs(α) is less than 30 degrees, the value of L is 0.48m and the value of H is 0.81m. When abs(α) is greater than or equal to 30 degrees and less than 60 degrees, the value of L is 0.22m and the value of H is 0.83m. When abs(α) is greater than or equal to 60 degrees, the value of L is 0 and the value of H is set to 0.85m.

6. The broadband helical antenna auxiliary vibrator positioning method according to claim 5, characterized in that: Finally, use the formula N2 = N1 + Lcosγ, E2 = E1 + Lsinγ, H2 = H1 – H to calculate the coordinates of the grip point; where the overhead coordinates are (N1, E1, H1), the grip point coordinates are (N2, E2, H2), and γ is the heading angle.

7. The broadband helical antenna auxiliary vibrator positioning method according to claim 1, characterized in that: The vibrating rod is composed of a metal steel pipe and a soft tube at one end of the metal steel pipe, wherein the length of the steel pipe is fixed, and the soft tube is provided with an induction coil at a distance of 5 cm from the rod head and is numbered.

8. The broadband helical antenna auxiliary vibrator positioning method according to claim 1, characterized in that: The worker inserts the vibrator vertically into the concrete. The horizontal and vertical coordinates of the vibrator head are consistent with the holding point. Then, based on the vertical distance between the holding point and the vibrator head, the vertical coordinate of the vibrator head is calculated to finally determine the position of the vibrator.

9. The broadband helical antenna auxiliary vibrator positioning method according to claim 1, characterized in that: The base station includes a base station antenna and a base station receiver; the broadband single-helix positioning antenna is connected to the PRI interface on the main control box through an RTK shielded line.

10. The broadband helical antenna auxiliary vibrator positioning method according to claim 1, characterized in that: After the vibrator is grasped, the flexible antenna senses the induction coil at the rod head and obtains the coil code. The coil code obtained by the flexible antenna is sent to the main control box through the LORA communication module.

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