Positioning method for pile stabilizing auxiliary platform

Abstract

The invention relates to a pile stabilizing auxiliary platform positioning method. The method comprises the steps that a first position sensor is installed on a floating crane ship; a gradienter is installed on the top face of the pile stabilizing auxiliary platform located on the floating crane ship; the hoisting coordinate of the floating crane ship is measured according to the first position sensor, and the hoisting coordinate is converted to obtain a construction coordinate; the pile stabilizing auxiliary platform is moved through the sling till the construction coordinate coincides with the coordinate of the preset point of the pile stabilizing auxiliary platform; after the construction coordinates coincide with the coordinates of the preset points of the pile stabilizing auxiliary platform, the pile stabilizing auxiliary platform falls to enable the bottom of the pile stabilizing auxiliary platform to be placed underwater and the top to be exposed out of the water surface; and the levelness of the pile stabilizing auxiliary platform is adjusted according to the gradienter. By means of the positioning method for the pile stabilizing auxiliary platform, the problems that in the prior art, shaking and fluctuation of a floating crane boat affect the positioning precision and levelness of the pile stabilizing auxiliary platform, and the pile stabilizing auxiliary platform is difficult to meet the requirements for construction precision and safety can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of offshore engineering, and in particular to a method for positioning a pile-stabilizing auxiliary platform. Background Art

[0002] In offshore engineering construction, pile stabilization auxiliary platforms are widely used to improve construction accuracy and ensure stability.

[0003] Traditional methods of positioning pile stabilization auxiliary platforms usually rely on manual or simple positioning equipment, which often face problems such as complex operation, insufficient precision and low construction efficiency. Especially when lifting and placing the pile stabilization auxiliary platform on a floating crane, the positioning accuracy and horizontality of the pile stabilization auxiliary platform are more difficult to control due to the shaking and fluctuation of the floating crane itself, and traditional methods are difficult to meet the construction accuracy and safety requirements.

[0004] Therefore, the prior art has defects and needs to be improved and developed. Summary of the invention

[0005] The embodiment of the present invention provides a method for positioning a pile stabilizing auxiliary platform, which is used to solve the problem in the prior art that the shaking and fluctuation of the floating crane itself affect the positioning accuracy and horizontality of the pile stabilizing auxiliary platform, and the pile stabilizing auxiliary platform is difficult to meet the construction accuracy and safety requirements.

[0006] The embodiment of the present invention provides 1. a method for positioning a pile stabilization auxiliary platform, comprising the following steps:

[0007] S1. Install the positioning device:

[0008] A first position sensor is installed on the floating crane, wherein the direction in which the main antenna of the first position sensor points to the auxiliary antenna is the same as the direction in which the stern of the floating crane points to the bow; a level meter is installed on the top surface of the pile stabilization auxiliary platform located on the floating crane;

[0009] S2. Calculate the lifting construction coordinates:

[0010] The lifting coordinates of the floating crane are measured by the first position sensor, and the construction coordinates are obtained by converting the lifting coordinates;

[0011] S3, Lifting Pile Stabilization Auxiliary Platform:

[0012] Move the pile stabilization auxiliary platform by means of a sling until the construction coordinates coincide with the coordinates of a preset point of the pile stabilization auxiliary platform, wherein the coordinates of the preset point of the pile stabilization auxiliary platform are coordinates in an engineering coordinate system;

[0013] S4. Placement of auxiliary platform for pile stabilization:

[0014] When the construction coordinates coincide with the coordinates of the preset points of the pile stabilizing auxiliary platform, the pile stabilizing auxiliary platform is lowered so that its bottom is placed on the bottom of the water and its top is above the water surface; and the levelness of the pile stabilizing auxiliary platform is adjusted according to the level meter.

[0015] Furthermore, the calculation of the lifting construction coordinates includes:

[0016] A UVW hull coordinate system is established with the center of the deck of the floating crane as the origin, and the bow direction of the floating crane is defined as forward, wherein the U axis points from the stern to the bow, the V axis points from the left side of the ship to the right side of the ship, and the W axis is perpendicular to the UV plane and passes through the intersection of the U axis and the V axis and points to the sky;

[0017] Obtain the lifting coordinates and the coordinates of the main antenna and the auxiliary antenna in the UVW hull coordinate system according to the UVW hull coordinate system, wherein the coordinates of the main antenna and the auxiliary antenna in the UVW hull coordinate system and the lifting coordinates are WGS84 coordinates;

[0018] Obtaining coordinates of the main antenna and the auxiliary antenna in the engineering coordinate system according to the engineering coordinate system;

[0019] Calculating a first relative direction vector of the main antenna and the auxiliary antenna in the UVW hull coordinate system according to the coordinates of the main antenna and the auxiliary antenna in the UVW hull coordinate system;

[0020] Calculate a second relative direction vector of the main antenna and the auxiliary antenna in the engineering coordinate system according to the coordinates of the main antenna and the auxiliary antenna in the engineering coordinate system;

[0021] Calculate the displacement T of the main antenna from the hull coordinate system to the construction coordinate system according to the coordinates of the main antenna in the UVW hull coordinate system and the coordinates of the main antenna in the engineering coordinate system;

[0022] Normalizing the first relative direction vector and the second relative direction vector to obtain a first unit vector and a second unit vector respectively;

[0023] Obtaining a rotation matrix R by using the Rodrigues formula according to the first unit vector and the second unit vector;

[0024] The construction coordinates are obtained by using a coordinate transformation formula according to the displacement T and the rotation matrix R. Further, the coordinate transformation formula is:

[0025] P 施工 =R·P 船体 +T;

[0026] Among them, P 施工 is the construction coordinate,

[0027] P 船体 is the lifting coordinate.

[0028] Furthermore, three second position sensors are installed on the top surface of the pile stabilizing auxiliary platform. The top surface of the pile stabilizing auxiliary platform is a rectangle. The three second position sensors are arranged at three right angles of the rectangle or on the sides of the rectangle to form an equilateral triangle.

[0029] Furthermore, the first position sensor and the second position sensor are GNSS positioning devices with an inner differential function.

[0030] Furthermore, the auxiliary platform for placing stable piles comprises:

[0031] The center coordinates of the three pile stabilization auxiliary platforms in the engineering coordinate system are obtained according to the three second position sensors, and the values ​​of the center coordinates obtained by the three second position sensors on the axis pointing to the sky are defined as A, B, and C, respectively. The value of the coordinate of the preset point of the pile stabilization auxiliary platform on the axis pointing to the sky is defined as D. When |AD| is less than 1.5, |BD| is less than 1.5, and |CD| is less than 1.5, the sling is released; when the result of any one of |AD|, |BD|, and |CD| is not less than 1.5, the horizontality of the pile stabilization auxiliary platform is adjusted according to the inclination measured by the level.

[0032] Furthermore, adjusting the levelness of the pile stabilizing auxiliary platform according to the inclination measured by the level meter includes: welding a flat plate of the same material to the top surface of the pile stabilizing auxiliary platform.

[0033] Furthermore, a tilt sensor is installed on each pillar of the pile stabilizing auxiliary platform to detect the tilt degree of the pile stabilizing auxiliary platform after the pile stabilizing auxiliary platform is placed.

[0034] Furthermore, the tilt sensor is an inclination sensor, which is used to monitor and feedback the pitch angle and roll angle of the pile stabilization auxiliary platform in real time. The inclination sensor signal is connected to an alarm. When any one of the monitored pitch angle and roll angle of the pile stabilization auxiliary platform exceeds 3°, the alarm is used to trigger at least one of a sound alarm and a light alarm.

[0035] Beneficial effects:

[0036] It can be seen from the above technical solutions that the present invention provides a method for positioning a pile stabilization auxiliary platform. By installing multiple position sensors, calculating and converting the relationship between the lifting coordinates and the construction coordinates, the positioning and placement of the pile stabilization auxiliary platform are accurately controlled to ensure the accurate placement of the pile stabilization auxiliary platform. By adopting the coordinate conversion between the UVW hull coordinate system and the engineering coordinate system, combined with the GNSS positioning device with the internal differential function, the position and level of the platform are monitored and adjusted in real time, thereby overcoming the positioning error and inclination control problems existing in the traditional method. By installing multiple sensors and inclination sensors, combined with the real-time feedback and alarm system, the stability and safety of the platform are further improved. Through the coordinate transformation method and multi-point measurement technology, the accuracy of the positioning of the pile stabilization auxiliary platform can be effectively improved, human errors can be reduced, and the levelness and stability of the platform can be ensured, thereby improving the efficiency and safety of offshore engineering construction, and realizing high-precision positioning, level adjustment and inclination monitoring of the pile stabilization auxiliary platform in a complex offshore environment, thereby improving the construction accuracy, efficiency and safety, and having a wide range of application prospects.

[0037] It should be appreciated that all combinations of the foregoing concepts, as well as additional concepts described in greater detail below, may be considered to be part of the inventive subject matter of the present disclosure, provided such concepts are not mutually inconsistent.

[0038] The foregoing and other aspects, embodiments and features of the present invention can be more fully understood from the following description in conjunction with the accompanying drawings. Other additional aspects of the present invention, such as the features and / or beneficial effects of the exemplary embodiments, will be apparent from the following description or learned from the practice of the specific embodiments according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are not drawn to scale according to actual reference objects. In the accompanying drawings, each identical or nearly identical component shown in various figures may be represented by the same reference numeral. For the sake of clarity, not every component is labeled in each figure. Now, embodiments of various aspects of the present invention will be described by way of example and with reference to the accompanying drawings, in which:

[0040] Figure 1 This is a flow chart of a method for positioning a pile stabilization auxiliary platform in an embodiment of the present application.

[0041] Figure 2 This is a flow chart of calculating the lifting construction coordinates of a pile stabilization auxiliary platform positioning method in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meaning understood by people with general skills in the field to which the present invention belongs.

[0043] The words "first", "second" and similar terms used in the patent specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular form "a" or "an" shall not be construed as "a" or "an";

[0044] The words “a”, “an”, “the” and the like do not denote a limitation of quantity, but rather denote the presence of at least one.

[0045] The words "include" or "comprises" and the like mean that the elements or objects appearing before "includes" or "comprises" include the features, wholes, steps, operations, elements and / or components listed after "includes" or "comprises", and do not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0046] In the prior art, since the shaking and fluctuation of the floating crane itself affect the positioning accuracy and levelness of the pile stabilizing auxiliary platform, the pile stabilizing auxiliary platform is difficult to meet the construction accuracy and safety requirements.

[0047] In view of this, an embodiment of the present invention provides a method for positioning a pile-stabilizing auxiliary platform, referring to Figure 1 , including the following steps:

[0048] S1. Install the positioning device:

[0049] A first position sensor is installed on the floating crane, and the direction in which the main antenna of the first position sensor points to the auxiliary antenna is the same as the direction in which the stern of the floating crane points to the bow; a level meter is installed on the top surface of the pile stabilization auxiliary platform on the floating crane.

[0050] By installing the first position sensor and the level meter on the pile stabilization auxiliary platform on the floating crane, accurate positioning of the transfer and placement of the pile stabilization auxiliary platform is achieved. The direction of the main antenna and the auxiliary antenna of the first position sensor is set to be consistent with the direction from the stern to the bow. The real-time coordinates of the main antenna and the auxiliary antenna in different coordinate systems and the direction vectors of the main antenna and the auxiliary antenna are used to improve the positioning accuracy of the floating crane. The level meter is installed on the top surface of the pile stabilization auxiliary platform to detect its horizontality after the pile stabilization auxiliary platform is placed to ensure the correct placement of the platform.

[0051] S2. Calculate the lifting construction coordinates:

[0052] The lifting coordinates of the floating crane are measured by the first position sensor, and the construction coordinates are obtained by converting the lifting coordinates.

[0053] By converting the coordinate system of the floating crane with the construction coordinate system, the exact position of the pile stabilization auxiliary platform during construction can be accurately calculated, solving the problem of inaccurate conversion between different coordinate systems in traditional methods.

[0054] S3, Lifting Pile Stabilization Auxiliary Platform:

[0055] The pile stabilization auxiliary platform is moved by slings until the construction coordinates coincide with the coordinates of the preset points of the pile stabilization auxiliary platform. The coordinates of the preset points of the pile stabilization auxiliary platform are the coordinates under the engineering coordinate system.

[0056] The coordinates of the preset points of the pile stabilization auxiliary platform are points set in advance in the engineering coordinate system according to engineering design and needs, and the points will not change after being set.

[0057] S4. Placement of auxiliary platform for pile stabilization:

[0058] When the construction coordinates coincide with the coordinates of the preset points of the pile stabilization auxiliary platform, the pile stabilization auxiliary platform is lowered so that its bottom is placed on the bottom of the water and its top is above the water surface; the levelness of the pile stabilization auxiliary platform is adjusted according to the spirit level.

[0059] In some embodiments, the lifting construction coordinates are calculated by referring to Figure 2 ,include:

[0060] A UVW hull coordinate system is established with the center of the deck of the floating crane as the origin, and the bow direction of the floating crane is defined as forward, where the U axis points from the stern to the bow, the V axis points from the left side of the ship to the right side of the ship, and the W axis is perpendicular to the UV plane and passes through the intersection of the U axis and the V axis and points to the sky;

[0061] According to the UVW hull coordinate system, the lifting coordinates and the coordinates of the main antenna and the auxiliary antenna in the UVW hull coordinate system are obtained. The coordinates of the main antenna and the auxiliary antenna in the UVW hull coordinate system and the lifting coordinates are WGS84 coordinates;

[0062] According to the engineering coordinate system, the coordinates of the main antenna and the auxiliary antenna in the engineering coordinate system are obtained;

[0063] According to the coordinates of the main antenna and the auxiliary antenna in the UVW hull coordinate system, the first relative direction vector of the main antenna and the auxiliary antenna in the UVW hull coordinate system is calculated;

[0064] Calculate the second relative direction vector of the main antenna and the auxiliary antenna in the engineering coordinate system according to the coordinates of the main antenna and the auxiliary antenna in the engineering coordinate system;

[0065] According to the coordinates of the main antenna in the UVW hull coordinate system and the coordinates of the main antenna in the engineering coordinate system, calculate the displacement T of the main antenna from the hull coordinate system to the construction coordinate system;

[0066] Normalizing the first relative direction vector and the second relative direction vector to obtain a first unit vector and a second unit vector respectively;

[0067] According to the first unit vector and the second unit vector, the rotation matrix R is obtained by Rodriguez's formula;

[0068] According to the displacement T and the rotation matrix R, the construction coordinates are obtained through the coordinate transformation formula.

[0069] The rotation matrix R is a 3×3 matrix. According to the rotation matrix R and the points in the hull coordinate system and the construction coordinate system, the azimuth, pitch angle and roll angle between the hull coordinate system and the construction coordinate system can be inferred, thereby obtaining the rotation angle of each axis between the hull coordinate system and the construction coordinate system, and then according to the azimuth, pitch angle and roll angle, the angle transformation between the hull coordinate system and the construction coordinate system is realized.

[0070] By establishing a UVW hull coordinate system on the floating crane, the relative directions of these positions and the lifting coordinates are calculated based on the coordinate system of the hull and the positions of the main antenna and auxiliary antenna in the UVW coordinate system. By using the Rodrigues formula and the coordinate transformation formula, the precise coordinates in the construction coordinate system can be calculated. The coordinate transformation process involves the transformation between different coordinate systems and the normalization of the relative direction vector, thereby ensuring high-precision docking in different coordinate systems. Through precise coordinate transformation steps, the precise docking of the lifting coordinates and the construction coordinates is guaranteed, the influence of the conversion error between different coordinate systems is eliminated, and the high-precision positioning of the pile stabilization auxiliary platform is ensured. By adopting the coordinate transformation between the UVW hull coordinate system, the WGS84 coordinate system and the engineering coordinate system, the accuracy and adaptability are ensured, which can be applied to positioning in complex environments such as offshore floating cranes.

[0071] In some embodiments, the coordinate transformation formula is:

[0072] P 施工 =R·P 船体 +T;

[0073] Among them, P 施工 is the construction coordinate,

[0074] P 船体 is the lifting coordinate.

[0075] In some embodiments, three second position sensors are also installed on the top surface of the pile stabilization auxiliary platform. The top surface of the pile stabilization auxiliary platform is a rectangle. The three second position sensors are arranged at three right angles of the rectangle or on the sides of the rectangle to form an equilateral triangle.

[0076] In order to ensure the positioning accuracy, the three second position sensors can be arranged in the form of an equilateral triangle. Through such a layout, the geometric accuracy of positioning can be maximized, so that the positioning error of the platform in all directions is uniform. The pile stabilization auxiliary platform usually has a rectangular structure, so the equipment can also be arranged at the diagonal position of the platform. Arranging it at the end point of the diagonal can obtain a better spatial distribution. To ensure the consistency of the data, the three second position sensors should be installed at the same height of the platform to avoid deviations in positioning calculations due to errors at different heights. The three second position sensors can also be fixed on the bracket of the platform or on the structure above the platform. The installation position of the three second position sensors should avoid the structural parts that may cause obstructions to ensure the smooth reception of satellite signals. The three second position sensors should try to avoid installing the equipment in a position that is obstructed by other objects to ensure that the equipment can receive sufficient satellite signals. The pile stabilization auxiliary platform may tilt to a certain extent during the lifting and placement process. Therefore, when installing the equipment, the possible movement trajectory and posture changes of the platform should be considered to avoid drastic deviations of the equipment as much as possible.

[0077] In some embodiments, the first position sensor and the second position sensor are GNSS positioning devices with an inner differential function.

[0078] The first position sensor and the second position sensor use GNSS positioning equipment with inner differential function, which can monitor the precise position of the pile stabilization auxiliary platform in real time. The GNSS positioning equipment can provide high-precision position information and improve the positioning accuracy through inner differential technology. The inner differential function can effectively improve the anti-interference ability of the GNSS positioning equipment in the offshore environment, thereby enhancing the reliability of the positioning of the pile stabilization auxiliary platform. By selecting a GNSS positioning equipment with inner differential function, the positioning accuracy and stability are improved, and the common positioning error problem in the offshore environment is overcome.

[0079] In some embodiments, placing a pile stabilization auxiliary platform includes:

[0080] The center coordinates of the three pile stabilization auxiliary platforms in the engineering coordinate system are obtained according to the three second position sensors, and the values ​​of the center coordinates obtained by the three second position sensors on the axis pointing to the sky are defined as A, B, and C respectively. The value of the coordinate of the preset point of the pile stabilization auxiliary platform on the axis pointing to the sky is D. When |AD|<1.5, |BD|<1.5, |CD|<1.5, release the sling; when the result of any one of |AD|, |BD|, |CD| is not less than 1.5, adjust the levelness of the pile stabilization auxiliary platform according to the inclination measured by the level.

[0081] The center coordinates of the pile stabilization auxiliary platform in the engineering coordinate system are obtained through the second position sensor, and adjustments are made by comparing the inclination information fed back by the sensor. When the deviation of the platform is greater than the set threshold, a spirit level is used for fine adjustment to ensure the levelness of the platform when it is placed. The value of 1.5 refers to the absolute position deviation value of the center of the pile stabilization auxiliary platform of 1.5, and its unit is meter. The numerical units of A, B, C, and D are also meters. Through the feedback of inclination information, the precise adjustment of the pile stabilization auxiliary platform is achieved, the error caused by the inclination is reduced, and the stability of the platform is improved. Dynamic adjustment is performed through real-time data fed back by multiple sensors, which solves the problem that the platform inclination is difficult to monitor and adjust in real time in traditional methods, and ensures the placement accuracy of the pile stabilization auxiliary platform.

[0082] In some embodiments, adjusting the levelness of the pile stabilizing auxiliary platform according to the inclination measured by the level meter includes: welding a flat plate of the same material to the top surface of the pile stabilizing auxiliary platform.

[0083] The welded plate can be finely adjusted after the platform is placed to ensure that the levelness of the platform meets the predetermined requirements and enhance the stability of the pile-stabilizing auxiliary platform. Compared with the traditional adjustment method, the use of the welded plate to adjust the levelness of the platform has a simpler and more stable adjustment effect.

[0084] In some embodiments, a tilt sensor is further installed on each pillar of the pile stabilizing auxiliary platform to detect the tilt degree of the pile stabilizing auxiliary platform after the pile stabilizing auxiliary platform is placed.

[0085] In some embodiments, the tilt sensor is an inclination sensor, which is used to monitor and feedback the pitch angle and roll angle of the pile stabilization auxiliary platform in real time. The inclination sensor signal is connected to an alarm. When any of the monitored pitch angle and roll angle of the pile stabilization auxiliary platform exceeds 3°, the alarm is used to trigger at least one of a sound alarm and a light alarm.

[0086] The system combining tilt sensors and alarms improves the monitoring and emergency response capabilities of platform tilt conditions and enhances the safety and reliability of the system.

[0087] In summary, a method for positioning a pile stabilization auxiliary platform provided by an embodiment of the present invention accurately controls the positioning and placement of the pile stabilization auxiliary platform by installing multiple position sensors, calculating and converting the relationship between the lifting coordinates and the construction coordinates, and ensures the accurate placement of the pile stabilization auxiliary platform. By adopting the coordinate conversion between the UVW hull coordinate system and the engineering coordinate system, combined with the GNSS positioning device with the internal differential function, the position and level of the platform are monitored and adjusted in real time, thereby overcoming the positioning error and inclination control problems existing in the traditional method. By installing multiple sensors and inclination sensors, combined with the real-time feedback and alarm system, the stability and safety of the platform are further improved. Through the coordinate transformation method and multi-point measurement technology, the positioning accuracy of the pile stabilization auxiliary platform can be effectively improved, human errors can be reduced, and the levelness and stability of the platform can be ensured, thereby improving the efficiency and safety of offshore engineering construction, and realizing high-precision positioning, level adjustment and inclination monitoring of the pile stabilization auxiliary platform in a complex offshore environment, thereby improving the construction accuracy, efficiency and safety, and having broad application prospects.

[0088] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. A person with ordinary knowledge in the technical field to which the present invention belongs may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the definition of the claims.

Claims

1. A method for positioning a pile stabilization auxiliary platform, characterized in that: The following steps are involved: S1. Install the positioning device: A first position sensor is installed on the floating crane, wherein the direction in which the main antenna of the first position sensor points to the auxiliary antenna is the same as the direction in which the stern of the floating crane points to the bow; a level meter is installed on the top surface of the pile stabilization auxiliary platform located on the floating crane; S2. Calculate the lifting construction coordinates: The lifting coordinates of the floating crane are measured by the first position sensor, and the construction coordinates are obtained by converting the lifting coordinates; S3, Lifting Pile Stabilization Auxiliary Platform: Move the pile stabilization auxiliary platform by means of a sling until the construction coordinates coincide with the coordinates of a preset point of the pile stabilization auxiliary platform, wherein the coordinates of the preset point of the pile stabilization auxiliary platform are coordinates in an engineering coordinate system; S4. Placement of auxiliary platform for pile stabilization: When the construction coordinates coincide with the coordinates of the preset points of the pile stabilizing auxiliary platform, the pile stabilizing auxiliary platform is lowered so that its bottom is placed on the bottom of the water and its top is above the water surface; and the levelness of the pile stabilizing auxiliary platform is adjusted according to the level meter.

2. A method for positioning a pile stabilization auxiliary platform according to claim 1, characterized in that: The calculation of the lifting construction coordinates includes: A UVW hull coordinate system is established with the center of the deck of the floating crane as the origin, and the bow direction of the floating crane is defined as forward, wherein the U axis points from the stern to the bow, the V axis points from the left side of the ship to the right side of the ship, and the W axis is perpendicular to the UV plane and passes through the intersection of the U axis and the V axis and points to the sky; Obtain the lifting coordinates and the coordinates of the main antenna and the auxiliary antenna in the UVW hull coordinate system according to the UVW hull coordinate system, wherein the coordinates of the main antenna and the auxiliary antenna in the UVW hull coordinate system and the lifting coordinates are WGS84 coordinates; Obtaining coordinates of the main antenna and the auxiliary antenna in the engineering coordinate system according to the engineering coordinate system; Calculating a first relative direction vector of the main antenna and the auxiliary antenna in the UVW hull coordinate system according to the coordinates of the main antenna and the auxiliary antenna in the UVW hull coordinate system; Calculate a second relative direction vector of the main antenna and the auxiliary antenna in the engineering coordinate system according to the coordinates of the main antenna and the auxiliary antenna in the engineering coordinate system; Calculate the displacement T of the main antenna from the hull coordinate system to the construction coordinate system according to the coordinates of the main antenna in the UVW hull coordinate system and the coordinates of the main antenna in the engineering coordinate system; Normalizing the first relative direction vector and the second relative direction vector to obtain a first unit vector and a second unit vector respectively; Obtaining a rotation matrix R by using the Rodrigues formula according to the first unit vector and the second unit vector; According to the displacement T and the rotation matrix R, the construction coordinates are obtained through a coordinate transformation formula.

3. A method for positioning a pile stabilization auxiliary platform according to claim 2, characterized in that: The coordinate transformation formula is: P 施工 =R·P 船体 +T; Among them, P 施工 is the construction coordinate, P 船体 is the lifting coordinate.

4. A method for positioning a pile stabilization auxiliary platform according to claim 2, characterized in that: Three second position sensors are also installed on the top surface of the pile stabilization auxiliary platform. The top surface of the pile stabilization auxiliary platform is a rectangle. The three second position sensors are arranged at three right angles of the rectangle or on the sides of the rectangle to form an equilateral triangle.

5. A method for positioning a pile stabilization auxiliary platform according to claim 4, characterized in that: The first position sensor and the second position sensor are GNSS positioning devices with an inner differential function.

6. A method for positioning a pile stabilization auxiliary platform according to claim 4, characterized in that: The auxiliary platform for placing stable piles comprises: The center coordinates of the three pile stabilization auxiliary platforms in the engineering coordinate system are obtained according to the three second position sensors, and the values ​​of the center coordinates obtained by the three second position sensors on the axis pointing to the sky are defined as A, B, and C, respectively. The value of the coordinate of the preset point of the pile stabilization auxiliary platform on the axis pointing to the sky is defined as D. When |AD|<1.5, |BD|<1.5, and |CD|<1.5, the sling is released; when the result of any one of |AD|, |BD|, and |CD| is not less than 1.5, the levelness of the pile stabilization auxiliary platform is adjusted according to the inclination measured by the level.

7. A method for positioning a pile stabilization auxiliary platform according to claim 6, characterized in that: The step of adjusting the levelness of the pile stabilizing auxiliary platform according to the inclination measured by the level meter comprises: welding a flat plate of the same material to the top surface of the pile stabilizing auxiliary platform.

8. A method for positioning a pile stabilization auxiliary platform according to claim 1, characterized in that: A tilt sensor is also installed on each pillar of the pile stabilizing auxiliary platform to detect the tilt degree of the pile stabilizing auxiliary platform after the pile stabilizing auxiliary platform is placed.

9. A method for positioning a pile stabilization auxiliary platform according to claim 8, characterized in that: The tilt sensor is an inclination sensor, which is used to monitor and feedback the pitch angle and roll angle of the pile stabilization auxiliary platform in real time. The inclination sensor signal is connected to an alarm. When any one of the monitored pitch angle and roll angle of the pile stabilization auxiliary platform exceeds 3°, the alarm is used to trigger at least one of a sound alarm and a light alarm.

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