A prefabricated pile foundation measurement and positioning device

Abstract

The invention provides a precast pile foundation measurement and positioning device, belonging to the technical field of precast pile measurement and positioning design. The precast pile foundation measurement and positioning device comprises: an RTK positioning unit installed on the top of a pile driver cab, the RTK positioning unit comprises a GNSS signal receiving antenna, an omnidirectional radio antenna and a dual-frequency GPS receiver; a posture sensing system installed on a pile driver body, the posture sensing system comprises a gravity acceleration sensor, an inclination sensor, an azimuth sensor and a distance sensor, wherein the gravity acceleration sensor is used to measure the inclination angle data of the pile driver, the inclination sensor is used to measure the pitch angle data of the pile driver, the azimuth sensor is used to measure the azimuth angle data of the pile driver, and the distance sensor is used to measure the distance data of the pile driver. The invention can solve the problem of low positioning accuracy of precast pile construction in the prior art.

Description

Technical Field

[0001] The invention belongs to the technical field of precast pile measurement and positioning, and in particular relates to a precast pile foundation measurement and positioning device. Background Art

[0002] Prefabricated pile technology is one of the common foundation construction methods in the current construction industry. It can greatly improve construction efficiency and reduce the difficulty of on-site operations by prefabricating standardized pile bodies in factories and then transporting them to the construction site for installation. In prefabricated pile construction, accurate positioning of pile positions is the key to ensuring the quality of the entire project. Traditional pile position measurement methods usually use measuring equipment such as levels and total stations, which require manual measurement and recording of coordinate data. This method is labor-intensive, inefficient, and easily affected by factors such as the measurement environment, making it difficult to ensure the accuracy of the measurement results.

[0003] With the development of global navigation satellite system (GNSS) technology, GNSS-based RTK (Real-Time Kinematic) positioning has gradually become the main means of positioning and measurement in precast pile construction. RTK positioning can achieve centimeter-level real-time dynamic positioning, and it is simple to operate and highly efficient. However, RTK positioning is greatly affected by the quality of GNSS signals and is easily interfered by environmental factors such as occlusion and multipath, resulting in reduced measurement accuracy. In addition, the use of RTK positioning alone cannot obtain the attitude information of the pile driver, and it is difficult to effectively monitor problems such as the installation tilt of the pile body.

[0004] In order to achieve high-precision positioning in precast pile construction, it is necessary to use a variety of advanced measurement technologies. On the one hand, it is necessary to use attitude sensing systems such as inertial measurement units (IMUs) to obtain key data such as the tilt angle, pitch angle, and azimuth angle of the pile driver in space, and fuse them with RTK positioning data to compensate for the instability of GNSS signals. On the other hand, it is also necessary to establish a corresponding mathematical analysis model based on the dynamic change characteristics of GNSS signals and attitude angle data, identify and correct various error sources in the measurement process, and finally achieve high-precision positioning of the precast pile position.

[0005] In summary, although the existing precast pile construction measurement technology has made some progress, it still has problems such as low positioning accuracy and inability to fully monitor the status of the pile driver. In response to this core technical problem, the present invention proposes a precast pile foundation measurement and positioning device, which integrates RTK positioning, attitude measurement, data analysis and other technical means to achieve high-precision positioning and comprehensive monitoring during the precast pile construction process. Summary of the invention

[0006] In view of this, the present invention provides a precast pile foundation measurement and positioning device, which can solve the problem of low positioning accuracy in the construction of precast piles in the prior art.

[0007] The present invention is achieved in that:

[0008] The present invention provides a precast pile foundation measurement and positioning device, which includes:

[0009] An RTK positioning unit installed on the top of the pile driver cab, the RTK positioning unit comprising a GNSS signal receiving antenna, an omnidirectional radio antenna and a dual-frequency GPS receiver;

[0010] A posture sensing system installed on the pile driver body, the posture sensing system includes a gravity acceleration sensor, an inclination sensor, an azimuth sensor and a distance sensor, wherein the gravity acceleration sensor is used to measure the inclination angle data of the pile driver, the inclination sensor is used to measure the pitch angle data of the pile driver, the azimuth sensor is used to measure the azimuth angle data of the pile driver, and the distance sensor is used to measure the distance data of the pile driver;

[0011] A display terminal is arranged in the cab of the pile driver, the display terminal is electrically connected to the main control chip and is used to display the positioning data in real time;

[0012] A main control chip, the main control chip is electrically connected to the RTK positioning unit, the attitude sensing system and the display terminal, and is used to receive and process various collected data; a data processing module is provided in the main control chip;

[0013] A power supply unit, the power supply unit is electrically connected to the main control chip;

[0014] A communication unit, the communication unit being electrically connected to the main control chip;

[0015] A data storage unit, the data storage unit is electrically connected to the main control chip;

[0016] The data processing module in the main control chip is used to perform the following steps:

[0017] S10, collecting the GNSS raw data output by the RTK positioning unit, the pile driver inclination angle data output by the gravity acceleration sensor, the pile driver pitch angle data output by the inclination sensor, the pile driver azimuth angle data output by the azimuth sensor, and the pile driver distance data output by the distance sensor;

[0018] S20, performing a multivariate decomposition operation on the GNSS original data to separate a GNSS signal reference component and a GNSS signal change component, and establishing a GNSS signal reference matrix, wherein the GNSS signal change component includes a signal amplitude parameter, a signal period parameter, and a signal duration parameter;

[0019] S30, performing multivariate decomposition operation on the pile driver inclination angle data, the pile driver pitch angle data, and the pile driver azimuth angle data to obtain an angle reference component and an angle change component, respectively, wherein the angle change component includes an angle change rate parameter and an angle phase parameter, and establishing an angle reference matrix;

[0020] S40, based on the GNSS signal reference matrix, performing a coordinate conversion operation on the GNSS signal reference component, converting the global coordinate data into construction site coordinate data, and obtaining initial position coordinate data;

[0021] S50, establishing a data analysis equation group, wherein the data analysis equation group includes a displacement analysis equation, an angle analysis equation, a signal strength analysis equation, and a system stability analysis equation;

[0022] S60, establishing a position change matrix based on the calculation results of the data analysis equation group, and calculating a position reference matrix according to the system stability numerical value;

[0023] S70, calculating a position correction value based on the position reference matrix, and numerically superimposing the position correction value with the initial position coordinate data to obtain corrected position coordinate data;

[0024] S80, performing matrix operation according to the pile driver distance data and the corrected position coordinate data, calculating target position data, and generating pile position positioning data;

[0025] S90, transmitting the pile position positioning data to the display terminal, transmitting the pile position positioning data, the system stability value, and the corrected position coordinate data to the data storage unit, and sending them to a designated monitoring terminal through the communication unit.

[0026] On the basis of the above technical solution, the prefabricated pile foundation measurement and positioning device of the present invention can also be improved as follows:

[0027] Wherein, the step S10 specifically includes:

[0028] Step 11, start the GNSS signal receiving antenna in the RTK positioning unit to start collecting GNSS raw data, and the collection frequency is set to 1 Hz;

[0029] Step 12, reading the pile driver inclination angle data output by the gravity acceleration sensor, the pile driver pitch angle data output by the inclination sensor, and the pile driver azimuth angle data output by the azimuth sensor, and the acquisition frequency is set to 10 Hz;

[0030] Step 13: acquiring the pile driver distance data output by the distance sensor, and synchronously storing the GNSS original data, the pile driver inclination angle data, the pile driver pitch angle data, the pile driver azimuth angle data and the pile driver distance data.

[0031] Furthermore, the step S20 specifically includes:

[0032] Step 21: performing time-frequency transformation processing on the GNSS raw data to decompose the GNSS raw data into multiple frequency components;

[0033] Step 22: Perform multi-scale analysis on the GNSS raw data using a wavelet transform method to identify and extract the GNSS signal reference component;

[0034] Step 23: Process the long-term change trend in the GNSS raw data by using an exponential decay function to extract the signal amplitude parameter, signal period parameter and signal duration parameter in the GNSS signal change component;

[0035] Step 24: Establish the GNSS signal reference matrix to store the GNSS signal reference component and the GNSS signal change component.

[0036] Furthermore, the step S30 specifically includes:

[0037] Step 31, performing a multivariate decomposition operation on the pile driver inclination angle data to obtain an inclination angle reference component and an inclination angle change component;

[0038] Step 32, performing multivariate decomposition operation on the pile driver pitch angle data to obtain a pitch angle reference component and a pitch angle change component;

[0039] Step 33, performing multivariate decomposition operation on the pile driver azimuth angle data to obtain an azimuth angle reference component and an azimuth angle change component;

[0040] Step 34: extract the angle change rate parameter and the angle phase parameter in the angle change component, and establish the angle reference matrix.

[0041] Furthermore, the step S40 specifically includes:

[0042] Step 41: extracting world coordinate parameters in the GNSS signal reference component based on the GNSS signal reference matrix;

[0043] Step 42: construct coordinate transformation parameters according to the construction site measurement reference points;

[0044] Step 43, converting the world coordinate parameters by using the coordinate conversion parameters to obtain the construction site coordinate data;

[0045] Step 44: Establish the initial position coordinate data according to the construction site coordinate data.

[0046] Furthermore, the step S50 specifically includes:

[0047] Step 51, constructing the displacement analysis equation, inputting the signal amplitude parameter, the signal period parameter and the signal duration parameter into calculation, and obtaining the displacement influence coefficient;

[0048] Step 52, constructing the angle analysis equation, inputting the angle change rate parameter and the angle phase parameter into calculation, and obtaining the angle correlation coefficient;

[0049] Step 53, constructing the signal strength analysis equation, inputting the signal strength parameter in the GNSS raw data, the angle change component and the external environment parameter into the calculation, and obtaining the signal strength coefficient;

[0050] Step 54: construct the system stability analysis equation, input the displacement influence coefficient, the angle correlation coefficient and the signal strength coefficient into calculation, and obtain the system stability value.

[0051] Furthermore, the step S60 specifically includes:

[0052] Step 61, establishing a position change feature vector using the displacement influence coefficient;

[0053] Step 62: constructing a posture change feature vector based on the angle correlation coefficient;

[0054] Step 63: forming an intensity change characteristic vector according to the signal intensity coefficient;

[0055] Step 64: Combine the position change feature vector, the posture change feature vector and the intensity change feature vector to construct the position change matrix, and calculate the position reference matrix according to the system stability value.

[0056] Furthermore, the step S70 specifically includes:

[0057] Step 71, extracting position reference features according to the position reference matrix;

[0058] Step 72, calculating the deviation between the position reference feature and the theoretical position to obtain the position correction value;

[0059] Step 73, performing numerical superposition calculation on the position correction value and the initial position coordinate data;

[0060] Step 74: output the corrected position coordinate data.

[0061] Furthermore, the step S80 specifically includes:

[0062] Step 81, reading the distance data of the pile driver and establishing a distance measurement matrix;

[0063] Step 82, converting the corrected position coordinate data into a position measurement matrix;

[0064] Step 83, performing matrix operation on the distance measurement matrix and the position measurement matrix;

[0065] Step 84: Calculate the target position data according to the matrix operation result to generate the pile position positioning data.

[0066] Furthermore, the step S90 specifically includes:

[0067] Step 91, transmitting the pile position positioning data to the display terminal in real time for display;

[0068] Step 92, packing the pile position positioning data, the system stability value, and the corrected position coordinate data into a data packet;

[0069] Step 93: synchronously transmit the data packet to the data storage unit for storage;

[0070] Step 94: Send the data packet to a designated monitoring terminal via the communication unit.

[0071] Compared with the prior art, the beneficial effects of the prefabricated pile foundation measurement and positioning device provided by the present invention are:

[0072] The precast pile foundation measurement and positioning device proposed in the present invention has made significant progress in solving the problems of low positioning accuracy in the construction of precast piles and inability to fully monitor the status of the pile driver in the prior art.

[0073] First, the device integrates the RTK positioning unit and attitude sensing system, which can collect key information such as GNSS raw data, pile driver tilt angle, pitch angle and azimuth angle in real time. By performing multivariate decomposition and coordinate transformation on these raw data, the reference component and variation component of the GNSS signal, as well as the reference component and variation component of each angle parameter can be effectively extracted. This lays the foundation for subsequent mathematical modeling and position correction.

[0074] Secondly, the device established a set of data analysis equations including displacement analysis equations, angle analysis equations, signal strength analysis equations and system stability analysis equations. These equations can quantify the specific impact of GNSS signal dynamic changes, attitude angle changes and signal strength changes on the position of the pile driver, and comprehensively evaluate the overall stability of the system. Based on these mathematical models, various error sources can be accurately identified, providing a basis for subsequent position correction.

[0075] Thirdly, the device uses the extracted GNSS reference component, angle reference component and the calculation results of the above mathematical model to construct a position change matrix that describes the change law of the overall system, and obtains the position reference matrix based on the numerical calculation of system stability. Then, by superimposing the initial position coordinate data with the position reference matrix, the corrected accurate position coordinates can be obtained, which greatly improves the accuracy of precast pile construction positioning.

[0076] Finally, the device also integrates functional modules such as display terminal, data storage unit and remote communication unit, which can display positioning results in real time, store measurement data, and transmit key information remotely to the monitoring terminal. This ensures data visualization and information sharing of the entire measurement process, which helps to improve the intelligent management level of field operations.

[0077] In general, the precast pile foundation measurement and positioning device proposed in the present invention fully integrates advanced technologies such as GNSS positioning, attitude measurement and mathematical modeling, and has made significant progress in improving the positioning accuracy of precast pile construction and realizing comprehensive monitoring of the pile driver status, providing strong support for the intelligent development of precast pile technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 It is a flow chart of a prefabricated pile foundation measurement and positioning device;

[0079] Figure 2 It is an electrical module diagram of a prefabricated pile foundation measurement and positioning device;

[0080] Figure 3 It is a schematic diagram of Example 1 of a precast pile foundation measurement and positioning device. DETAILED DESCRIPTION

[0081] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0082] like Figure 1 FIG. 1 is a flow chart of a precast pile foundation measurement and positioning device provided by the present invention, comprising the following steps:

[0083] The specific implementation method of step S10 is to first start the GNSS signal receiving antenna in the RTK positioning unit to start collecting GNSS raw data, and the collection frequency is set to 1 Hz. Then read the pile driver inclination angle data output by the gravity acceleration sensor, the pile driver pitch angle data output by the inclination sensor, and the pile driver azimuth angle data output by the azimuth sensor, and the collection frequency is set to 10 Hz. Finally, the pile driver distance data output by the distance sensor is obtained, and the GNSS raw data, the pile driver inclination angle data, the pile driver pitch angle data, the pile driver azimuth angle data, and the pile driver distance data are synchronously stored. The main purpose of this step is to collect the raw data of positioning and attitude through the RTK positioning unit and the attitude sensing system.

[0084] The specific implementation method of step S20 is to first perform time-frequency transformation on the GNSS raw data and decompose it into multiple frequency components. Then, the wavelet transform method is used to perform multi-scale analysis on the GNSS raw data to identify and extract the GNSS signal reference component. Then, the long-term change trend in the GNSS raw data is processed by an exponential decay function to extract the signal amplitude parameter, signal period parameter and signal duration parameter in the GNSS signal change component. Finally, a GNSS signal reference matrix is ​​established to store the GNSS signal reference component and the GNSS signal change component. The main purpose of this step is to separate the reference component and the change component of the GNSS signal to provide basic data for subsequent coordinate conversion and position correction.

[0085] The specific implementation method of step S30 is to first perform multivariate decomposition operation on the inclination angle data of the pile driver to obtain the inclination angle reference component and the inclination angle change component. Then perform multivariate decomposition operation on the pile driver pitch angle data to obtain the pitch angle reference component and the pitch angle change component. Then perform multivariate decomposition operation on the pile driver azimuth angle data to obtain the azimuth angle reference component and the azimuth angle change component. Finally, extract the angle change rate parameter and the angle phase parameter in the angle change component to establish an angle reference matrix. The main purpose of this step is to separate the reference component and the change component of each angle parameter, and provide necessary parameters for the subsequent angle analysis equation construction.

[0086] The specific implementation method of step S40 is to first extract the world coordinate parameters in the GNSS signal reference component based on the GNSS signal reference matrix. Then, the coordinate conversion parameters are constructed according to the construction site measurement reference points. Then, the world coordinate parameters are converted by coordinate conversion parameter calculation to obtain the construction site coordinate data. Finally, the initial position coordinate data is established based on the construction site coordinate data. The main purpose of this step is to convert the GNSS data collected by the RTK positioning unit from the world coordinate system to the construction site coordinate system, and provide initial position data for subsequent position correction.

[0087] The specific implementation method of step S50 is to first construct a displacement analysis equation, input the signal amplitude parameter, signal period parameter and signal duration parameter into the calculation, and obtain the displacement influence coefficient. Then construct an angle analysis equation, input the angle change rate parameter and angle phase parameter into the calculation, and obtain the angle correlation coefficient. Then construct a signal strength analysis equation, input the signal strength parameter, angle change component and external environment parameter in the GNSS raw data into the calculation, and obtain the signal strength coefficient. Finally, construct a system stability analysis equation, input the displacement influence coefficient, angle correlation coefficient and signal strength coefficient into the calculation, and obtain the system stability value. The main purpose of this step is to establish a mathematical model for displacement analysis, angle analysis, signal strength analysis and system stability analysis, and provide necessary parameters for the subsequent position change matrix construction.

[0088] The specific implementation of step S60 is to first establish a position change feature vector using the displacement influence coefficient. Then, construct a posture change feature vector based on the angle correlation coefficient. Then, form an intensity change feature vector based on the signal strength coefficient. Finally, the position change feature vector, the posture change feature vector and the intensity change feature vector are combined to construct a position change matrix, and the position reference matrix is ​​calculated based on the system stability value. The main purpose of this step is to construct a position change matrix that describes the change law of the overall system, and provide a reference for the next step of position correction.

[0089] The specific implementation of step S70 is to first extract the position reference feature according to the position reference matrix. Then calculate the deviation between the position reference feature and the theoretical position to obtain the position correction value. Then perform numerical superposition calculation on the position correction value and the initial position coordinate data. Finally, output the corrected position coordinate data. The main purpose of this step is to calculate the position correction value based on the position reference matrix, and superimpose it with the initial position coordinate data to obtain the corrected accurate position coordinates.

[0090] The specific implementation method of step S80 is to first read the pile driver distance data and establish a distance measurement matrix. Then convert the corrected position coordinate data into a position measurement matrix. Then perform matrix operations on the distance measurement matrix and the position measurement matrix. Finally, the target position data is calculated based on the matrix operation results to generate pile position positioning data. The main purpose of this step is to combine the corrected position coordinate data and the measured pile driver distance data to calculate the final positioning result of the pile position.

[0091] The specific implementation method of step S90 is to first transmit the pile position positioning data to the display terminal in real time for display. Then the pile position positioning data, system stability value, and corrected position coordinate data are packaged into a data packet. Then the data packet is synchronously transmitted to the data storage unit for storage. Finally, the data packet is sent to the designated monitoring terminal through the communication unit. The main purpose of this step is to display and remotely transmit the measurement and positioning results and system operation status information in real time to provide data support for field operations and monitoring.

[0092] The working principle of the whole device is as follows: First, the RTK positioning unit and the attitude sensing system collect GNSS raw data, pile driver angle data and distance data. Then the main control chip performs multivariate decomposition and matrix operation on these data to extract parameters such as GNSS signal reference component, angle reference component, displacement component, angle correlation coefficient and signal strength coefficient. Next, the displacement analysis equation, angle analysis equation, signal strength analysis equation and system stability analysis equation are constructed to calculate the corresponding coefficients. Based on these coefficients, the position change matrix and the position reference matrix are established to obtain the position correction value, which is superimposed with the initial position coordinate data to obtain the corrected accurate position coordinates. Finally, the final positioning data of the pile position is calculated in combination with the pile driver distance data, and the measurement results are displayed in real time and transmitted remotely through the display terminal, data storage unit and communication unit. The whole process makes full use of technical means such as RTK positioning, attitude measurement, mathematical analysis modeling, etc. to achieve accurate positioning and monitoring of prefabricated pile foundations.

[0093] In order to enable persons skilled in the art to implement the method, the specific implementation of the method of the present invention is now described in detail.

[0094] The specific implementation of step S10 is as follows:

[0095] like Figure 2 As shown, the GNSS signal receiving antenna in the RTK positioning unit is started to collect GNSS raw data. The collection frequency is set to 1 Hz to ensure that sufficiently dense GNSS data is collected. The GNSS raw data contains rich location information and provides basic data for subsequent coordinate conversion and position correction.

[0096] Secondly, read the inclination angle data of the pile driver output by the gravity acceleration sensor in the attitude sensing system, the pitch angle data of the pile driver output by the inclination sensor, and the azimuth angle data of the pile driver output by the azimuth sensor. The acquisition frequency is set to 10 Hz to obtain angle change information with high time resolution. These angle data can reflect the attitude changes of the pile driver in space, which is crucial for subsequent angle analysis.

[0097] Finally, the distance data of the pile driver output by the distance sensor is obtained, and the GNSS raw data, pile driver angle data and pile driver distance data are stored synchronously. These data will be used to determine the final position coordinates of the pile position in subsequent calculations.

[0098] In general, the purpose of step S10 is to collect the raw data of RTK positioning and attitude measurement, laying the foundation for subsequent data processing and position calculation. Among them, the GNSS raw data collection frequency is set to 1 Hz, and the pile driver angle data collection frequency is set to 10 Hz to meet the time resolution requirements of different measurement parameters.

[0099] The specific implementation of step S20 is as follows:

[0100] First, the original GNSS data Perform time-frequency transform processing to decompose it into multiple frequency components. This can be achieved through methods such as Fourier transform or short-time Fourier transform. The purpose of this step is to extract the reference component and variation component of the GNSS signal.

[0101] Then, the wavelet transform method is used to perform multi-scale analysis on the GNSS raw data to identify and extract the GNSS signal reference component. Wavelet transform can well capture the short-time scale characteristics in the signal and help to separate the stable reference component from the complex GNSS raw data.

[0102] Next, the long-term change trend in the GNSS raw data is processed by the exponential decay function to extract the GNSS signal change component. The signal amplitude parameter in , signal period parameters and signal duration parameters The exponential decay function can well describe the long-term drift characteristics of GNSS signals.

[0103] Finally, the GNSS signal reference matrix is ​​established to store the extracted GNSS signal reference components. GNSS signal variation component This provides the necessary reference for subsequent coordinate transformation and position correction.

[0104] In general, the purpose of step S20 is to separate the stable reference component and the signal component reflecting dynamic changes from the GNSS raw data through time-frequency analysis, wavelet analysis and exponential decay function processing, and to establish the GNSS signal reference matrix. This lays the foundation for subsequent data analysis and position calculation.

[0105] The specific implementation of step S30 is as follows:

[0106] First, the inclination angle data of the pile driver Perform multivariate decomposition to obtain the reference component of the tilt angle and the tilt angle change component :

[0107] ;

[0108] in, is the tilt angle measurement error.

[0109] Then, the pitch angle data of the pile driver Perform the same multivariate decomposition operation to obtain the pitch angle reference component and the pitch angle change component Similarly, for the pile driver azimuth angle data Perform multivariate decomposition to obtain the azimuth angle reference component and the azimuth angle change component .

[0110] Finally, the angle change rate parameter is extracted from each angle change component and angle phase parameters , and compose them into the angle reference matrix .

[0111] In general, the purpose of step S30 is to perform multivariate decomposition on the tilt angle, pitch angle and azimuth angle data of the pile driver, separate the reference component and the change component, and provide necessary parameters for the subsequent angle analysis equation construction. This step lays the foundation for analyzing the law of posture change.

[0112] The specific implementation of step S40 is as follows:

[0113] First, based on the GNSS signal reference matrix established in step S20, the GNSS signal reference component is extracted. These parameters reflect the position information of the GNSS receiver in the global coordinate system.

[0114] Then, based on the previously measured reference points at the construction site, coordinate transformation parameters are constructed. This includes transformation parameters such as translation, rotation, and scaling, which are used to transform the position data in the global coordinate system to the construction site coordinate system.

[0115] Next, using the coordinate transformation parameters determined in step 2, the GNSS signal reference component The world coordinate parameters in the calculation and conversion are used to obtain the construction site coordinate data .

[0116] Finally, according to the construction site coordinate data Establish initial position coordinate data The output of this step will serve as the starting point for subsequent position corrections.

[0117] In general, the purpose of step S40 is to convert the GNSS data collected by the RTK positioning unit from the global coordinate system to the construction site coordinate system to provide an initial position reference for subsequent position correction. The core of this step is coordinate conversion, which needs to be combined with the measurement benchmark information of the actual construction site.

[0118] The specific implementation of step S50 is as follows:

[0119] First, construct the displacement analysis equation , the signal amplitude parameter in the GNSS signal change component , signal period parameters and signal duration parameters As input parameters, the displacement influence coefficient is calculated The specific form of the displacement analysis equation is as follows:

[0120] ;

[0121] in, is the weight coefficient, For the The signal change at each sampling point, is the weight of each sampling point, is the displacement error term, is the number of sampling points. This step can quantify the impact of dynamic changes in GNSS signals on the position of the pile driver.

[0122] Then, construct the angle analysis equation , the angle change rate parameter and angle phase parameters As input parameters, the angle correlation coefficient matrix is ​​calculated The specific form of the angle analysis equation is as follows:

[0123] ;

[0124] in, is the rotation matrix element, is the angle error term. This step can analyze the correlation between different angle parameters.

[0125] Next, construct the signal intensity analysis equation , the signal strength parameters, angle change components and external environment parameters in the GNSS raw data As input parameter, the signal strength coefficient is calculated The specific form of the signal strength analysis equation is as follows:

[0126] ;

[0127] in, is the initial signal strength parameter, is the attenuation coefficient, is the propagation distance, is the angle influence coefficient, is the environmental impact coefficient, is the strength error term. This step can evaluate the change in GNSS signal strength.

[0128] Finally, the system stability analysis equation is constructed , the displacement influence coefficient , angle correlation coefficient matrix and signal strength factor As input parameters, the system stability value is calculated The specific form of the system stability analysis equation is as follows:

[0129] ;

[0130] in, is the weight coefficient of each item, is the acceleration influence coefficient, is the system error term. This step can comprehensively evaluate the overall stability of the system.

[0131] In general, the purpose of step S50 is to construct displacement analysis equations, angle analysis equations, signal strength analysis equations and system stability analysis equations to provide necessary parameters for the subsequent establishment of the position change matrix. These equations take into account the dynamic characteristics of GNSS signals, attitude change laws and the impact of environmental factors on position measurement, laying the foundation for position correction.

[0132] The specific implementation of step S60 is as follows:

[0133] First, the displacement influence coefficient calculated in step S50 is used , establish a vector describing the characteristics of position change This vector reflects the impact of the dynamic changes of GNSS signals on the position of the pile driver.

[0134] Then, based on the angle correlation coefficient matrix calculated in step S50 , construct a vector describing the characteristics of posture changes This vector reflects the impact of the pile driver's posture change on the position.

[0135] Next, according to the signal strength coefficient calculated in step S50 , forming a vector describing the characteristics of signal strength change This vector reflects the effect of changes in GNSS signal strength on position measurements.

[0136] Finally, the position change feature vector , posture change feature vector and signal strength change feature vector Combining and constructing position change matrix , and according to the system stability value Calculate the position reference matrix The expression of the position change matrix is ​​as follows:

[0137] ;

[0138] Position reference matrix Based on the system stability value Obtained by weighted calculation.

[0139] In general, the purpose of step S60 is to construct a position change matrix that describes the change law of the overall system. , and calculate the position reference matrix based on the system stability value . This provides an important benchmark reference for subsequent position corrections.

[0140] The specific implementation of step S70 is as follows:

[0141] First, according to the position reference matrix calculated in step S60 , extract position reference features . These characteristics reflect the ideal position of the system in a stable state.

[0142] Then, calculate the position reference feature With the initial position coordinate data The deviation between the two is used to obtain the position correction value This correction value reflects the difference between the current position and the ideal position.

[0143] Next, the position correction value With the initial position coordinate data Perform numerical superposition to calculate the corrected accurate position coordinates .

[0144] Finally, output the corrected position coordinate data .

[0145] In general, the purpose of step S70 is to calculate the position correction value based on the position reference matrix and superimpose it with the initial position coordinate data to obtain the corrected accurate position coordinates. This step is the key to achieving accurate positioning.

[0146] The specific implementation of step S80 is as follows:

[0147] First, read the pile driver distance data obtained in step S10 , and construct the distance measurement matrix This matrix reflects the distance measurement between the pile driver and the target location.

[0148] Then, the corrected position coordinate data calculated in step S70 is Convert to position measurement matrix .

[0149] Next, the distance measurement matrix and the position measurement matrix Perform matrix operations to calculate the target position data This step uses geometric relationships to calculate the final positioning coordinates of the pile.

[0150] Finally, according to the calculated target position data Generate pile location data .

[0151] In general, the purpose of step S80 is to calculate the final positioning result of the pile position through matrix operation based on the corrected position coordinate data and the measured pile driver distance data. This step converts the previous position correction process into a specific pile position coordinate output.

[0152] The specific implementation of step S90 is as follows:

[0153] First, the pile position positioning data calculated in step S80 is The data is transmitted to the display terminal for display in real time, so that the operator can understand the positioning status of the pile in real time.

[0154] Then, the pile position data , System stability value and the corrected position coordinate data calculated in step S70 Packed into data packets for subsequent storage and transmission.

[0155] Next, the data packets packaged in the previous step are synchronously transmitted to the data storage unit for storage. This can retain the key data in the measurement process and provide a basis for subsequent analysis and verification.

[0156] Finally, the data packet is sent to the designated monitoring terminal through the communication unit, which can realize remote monitoring and enable managers to grasp the real-time dynamic information of the construction site.

[0157] In general, the purpose of step S90 is to display and remotely transmit the measurement positioning results and system operation status information in real time to provide data support for on-site operations and monitoring. This step ensures the information output and sharing of the entire measurement system.

[0158] The calculation process or equation involved in the present invention is described in detail below.

[0159] The multivariate decomposition operation is specifically expressed as follows:

[0160] ;

[0161] In the formula, is the GNSS raw data time series; is the GNSS signal reference component; is the GNSS signal variation component; is the signal noise term; is the sampling time point.

[0162] GNSS signal variation components The specific calculation formula is:

[0163] ;

[0164] In the formula, is the signal amplitude parameter; is the signal period parameter; is the attenuation coefficient; is the time decay factor; is the secondary drift coefficient; the signal duration parameter is given by The integral interval is determined.

[0165] The displacement analysis equation is specifically expressed as follows:

[0166] ;

[0167] In the formula, is the displacement influence coefficient; is the weight coefficient; is the signal duration parameter; For the The signal change at each sampling point; is the weight of each sampling point; is the displacement error term; is the number of sampling points.

[0168] The angle analysis equation is specifically expressed as:

[0169] ;

[0170] In the formula, is the angle correlation coefficient matrix; is the rotation matrix element; is the rate of change parameter of each angle; is the phase parameter at each angle; is the angle error term.

[0171] The signal strength analysis equation is specifically expressed as:

[0172] ;

[0173] In the formula, is the signal strength coefficient; is the initial signal strength parameter; is the attenuation coefficient; is the propagation distance; is the angle influence coefficient; is the change component of each angle; is the external environment parameter; is the environmental impact coefficient; is the intensity error term.

[0174] The system stability analysis equation is specifically expressed as:

[0175] ;

[0176] In the formula, is the system stability value; is the weight coefficient of each item; is the element of the angle correlation coefficient matrix; is the acceleration influence coefficient; is the systematic error term.

[0177] Parameter acquisition method description:

[0178] 1. GNSS raw data is collected through the GNSS signal receiving antenna of the RTK positioning unit, with a sampling frequency of 1Hz;

[0179] 2. The angle change rate parameter is obtained by real-time measurement of the attitude sensing system, with a sampling frequency of 10 Hz;

[0180] 3. External environmental parameters include atmospheric pressure, temperature, humidity, etc., which are collected through environmental sensors;

[0181] 4. Error terms The range is [-0.1, 0.1].

[0182] Equation principle explanation:

[0183] 1. The multivariate decomposition operation adopts a combination of Fourier decomposition and exponential decay, taking into account the periodic changes and long-term drift characteristics of the signal;

[0184] 2. The displacement analysis equation adopts a weighted accumulation model and introduces a second-order derivative term to consider the influence of acceleration;

[0185] 3. The angle analysis equation is based on the Euler angle conversion principle and constructs a rotation matrix to describe the change of spatial posture;

[0186] 4. The signal strength analysis equation is based on the electromagnetic wave propagation attenuation law, taking into account the distance attenuation and angle effects;

[0187] 5. The system stability analysis equation adopts a weighted summation model and introduces second-order partial derivatives to characterize the dynamic characteristics of the system.

[0188] The process of derivation and establishment of each equation is explained in detail below.

[0189] 1. Derivation of the multivariate decomposition equation of GNSS signals:

[0190] The first step is to perform time-frequency analysis on the original GNSS signal:

[0191] ;

[0192] In the formula, For the The amplitude of the components; For the The frequency of the component; is the trend item; is the noise term; The main component number.

[0193] The second step is to identify the reference component through wavelet transform:

[0194] ;

[0195] In the formula, is the wavelet basis function; is the scale parameter; is the translation parameter.

[0196] The third step is to introduce exponential decay terms to describe long-term change trends:

[0197] ;

[0198] Here we choose the quadratic term This is because actual observations show that GNSS signals have parabolic drift characteristics.

[0199] 2. Derivation of displacement analysis equation:

[0200] The first step is to establish a basic linear relationship:

[0201] ;

[0202] In the formula, It is obtained by fitting historical data using the least squares method.

[0203] The second step is to introduce the influence of sampling points:

[0204] ;

[0205] in The weights use exponential decay: , is the attenuation coefficient.

[0206] The third step is to merge the basic terms and sampling influence terms:

[0207] ;

[0208] 3. Derivation of angle analysis equation:

[0209] The first step is to create a rotation matrix based on the Euler angle:

[0210] ;

[0211] In the formula, They are yaw angle, pitch angle, and roll angle respectively.

[0212] The second step is to consider the influence of angular velocity:

[0213] ;

[0214] In the formula, is the angular velocity vector.

[0215] The third step is to introduce the phase delay effect:

[0216] ;

[0217] In the formula, is the phase delay matrix.

[0218] 4. Derivation of signal strength analysis equation:

[0219] The first step is based on the distance attenuation law:

[0220] ;

[0221] in Obtained through experimental calibration.

[0222] The second step is to introduce the influence of posture:

[0223] ;

[0224] It is obtained by regressing multiple groups of posture test data.

[0225] The third step is to consider environmental impact:

[0226] ;

[0227] Environmental parameters Including the influence of temperature, humidity and air pressure.

[0228] 5. Derivation of system stability analysis equation:

[0229] The first step is to establish a basic weighted model:

[0230] ;

[0231] The weight coefficients are determined through multi-objective optimization.

[0232] The second step is to introduce dynamic characteristic items:

[0233] ;

[0234] Dynamic coefficient Determined by system response testing.

[0235] The third step is to get the final equation:

[0236] .

[0237] Supplementary explanation of parameter acquisition: attenuation coefficient Range: [0.01, 0.1], obtained through signal attenuation experiment; quadratic drift coefficient Range: [0.001, 0.01], obtained by fitting long-term observation data; Angle influence coefficient Range: [-0.1, 0.1], obtained through multiple groups of posture tests; Environmental influence coefficient Range: [0.05, 0.15], calibrated by environmental simulation experiment; dynamic coefficient Range: [0.1, 0.5], determined by system response experiments.

[0238] Specifically, the principle of the present invention is: the precast pile foundation measurement and positioning device proposed in the present invention can effectively solve the problems of low positioning accuracy of precast pile construction and inability to fully monitor the status of the pile driver in the prior art, mainly due to the systematic technical solution it adopts.

[0239] First, the device integrates the RTK positioning unit and the attitude sensing system, which can simultaneously collect GNSS raw data, key information such as the pile driver's tilt angle, pitch angle, and azimuth angle. This can not only obtain the location coordinate data of the pile driver, but also obtain its attitude change information in space. Compared with the single use of RTK positioning, this integrated solution can provide more comprehensive measurement data.

[0240] Secondly, the device performs multivariate decomposition on the collected raw data. Through time-frequency analysis, wavelet analysis and other methods, the reference component and the change component can be extracted from the GNSS raw data, reflecting the stability and dynamic characteristics of the signal; similarly, the multivariate decomposition of the attitude angle data can also separate the reference component and the change component, and describe the change law of the angle parameter. These extracted reference components and change components lay the foundation for subsequent mathematical modeling and position correction.

[0241] Thirdly, based on the extracted reference components and change components, the device established mathematical models such as displacement analysis equation, angle analysis equation, signal strength analysis equation and system stability analysis equation. These equations can quantify the impact of GNSS signal dynamic changes, attitude angle changes and signal strength changes on the position of the pile driver, and comprehensively evaluate the overall stability of the system. Through these mathematical models, various error sources can be identified, providing a basis for position correction.

[0242] Finally, the device uses the extracted reference components and the calculation results of the mathematical model to construct a position change matrix, and obtains the position reference matrix based on the numerical calculation of the system stability. Then, the initial position coordinate data is superimposed on the position reference matrix to obtain the corrected accurate position coordinates. The key to this step is to describe the change law of the entire measurement system through the position change matrix, and use it as a reference to correct the initial position data, thereby greatly improving the positioning accuracy.

[0243] A specific embodiment 1 of the present invention is provided below. The specific method of each step in this embodiment 1 is described in detail as follows:

[0244] A certain acrylic ester and super absorbent resin new material construction project is located in a certain place. The project covers an area of ​​20,877 square meters, with a total construction area of ​​25,300.59 square meters and a total of 8 building units. There are prefabricated pipe pile projects in 7 units involved in the project. The prefabricated piles used are PHC500AB120 models, with lengths of 22 meters, 23 meters, 25 meters and 28 meters, totaling 30,230 meters.

[0245] This project is a chemical plant type. During the construction process, the precise positioning of prefabricated pipe piles is extremely important. Because large pile position deviations are generally irreparable, this places high demands on pile position accuracy. According to project requirements, the prefabricated pile foundation measurement and positioning device proposed in the present invention is applied to this scenario to achieve high-precision pile position positioning and comprehensive pile driver status monitoring.

[0246] First, for the seven units of the project, there are a total of 30,230 meters of prefabricated pipe piles, involving piles of different lengths. To ensure the quality of construction, each pile needs to be positioned and measured, which takes a total of 3,209.2 minutes, or about 29 days. Using traditional total stations or levels for manual measurement is not only labor-intensive, but also easily affected by environmental factors, and the accuracy of the measurement results is difficult to guarantee.

[0247] To this end, the prefabricated pile foundation measurement and positioning device proposed in the present invention is applied to this project. By integrating RTK positioning, attitude measurement and data analysis technologies, the measurement efficiency and positioning accuracy can be greatly improved. The specific implementation plan is described below:

[0248] First, an RTK positioning unit is installed on the top of each pile driver's cab, including a GNSS signal receiving antenna, an omnidirectional radio antenna, and a dual-frequency GPS receiver. At the same time, an attitude sensing system is installed on the pile driver's body, including a gravity acceleration sensor, an inclination sensor, an azimuth sensor, and a distance sensor. The RTK positioning unit is used to collect GNSS raw data, and the attitude sensing system is used to measure the inclination angle, pitch angle, and azimuth angle of the pile driver. These data will be transmitted to the main control chip in real time for processing.

[0249] The main control chip is provided with a data processing module for executing the following steps:

[0250] Step S10: Collect the GNSS raw data output by the RTK positioning unit, the pile driver tilt angle data output by the gravity acceleration sensor, the pile driver pitch angle data output by the inclination sensor, the pile driver azimuth angle data output by the azimuth sensor, and the pile driver distance data output by the distance sensor. The GNSS raw data acquisition frequency is 1 Hz, and the angle data acquisition frequency is 10 Hz, achieving data acquisition with high time resolution.

[0251] Step S20: Perform time-frequency transformation and wavelet transformation on the GNSS raw data to separate the GNSS signal reference component and the GNSS signal change component. The GNSS signal change component includes signal amplitude parameters, signal period parameters and signal duration parameters. This step can effectively extract the dynamic characteristics of the GNSS signal.

[0252] Step S30: Perform multivariate decomposition operations on the pile driver inclination angle data, the pile driver pitch angle data and the pile driver azimuth angle data to obtain angle reference components and angle change components respectively. The angle change component includes angle change rate parameters and angle phase parameters. In this way, the posture change characteristics of the pile driver in space can be fully described.

[0253] Step S40: Based on the GNSS signal reference component, the construction site coordinate data is obtained through coordinate conversion calculation, and the initial position coordinate data is established. This step realizes the conversion from the global coordinate system to the construction site coordinate system.

[0254] Step S50: construct displacement analysis equations, angle analysis equations, signal strength analysis equations and system stability analysis equations. These equations can quantify the impact of GNSS signal dynamic changes, attitude angle changes and signal strength changes on the pile driver position, and comprehensively evaluate the overall stability of the system.

[0255] Step S60: Using the parameters calculated in step S50, construct a position change matrix that describes the change law of the overall system, and calculate the position reference matrix based on the system stability value. This provides an important basis for subsequent position correction.

[0256] Step S70: Calculate the position correction value based on the position reference matrix, and add it to the initial position coordinate data to obtain the corrected accurate position coordinate data. This step realizes the effective correction of the measurement result.

[0257] Step S80: Combine the pile driver distance data and the corrected position coordinate data to perform matrix operations, calculate the target position data, and generate the final pile position positioning data. This step converts the position data into specific pile position coordinates.

[0258] Step S90: The pile position positioning data is transmitted to the display terminal in real time for display, and the positioning data, system stability value and corrected position coordinate data are stored and remotely transmitted through the data storage unit and the communication unit. This ensures the information visualization and sharing of the measurement process.

[0259] like Figure 3 As shown, a hierarchical comparison and selection of schemes is carried out;

[0260] In the signal transmission mode, experiments were conducted on wireless transmission and wired transmission respectively: During the experiment, the RTK measuring instrument and the display device in the cab were connected by Bluetooth and wired respectively. One person was responsible for connecting the RTK measuring instrument and the display device in the cab by Bluetooth to count the transmission time and signal stability; one person was responsible for connecting the RTK measuring instrument and the display device in the cab by wire to count the signal transmission accuracy and signal stability. At the construction site, the two transmission modes were tested on 4 pile drivers respectively, and the transmission accuracy and signal stability of the two transmission modes were counted. It is concluded that the signal stability of the wired signal transmission mode is stronger than that of the wireless signal transmission mode. Wireless signal transmission is affected by weather and working environment, resulting in inaccurate signal transmission. Wired transmission is not affected by weather and working environment and has high accuracy.

[0261] For the power source, the storage battery and the direct plug-in power supply were tested respectively: during the experiment, one group directly connected the power supply from the cab socket to the RTK host, and the wires were firmly fixed and did not hinder the construction; one group used batteries to provide power to the RTK host, and the batteries were firmly fixed and did not affect the construction. At the construction site, 4 pile drivers used wired and battery power to provide power to the RTK host, and the operation convenience and stability of the two methods were statistically analyzed. The conclusion is that the wire is stable as a power supply, and the wired power supply to the host only needs to be installed once, which is convenient and fast. The battery needs to be replaced regularly and is inconvenient to operate.

[0262] In the coordinate input component, experiments were conducted on manual input and computer import respectively: During the experiment, one group used manual input coordinates to test four pile drivers, and the operation time and accuracy were counted; another group used computer import coordinates to test four pile drivers, and the operation time and accuracy were counted. The conclusion is that computer import takes less time to operate, is easy to use, has a high accuracy rate, and is not prone to digital input errors.

[0263] In the display component, experiments were conducted on displaying only the current coordinate point and displaying multiple coordinate points. During the experiment, one group could display the distance and angle between one target point and the pile driver, so that the operator could position the pile driver. Another group could display the distance and angle between multiple target points and the pile driver at the same time, so that the operator could judge the pile driving sequence and the next pile driver position. At the construction site, the two display modes were divided into 4 pile drivers for simulation tests, and it was found that both modes could meet the construction needs. The conclusion is that the multi-coordinate display allows the operator to estimate the position in advance, which is more convenient to use.

[0264] By adopting the above implementation scheme, the following effects can be achieved in the acrylic ester and super absorbent resin new material construction project:

[0265] First of all, by integrating the RTK positioning and attitude sensing system, key information such as GNSS raw data, pile driver tilt angle, pitch angle and azimuth angle can be collected in real time, laying the foundation for subsequent data processing.

[0266] Secondly, by performing multivariate decomposition and coordinate transformation on the collected data, the reference component and variation component of the GNSS signal, as well as the reference component and variation component of each angle parameter are extracted, creating conditions for constructing a mathematical model.

[0267] Thirdly, by establishing displacement analysis equations, angle analysis equations, signal strength analysis equations and system stability analysis equations, we can quantify the impact of various factors on the position of the pile driver, and comprehensively evaluate the overall stability of the system, providing a basis for position correction.

[0268] Finally, based on the extracted benchmark components and the calculation results of the mathematical model, the position change matrix and the position benchmark matrix are constructed to achieve effective correction of the initial position coordinate data, greatly improving the accuracy of precast pile construction positioning.

[0269] A specific embodiment 2 of the present invention is provided below, which is about the application of the pile foundation measurement and positioning device of the acrylic ester and super absorbent resin new material project. The specific method of each step in this embodiment 2 is described in detail as follows:

[0270] 1. Project overview.

[0271] This embodiment is applied to a certain acrylic ester and super absorbent resin new material construction project, which is located in Tongzhou Bay Demonstration Zone, Nantong City, Jiangsu Province, with a total area of ​​20,877 square meters and a total construction area of ​​25,300.59 square meters. It contains a total of 8 building units, of which 7 units need pile foundation construction, and the total length of prefabricated pipe piles is 30,230 meters. The project uses PHC500AB120 prestressed high-strength concrete pipe piles, with pile lengths of 22 meters, 23 meters, 25 meters and 28 meters.

[0272] 2. Device composition and parameter configuration.

[0273] The pile foundation measurement and positioning device of the present invention comprises the following main components:

[0274] Table 1 Device composition

[0275]

[0276] 3. System startup and initialization.

[0277] Table 2 System startup and initialization table

[0278]

[0279] 4. Data collection process (step S10).

[0280] Taking the SAP production plant as an example, a total of 388 piles need to be laid in the single unit. The specific data of the system executing step S10 is as follows:

[0281] Table 3 Data collection table

[0282]

[0283] 5. Multivariate decomposition operation (step S20).

[0284] The system performs multivariate decomposition operations on the GNSS raw data. The operation parameters and results are as follows:

[0285] Table 4 Multivariate decomposition operation parameters and results

[0286]

[0287] According to the multivariate decomposition formula , calculate the GNSS signal change component: .

[0288] 6. Angle analysis and reference matrix construction (step S30).

[0289] Perform multivariate decomposition on the angle data of the pile driver in three directions and obtain:

[0290] Table 5. Results of multivariate decomposition of angle data

[0291]

[0292] Create the angle reference matrix: ;

[0293] Continue to write the second half of the example:

[0294] 7. Coordinate conversion and initial position determination (step S40 ).

[0295] Coordinate transformation is performed based on the GNSS signal reference matrix to transform the global coordinates into the construction site coordinates. The specific parameters are as follows:

[0296] Table 6 Construction site coordinate conversion table

[0297]

[0298] 8. Establishment and calculation of data analysis equations (step S50).

[0299] (1) Calculation results of displacement analysis equation: Based on the formula calculate.

[0300] Table 7 Displacement analysis equation calculation results

[0301]

[0302] (2) Calculation results of the angle analysis equation: Apply the formula

[0303] .

[0304] Table 8 Calculation results of angle analysis equation

[0305]

[0306] (3) Signal strength analysis: using the formula

[0307] .

[0308] Table 9 Signal strength analysis table

[0309]

[0310] 9. Position correction calculation (steps S60 - S70 ).

[0311] Based on the system stability analysis equation The calculation result of .

[0312] Table 10 Position correction calculation table

[0313]

[0314] 10. Output of pile position positioning results (steps S80-S90).

[0315] Table 11 Pile position positioning result output table

[0316]

[0317] 11. Analysis of actual construction results.

[0318] Through the implementation of the above steps, the construction results of 388 piles of SAP production plant are as follows:

[0319] Table 12 Analysis of actual construction results

[0320]

[0321] 12. Technical and economic comparison with traditional methods.

[0322] Table 13 Technical and economic comparison with traditional methods

[0323]

[0324] The pile foundation measurement and positioning device of the present invention realizes high-precision pile position positioning through the coordinated work of the RTK positioning unit, the attitude sensing system and the data processing module. The system operates fully automatically, which greatly improves the construction efficiency and quality. Through multivariate data analysis and real-time correction mechanism, the pile position positioning accuracy is successfully improved to ±12.3 mm, which is far better than the ±35 mm accuracy level of the traditional method. At the same time, the system's degree of automation and digital management capabilities are significantly improved, providing a strong guarantee for engineering quality control and management. The implementation effect shows that the device has significant advantages in improving construction accuracy, improving work efficiency, and reducing labor costs. It is particularly suitable for pile foundation construction of chemical projects with high requirements for pile position accuracy.

[0325] It should be noted that the variables involved in the present invention are explained in detail as shown in Table 14:

[0326] Table 14 Variable explanation table

[0327]

[0328] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A precast pile foundation measurement and positioning device, characterized in that: include: An RTK positioning unit installed on the top of the pile driver cab, the RTK positioning unit comprising a GNSS signal receiving antenna, an omnidirectional radio antenna and a dual-frequency GPS receiver; A posture sensing system installed on the pile driver body, the posture sensing system includes a gravity acceleration sensor, an inclination sensor, an azimuth sensor and a distance sensor, wherein the gravity acceleration sensor is used to measure the inclination angle data of the pile driver, the inclination sensor is used to measure the pitch angle data of the pile driver, the azimuth sensor is used to measure the azimuth angle data of the pile driver, and the distance sensor is used to measure the distance data of the pile driver; A display terminal is arranged in the cab of the pile driver, the display terminal is electrically connected to the main control chip and is used to display the positioning data in real time; A main control chip, the main control chip is electrically connected to the RTK positioning unit, the attitude sensing system and the display terminal, and is used to receive and process various collected data; a data processing module is provided in the main control chip; A power supply unit, the power supply unit is electrically connected to the main control chip; A communication unit, the communication unit being electrically connected to the main control chip; A data storage unit, the data storage unit is electrically connected to the main control chip; The data processing module in the main control chip uses the GNSS data of the collected RTK positioning unit, the tilt angle of the gravity acceleration sensor, the pitch angle of the tilt sensor, the angle of the azimuth sensor and the distance data of the distance sensor, and processes and corrects them through multivariate decomposition operations and using a data analysis equation group including a displacement analysis equation, an angle analysis equation, a signal strength analysis equation, and a system stability analysis equation, so as to finally obtain accurate pile position positioning data, and transmit the results to a display terminal, a transmission unit and a monitoring terminal to achieve precise positioning; wherein the multivariate decomposition operation includes first performing a multivariate decomposition operation on the pile driver tilt angle data to obtain a tilt angle reference component and a tilt angle change component; then performing a multivariate decomposition operation on the pile driver pitch angle data to obtain a pitch angle reference component and a pitch angle change component; and then performing a multivariate decomposition operation on the pile driver azimuth angle data to obtain a azimuth angle reference component and an azimuth angle change component.

2. A precast pile foundation measurement and positioning device according to claim 1, characterized in that: The data processing module in the main control chip is used to perform the following steps: S10, collecting the GNSS raw data output by the RTK positioning unit, the pile driver inclination angle data output by the gravity acceleration sensor, the pile driver pitch angle data output by the inclination sensor, the pile driver azimuth angle data output by the azimuth sensor, and the pile driver distance data output by the distance sensor; S20, performing a multivariate decomposition operation on the GNSS original data to separate a GNSS signal reference component and a GNSS signal change component, and establishing a GNSS signal reference matrix, wherein the GNSS signal change component includes a signal amplitude parameter, a signal period parameter, and a signal duration parameter; S30, performing multivariate decomposition operation on the pile driver inclination angle data, the pile driver pitch angle data, and the pile driver azimuth angle data to obtain an angle reference component and an angle change component, respectively, wherein the angle change component includes an angle change rate parameter and an angle phase parameter, and establishing an angle reference matrix; S40, based on the GNSS signal reference matrix, performing a coordinate conversion operation on the GNSS signal reference component, converting the global coordinate data into construction site coordinate data, and obtaining initial position coordinate data; S50, establishing a data analysis equation group, wherein the data analysis equation group includes a displacement analysis equation, an angle analysis equation, a signal strength analysis equation, and a system stability analysis equation; S60, establishing a position change matrix based on the calculation results of the data analysis equation group, and calculating a position reference matrix according to the system stability numerical value; S70, calculating a position correction value based on the position reference matrix, and numerically superimposing the position correction value with the initial position coordinate data to obtain corrected position coordinate data; S80, performing matrix operation according to the pile driver distance data and the corrected position coordinate data, calculating target position data, and generating pile position positioning data; S90, transmitting the pile position positioning data to the display terminal, transmitting the pile position positioning data, the system stability value, and the corrected position coordinate data to the data storage unit, and sending them to a designated monitoring terminal through the communication unit.

3. A precast pile foundation measurement and positioning device according to claim 2, characterized in that: The step S10 specifically includes: Step 11, start the GNSS signal receiving antenna in the RTK positioning unit to start collecting GNSS raw data, and the collection frequency is set to 1 Hz; Step 12, reading the pile driver inclination angle data output by the gravity acceleration sensor, the pile driver pitch angle data output by the inclination sensor, and the pile driver azimuth angle data output by the azimuth sensor, and the acquisition frequency is set to 10 Hz; Step 13: acquiring the pile driver distance data output by the distance sensor, and synchronously storing the GNSS original data, the pile driver inclination angle data, the pile driver pitch angle data, the pile driver azimuth angle data and the pile driver distance data.

4. A precast pile foundation measurement and positioning device according to claim 3, characterized in that: The step S20 specifically includes: Step 21: performing time-frequency transformation processing on the GNSS raw data to decompose the GNSS raw data into multiple frequency components; Step 22: Perform multi-scale analysis on the GNSS raw data using a wavelet transform method to identify and extract the GNSS signal reference component; Step 23: Process the long-term change trend in the GNSS raw data by using an exponential decay function to extract the signal amplitude parameter, signal period parameter and signal duration parameter in the GNSS signal change component; Step 24: Establish the GNSS signal reference matrix to store the GNSS signal reference component and the GNSS signal change component.

5. A precast pile foundation measurement and positioning device according to claim 4, characterized in that: The step S30 specifically includes: Step 31, performing a multivariate decomposition operation on the pile driver inclination angle data to obtain an inclination angle reference component and an inclination angle change component; Step 32, performing multivariate decomposition operation on the pile driver pitch angle data to obtain a pitch angle reference component and a pitch angle change component; Step 33, performing multivariate decomposition operation on the pile driver azimuth angle data to obtain an azimuth angle reference component and an azimuth angle change component; Step 34: extract the angle change rate parameter and the angle phase parameter in the angle change component, and establish the angle reference matrix.

6. A precast pile foundation measurement and positioning device according to claim 5, characterized in that: The step S40 specifically includes: Step 41: extracting world coordinate parameters in the GNSS signal reference component based on the GNSS signal reference matrix; Step 42: construct coordinate transformation parameters according to the construction site measurement reference points; Step 43, converting the world coordinate parameters by using the coordinate conversion parameters to obtain the construction site coordinate data; Step 44: Establish the initial position coordinate data according to the construction site coordinate data.

7. A precast pile foundation measurement and positioning device according to claim 6, characterized in that: The step S50 specifically includes: Step 51, construct the displacement analysis equation, input the signal amplitude parameter, the signal period parameter and the signal duration parameter into the calculation, and obtain the displacement influence coefficient; Step 52, constructing the angle analysis equation, inputting the angle change rate parameter and the angle phase parameter into calculation, and obtaining the angle correlation coefficient; Step 53: construct the signal strength analysis equation, input the signal strength parameter in the GNSS raw data, the angle change component and the external environment parameter into the calculation, and obtain the signal strength coefficient; Step 54: construct the system stability analysis equation, input the displacement influence coefficient, the angle correlation coefficient and the signal strength coefficient into calculation, and obtain the system stability value.

8. A precast pile foundation measurement and positioning device according to claim 7, characterized in that: The step S60 specifically includes: Step 61, establishing a position change feature vector using the displacement influence coefficient; Step 62: constructing a posture change feature vector based on the angle correlation coefficient; Step 63: forming an intensity change characteristic vector according to the signal intensity coefficient; Step 64: Combine the position change feature vector, the posture change feature vector and the intensity change feature vector to construct the position change matrix, and calculate the position reference matrix according to the system stability value.

9. A precast pile foundation measurement and positioning device according to claim 8, characterized in that: The step S70 specifically includes: Step 71, extracting position reference features according to the position reference matrix; Step 72, calculating the deviation between the position reference feature and the theoretical position to obtain the position correction value; Step 73, performing numerical superposition calculation on the position correction value and the initial position coordinate data; Step 74: output the corrected position coordinate data.

10. A precast pile foundation measurement and positioning device according to claim 9, characterized in that: The step S80 specifically includes: Step 81, reading the distance data of the pile driver and establishing a distance measurement matrix; Step 82, converting the corrected position coordinate data into a position measurement matrix; Step 83, performing matrix operation on the distance measurement matrix and the position measurement matrix; Step 84, calculating the target position data according to the matrix operation result, and generating the pile position positioning data; The step S90 specifically includes: Step 91, transmitting the pile position positioning data to the display terminal in real time for display; Step 92, packing the pile position positioning data, the system stability value, and the corrected position coordinate data into a data packet; Step 93: synchronously transmit the data packet to the data storage unit for storage; Step 94: Send the data packet to a designated monitoring terminal via the communication unit.

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