Intelligent positioning construction method for water pile foundation

Abstract

The invention belongs to the technical field of engineering construction, and discloses a water pile foundation intelligent positioning construction method which sequentially comprises the construction steps of equipment preparation, data acquisition, data fusion, positioning adjustment and construction monitoring. High-precision GNSS and IMU positioning equipment are adopted, a Kalman filtering algorithm is combined, and intelligent and accurate positioning and real-time adjustment of the water pile foundation are achieved. According to the method, the positioning precision is improved, the construction efficiency is improved, the construction quality is ensured, and the construction safety is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering construction, and provides an intelligent positioning construction method for a water pile foundation that improves positioning accuracy, improves construction efficiency, ensures construction quality, and improves construction safety. Background Art

[0002] Water pile foundation refers to the foundation piles built in water environments (such as rivers, lakes, oceans, etc.) to support structures such as buildings, bridges, and docks. The positioning accuracy of the water pile foundation is directly related to the safety and stability of the subsequent structure.

[0003] Traditional pile foundation positioning methods mostly rely on manual measurement and traditional equipment, which have defects such as low accuracy, low efficiency, and susceptibility to external factors. For example, environmental factors such as water flow and wind speed will seriously affect the positioning accuracy of pile foundations, and manual measurement is difficult to respond to these changes in real time and accurately. Therefore, a new type of intelligent positioning construction method is urgently needed to improve positioning accuracy and construction efficiency, and ensure construction quality and safety. Summary of the invention

[0004] In view of this, an object of the present invention is to provide an intelligent positioning construction method for water pile foundations that improves positioning accuracy, improves construction efficiency, ensures construction quality and improves construction safety.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The present invention provides an intelligent positioning construction method for a pile foundation on water, which comprises the following steps:

[0007] S1. Equipment preparation,

[0008] Install high-precision Global Navigation Satellite System (GNSS) and Inertial Measurement Unit (IMU) positioning equipment at the construction site;

[0009] S2. Data collection,

[0010] Acquire real-time satellite positioning data through GNSS, and use IMU to monitor the dynamic information of construction equipment;

[0011] S3, data fusion,

[0012] Use Kalman filter algorithm to fuse GNSS data and IMU data to improve positioning accuracy;

[0013] S4, positioning adjustment,

[0014] According to the data analysis results, the entry angle and depth of the pile foundation are adjusted in real time to ensure accurate positioning of the pile foundation;

[0015] S5. Construction monitoring,

[0016] Wireless transmission technology is used to transmit data to the monitoring center in real time for real-time monitoring and adjustment.

[0017] In the above scheme, further: the equipment preparation step includes the following steps,

[0018] 1) Preparation of high-precision global navigation satellite system GNSS equipment,

[0019] Choose a GNSS receiver with high-precision positioning capabilities. It is recommended to use a multi-band receiver that can effectively receive signals from multiple satellites such as GPS, GLONASS, BeiDou and Galileo. Ensure that the GNSS receiver is installed in a high place with no obstructions to maximize the reception quality of satellite signals.

[0020] 2) Inertial measurement unit IMU preparation,

[0021] Prepare high-precision IMU equipment that can monitor the acceleration and angular velocity of construction equipment in real time to provide dynamic position information; synchronize the IMU equipment with the GNSS system, and associate the position and velocity information obtained by GNSS with the acceleration, angular velocity and other data measured by the IMU for subsequent data fusion processing;

[0022] 3) Preparation of data processing terminal equipment,

[0023] Equipped with a computer or mobile device with signal reception and processing capabilities to receive GNSS and IMU data;

[0024] The terminal device needs to be installed with professional software, mainly including Leica IPAS Pro software, which is the post-processing software of the Leica IPAS system. It provides a powerful and reliable positioning and orientation post-processing solution through the analysis and processing of IMU and GPS data. It has a simple window user interface and built-in Waypoint GrafNav / GrafNet GPS differential processing software for data processing, Kalman filter algorithm implementation and real-time display of positioning results;

[0025] 4) Preparation of wireless transmission equipment,

[0026] Prepare wireless data transmission equipment to transmit positioning data to the monitoring center or cloud platform in real time; configure necessary network protection measures to ensure the security of data transmission;

[0027] 5) Preparation of construction equipment,

[0028] Including positioning pile machines and pile drivers, integrated with the intelligent positioning system to ensure that these devices are calibrated and can be accurately operated according to the intelligent positioning solution; layout of the construction site, and marking the specific coordinates of each pile position according to the design drawings;

[0029] 6) Preparation of auxiliary equipment,

[0030] Prepare necessary auxiliary measurement tools, such as depth gauges and meteorological sensors, to provide environmental data for the construction site and ensure the reliability of the implementation of the method; collect relevant information on the water area, such as water flow velocity, wind speed, and surface wave conditions, so as to make dynamic adjustments during the construction process.

[0031] In the above scheme, further: the data collection step includes the following steps:

[0032] 1) GNSS data collection,

[0033] Set up the GNSS receiver, install the high-precision GNSS receiver on the construction equipment, and ensure that its antenna is unobstructed and the position is stable; monitor the satellite signal in real time, start the GNSS receiver, monitor and record the received satellite signal strength, position coordinates, timestamp, positioning accuracy and other data in real time; store the data, store the collected GNSS data in a computer or data processing terminal for subsequent analysis and processing;

[0034] 2) IMU data collection,

[0035] Install IMU, install the inertial measurement unit (IMU) device on the construction equipment to ensure that it can effectively monitor the dynamic movement of the equipment; dynamic data recording, start the IMU, and record the acceleration, angular velocity and attitude information of the equipment in real time during the movement; data time synchronization, ensure that the timestamps of GNSS data and IMU data are synchronized for subsequent data fusion processing;

[0036] 3) Environmental data collection,

[0037] Water depth measurement: use water depth measuring instruments to obtain water depth information at the construction site, which is crucial for adjusting the depth of pile foundation into the water; meteorological data collection: set up meteorological sensors to monitor the wind speed, wind direction, temperature and water flow speed data at the site to provide a reference for dynamic adjustments during the construction process;

[0038] 4) Data integration,

[0039] Data aggregation: GNSS data, IMU data and environmental data are aggregated into a data processing platform through computers to integrate all relevant information; real-time updates ensure that all data can be updated in real time during the data collection process to facilitate subsequent decision support and positioning adjustments.

[0040] In the above scheme, further: the data fusion step includes the following steps:

[0041] 1) Data preprocessing,

[0042] Time synchronization ensures that the timestamps of all sensor data match each other so that data from the same time period can be used for subsequent analysis; denoising processing filters the raw data to remove noise and outliers to improve data quality. Common denoising methods include Kalman filtering and low-pass filtering.

[0043] 2) State estimation,

[0044] Kalman filter algorithm, which combines GNSS and IMU data. This algorithm can effectively process noisy data and estimate the state in a dynamic environment. The prediction step uses IMU data to predict the position and attitude of the device. The update step integrates GNSS correction data to improve the prediction results and adjust the previous state estimate based on the position information provided by GNSS.

[0045] 3) Data fusion model: determine the fusion model, establish the data fusion model, extended Kalman filter EKF or unscented Kalman filter UKF, select the most appropriate algorithm according to actual needs; fusion parameter adjustment: adjust the weight parameters in the fusion model according to the accuracy and reliability of the sensor to optimize the final output positioning result;

[0046] 4) Real-time monitoring and feedback,

[0047] Data aggregation: GNSS data, IMU data and environmental data are aggregated into a data processing platform through computers to integrate all relevant information; real-time updates ensure that all data can be updated in real time during the data collection process to facilitate subsequent decision support and positioning adjustments.

[0048] 5) Result verification,

[0049] Compare with the benchmark data and compare the fused positioning results with the known benchmark data or historical data to verify the accuracy of the fusion algorithm. Visual analysis and use visualization tools to display the positioning results, so that the construction team can intuitively understand the construction status and pile foundation position.

[0050] In the above scheme, further: the positioning adjustment step includes the following steps:

[0051] 1) Real-time monitoring,

[0052] Position data monitoring: by regularly reading the real-time position data of GNSS and IMU every day, monitoring the deviation between the actual position of the equipment and the target position; environmental change detection: obtaining data on water flow, wind speed and other influencing factors in real time, and analyzing their potential impact on the construction process;

[0053] 2) Error analysis,

[0054] Deviation calculation compares the real-time positioning data and the designed position to calculate the deviation value; error source identification, analysis of the source of the error, positioning accuracy, sensor failure, environmental interference;

[0055] 3) Adjust strategy formulation,

[0056] Position adjustment plan: formulate corresponding adjustment strategies based on the error analysis results to determine whether the pile foundation position needs to be recalibrated or adjusted; construction plan optimization: dynamically adjust the construction plan based on environmental factors such as water flow direction and wind speed, such as changing the angle or sequence of pile driving;

[0057] 4) Adjust implementation,

[0058] Equipment adjustment: sending new positioning instructions to construction equipment and tools to guide the equipment to move or recalibrate; real-time feedback: updating the equipment's position in real time through the data fusion system to ensure that the adjusted positioning data accurately reflects the changes in the equipment's position;

[0059] 5) Effect verification,

[0060] Continuous monitoring: Continue to monitor the position of the pile foundation after adjustment to verify the effectiveness of the adjustment; if deviations continue to occur, subsequent adjustments may need to be made again based on preset standards and monitoring results;

[0061] 6) Documentation,

[0062] Record the adjustment process, record the process and results of each positioning adjustment, and form a detailed document, which includes the time, reason, and position information after adjustment, to provide parameter basis for subsequent analysis and evaluation.

[0063] In the above scheme, further: the construction monitoring step includes the following steps:

[0064] 1) Establishment of monitoring system,

[0065] Hardware facilities: configure appropriate monitoring equipment, including GNSS receivers, IMU sensors, surveillance cameras, and environmental sensors to ensure comprehensive monitoring of the construction environment and equipment status; software platform: develop or use construction management software to integrate various data sources to achieve real-time data collection, storage, and analysis;

[0066] 2) Real-time data collection,

[0067] Position data monitoring: monitor the position, posture and motion status of the pile foundation through GNSS and IMU data to ensure that the pile foundation is constructed according to the design parameters; environmental data monitoring: monitor the environmental conditions on site in real time, such as water flow velocity, wind speed, temperature, humidity, etc., to evaluate their impact on construction;

[0068] 3) Construction progress monitoring,

[0069] Progress tracking, recording every step of the construction, including the time, depth and position of the pile foundation, to ensure that the construction progress is consistent with the plan; data analysis, comparing the actual progress with the planned progress, timely adjusting resources and manpower to ensure the project is completed on time;

[0070] 4) Quality control,

[0071] Construction quality inspection: regularly inspect the quality of pile foundations, including the quality of materials and the conformity of construction methods, to ensure that the pile foundations meet the design standards; data recording and analysis: record relevant quality data, formulate improvement measures based on the analysis results, and improve construction quality;

[0072] 5) Safety monitoring,

[0073] Safety risk assessment: assess the safety risks at the construction site to ensure that safety operating procedures are followed during the construction process; emergency warning system: establish an early warning mechanism for the monitoring system to promptly detect and notify potential safety hazards, such as construction risks caused by environmental changes;

[0074] 6) Real-time feedback and adjustment,

[0075] Control instructions: issue adjustment instructions in a timely manner based on monitoring data to guide the construction team to make necessary adjustments or improvement measures; information sharing ensures that on-site construction personnel, management personnel, and related teams can receive monitoring results and adjustment instructions in real time to improve overall construction efficiency;

[0076] 7) Documentation and reporting,

[0077] The construction log records every data in the construction process in detail, including location, depth, environmental conditions, and quality inspections, forming a complete construction log; regular reports generate construction monitoring reports regularly to summarize and provide feedback on construction progress, quality, and safety conditions.

[0078] The beneficial effects of the present invention compared with the prior art are:

[0079] Significantly improved positioning accuracy: The use of high-precision GNSS and IMU positioning equipment and advanced data fusion algorithms can achieve more accurate pile foundation positioning and reduce construction errors;

[0080] Real-time adjustment and optimization, real-time monitoring and analysis of data, can timely adjust the entry angle and depth of the pile foundation according to environmental changes and errors to ensure construction quality and efficiency;

[0081] Comprehensive and reliable construction monitoring: Establish a complete construction monitoring system to conduct all-round monitoring of construction progress, quality and safety, identify problems in a timely manner and take measures to reduce construction risks;

[0082] Adapt to complex environments and effectively deal with complex water environmental factors such as water flow and wind speed to ensure smooth construction under various conditions;

[0083] Improve construction efficiency. Accurate positioning and real-time adjustment reduce the possibility of duplication and rework, speed up construction progress and shorten construction period.

[0084] Guarantee construction quality, accurate positioning and strict quality monitoring help ensure that the construction quality of the pile foundation meets the design requirements and improve the reliability of the project;

[0085] Data recording and analysis, detailed documentation and data analysis provide valuable reference for subsequent engineering evaluation, improvement and similar projects;

[0086] Improve safety. Safety monitoring and emergency warning systems can ensure the safety of construction personnel and equipment and reduce the probability of accidents.

[0087] Optimal resource allocation, based on real-time progress and quality monitoring, can more reasonably allocate human, material and other resources to avoid waste;

[0088] Promoting technological innovation, the application of this intelligent positioning construction method has promoted the development of water pile foundation construction technology and provided new ideas and solutions for the industry. DETAILED DESCRIPTION

[0089] The present invention will be further described below in conjunction with specific implementation modes.

[0090] The present invention provides an intelligent positioning construction method for a pile foundation on water, which comprises the following steps:

[0091] S1. Equipment preparation,

[0092] Install high-precision Global Navigation Satellite System (GNSS) and Inertial Measurement Unit (IMU) positioning equipment at the construction site;

[0093] S2. Data collection,

[0094] Acquire real-time satellite positioning data through GNSS, and use IMU to monitor the dynamic information of construction equipment;

[0095] S3, data fusion,

[0096] Use Kalman filter algorithm to fuse GNSS data and IMU data to improve positioning accuracy;

[0097] S4, positioning adjustment,

[0098] According to the data analysis results, the entry angle and depth of the pile foundation are adjusted in real time to ensure accurate positioning of the pile foundation;

[0099] S5. Construction monitoring,

[0100] Wireless transmission technology is used to transmit data to the monitoring center in real time for real-time monitoring and adjustment.

[0101] In order to improve the positioning accuracy, in the above embodiment, preferably: the equipment preparation step includes the following steps:

[0102] 1) Preparation of high-precision global navigation satellite system GNSS equipment,

[0103] Choose a GNSS receiver with high-precision positioning capabilities. It is recommended to use a multi-band receiver that can effectively receive signals from multiple satellites such as GPS, GLONASS, BeiDou and Galileo. Ensure that the GNSS receiver is installed in a high place with no obstructions to maximize the reception quality of satellite signals.

[0104] 2) Inertial measurement unit IMU preparation,

[0105] Prepare high-precision IMU equipment that can monitor the acceleration and angular velocity of construction equipment in real time to provide dynamic position information; synchronize the IMU equipment with the GNSS system, and associate the position and velocity information obtained by GNSS with the acceleration, angular velocity and other data measured by the IMU for subsequent data fusion processing;

[0106] 3) Preparation of data processing terminal equipment,

[0107] Equipped with a computer or mobile device with signal reception and processing capabilities to receive GNSS and IMU data;

[0108] The terminal device needs to be installed with professional software, mainly including Leica IPAS Pro software, which is the post-processing software of the Leica IPAS system. It provides a powerful and reliable positioning and orientation post-processing solution through the analysis and processing of IMU and GPS data. It has a simple window user interface and built-in Waypoint GrafNav / GrafNet GPS differential processing software for data processing, Kalman filter algorithm implementation and real-time display of positioning results;

[0109] 4) Preparation of wireless transmission equipment,

[0110] Prepare wireless data transmission equipment to transmit positioning data to the monitoring center or cloud platform in real time; configure necessary network protection measures to ensure the security of data transmission;

[0111] 5) Preparation of construction equipment,

[0112] Including positioning pile machines and pile drivers, integrated with the intelligent positioning system to ensure that these devices are calibrated and can be accurately operated according to the intelligent positioning solution; layout of the construction site, and marking the specific coordinates of each pile position according to the design drawings;

[0113] 6) Preparation of auxiliary equipment,

[0114] Prepare necessary auxiliary measurement tools, such as depth gauges and meteorological sensors, to provide environmental data for the construction site and ensure the reliability of the implementation of the method; collect relevant information on the water area, such as water flow velocity, wind speed, and surface wave conditions, so as to make dynamic adjustments during the construction process.

[0115] To ensure comprehensive and integrated data collection, in the above embodiment, preferably: the data collection step includes the following steps:

[0116] 1) GNSS data collection,

[0117] Set up the GNSS receiver, install the high-precision GNSS receiver on the construction equipment, and ensure that its antenna is unobstructed and the position is stable; monitor the satellite signal in real time, start the GNSS receiver, monitor and record the received satellite signal strength, position coordinates, timestamp, positioning accuracy and other data in real time; store the data, store the collected GNSS data in a computer or data processing terminal for subsequent analysis and processing;

[0118] 2) IMU data collection,

[0119] Install IMU, install the inertial measurement unit (IMU) device on the construction equipment to ensure that it can effectively monitor the dynamic movement of the equipment; dynamic data recording, start the IMU, and record the acceleration, angular velocity and attitude information of the equipment in real time during the movement; data time synchronization, ensure that the timestamps of GNSS data and IMU data are synchronized for subsequent data fusion processing;

[0120] 3) Environmental data collection,

[0121] Water depth measurement: use water depth measuring instruments to obtain water depth information at the construction site, which is crucial for adjusting the depth of pile foundation into the water; meteorological data collection: set up meteorological sensors to monitor the wind speed, wind direction, temperature and water flow speed data at the site to provide a reference for dynamic adjustments during the construction process;

[0122] 4) Data integration,

[0123] Data aggregation: GNSS data, IMU data and environmental data are aggregated into a data processing platform through computers to integrate all relevant information; real-time updates ensure that all data can be updated in real time during the data collection process to facilitate subsequent decision support and positioning adjustments.

[0124] In order to integrate the data, in the above embodiment, preferably: the data fusion step includes the following steps:

[0125] 1) Data preprocessing,

[0126] Time synchronization ensures that the timestamps of all sensor data match each other so that data from the same time period can be used for subsequent analysis; denoising processing filters the raw data to remove noise and outliers to improve data quality. Common denoising methods include Kalman filtering and low-pass filtering.

[0127] 2) State estimation,

[0128] Kalman filter algorithm, which combines GNSS and IMU data. This algorithm can effectively process noisy data and estimate the state in a dynamic environment. The prediction step uses IMU data to predict the position and attitude of the device. The update step integrates GNSS correction data to improve the prediction results and adjust the previous state estimate based on the position information provided by GNSS.

[0129] 3) Data fusion model: determine the fusion model, establish the data fusion model, extended Kalman filter EKF or unscented Kalman filter UKF, select the most appropriate algorithm according to actual needs; fusion parameter adjustment: adjust the weight parameters in the fusion model according to the accuracy and reliability of the sensor to optimize the final output positioning result;

[0130] 4) Real-time monitoring and feedback,

[0131] Real-time data update: the data fusion process should be carried out in real time to ensure that the location information of the equipment is updated at any time and fed back to the construction control system; positioning accuracy monitoring: continuously monitor the positioning accuracy and reliability after fusion, and adjust the use of sensors and fusion methods in time when the positioning error exceeds the preset threshold; sensors mainly include GNSS receivers, inclination sensors, depth sensors, current sensors, meteorological sensors, and water depth measuring instruments;

[0132] 5) Result verification,

[0133] Compare with the benchmark data and compare the fused positioning results with the known benchmark data or historical data to verify the accuracy of the fusion algorithm. Visual analysis and use visualization tools to display the positioning results, so that the construction team can intuitively understand the construction status and pile foundation position.

[0134] To ensure construction quality and efficiency, in the above embodiment, preferably: the positioning and adjustment step includes the following steps:

[0135] 1) Real-time monitoring,

[0136] Position data monitoring: by regularly reading the real-time position data of GNSS and IMU every day, monitoring the deviation between the actual position of the equipment and the target position; environmental change detection: obtaining data on water flow, wind speed and other influencing factors in real time, and analyzing their potential impact on the construction process;

[0137] 2) Error analysis,

[0138] Deviation calculation compares the real-time positioning data and the designed position to calculate the deviation value; error source identification, analysis of the source of the error, positioning accuracy, sensor failure, environmental interference;

[0139] 3) Adjust strategy formulation,

[0140] Position adjustment plan: formulate corresponding adjustment strategies based on the error analysis results to determine whether the pile foundation position needs to be recalibrated or adjusted; construction plan optimization: dynamically adjust the construction plan based on environmental factors such as water flow direction and wind speed, such as changing the angle or sequence of pile driving;

[0141] 4) Adjust implementation,

[0142] Equipment adjustment: sending new positioning instructions to construction equipment and tools to guide the equipment to move or recalibrate; real-time feedback: updating the equipment's position in real time through the data fusion system to ensure that the adjusted positioning data accurately reflects the changes in the equipment's position;

[0143] 5) Effect verification,

[0144] Continuous monitoring: Continue to monitor the position of the pile foundation after adjustment to verify the effectiveness of the adjustment; if deviations continue to occur, subsequent adjustments may need to be made again based on preset standards and monitoring results;

[0145] 6) Documentation,

[0146] Record the adjustment process, record the process and results of each positioning adjustment, and form a detailed document, which includes the time, reason, and position information after adjustment, to provide parameter basis for subsequent analysis and evaluation.

[0147] In order to further improve the construction quality and efficiency, in the above embodiment, preferably: the construction monitoring step includes the following steps:

[0148] 1) Establishment of monitoring system,

[0149] Hardware facilities: configure appropriate monitoring equipment, including GNSS receivers, IMU sensors, surveillance cameras, and environmental sensors to ensure comprehensive monitoring of the construction environment and equipment status; software platform: develop or use construction management software to integrate various data sources to achieve real-time data collection, storage, and analysis;

[0150] 2) Real-time data collection,

[0151] Position data monitoring: monitor the position, posture and motion status of the pile foundation through GNSS and IMU data to ensure that the pile foundation is constructed according to the design parameters; environmental data monitoring: monitor the environmental conditions on site in real time, such as water flow velocity, wind speed, temperature, humidity, etc., to evaluate their impact on construction;

[0152] 3) Construction progress monitoring,

[0153] Progress tracking, recording every step of the construction, including the time, depth and position of the pile foundation, to ensure that the construction progress is consistent with the plan; data analysis, comparing the actual progress with the planned progress, timely adjusting resources and manpower to ensure the project is completed on time;

[0154] 4) Quality control,

[0155] Construction quality inspection: regularly inspect the quality of pile foundations, including the quality of materials and the conformity of construction methods, to ensure that the pile foundations meet the design standards; data recording and analysis: record relevant quality data, formulate improvement measures based on the analysis results, and improve construction quality;

[0156] 5) Safety monitoring,

[0157] Safety risk assessment: assess the safety risks at the construction site to ensure that safety operating procedures are followed during the construction process; emergency warning system: establish an early warning mechanism for the monitoring system to promptly detect and notify potential safety hazards, such as construction risks caused by environmental changes;

[0158] 6) Real-time feedback and adjustment,

[0159] Control instructions: issue adjustment instructions in a timely manner based on monitoring data to guide the construction team to make necessary adjustments or improvement measures; information sharing ensures that on-site construction personnel, management personnel, and related teams can receive monitoring results and adjustment instructions in real time to improve overall construction efficiency;

[0160] 7) Documentation and reporting,

[0161] The construction log records every data in the construction process in detail, including location, depth, environmental conditions, and quality inspections, forming a complete construction log; regular reports generate construction monitoring reports regularly to summarize and provide feedback on construction progress, quality, and safety conditions.

[0162] The construction equipment in all the above embodiments are conventional market products, and the construction technology, data collection, data fusion and construction monitoring in all the above embodiments are existing conventional technologies. The invention of the present invention is to use high-precision GNSS and IMU positioning equipment, combined with Kalman filter algorithm, to achieve intelligent and precise positioning and real-time adjustment of the pile foundation on water.

[0163] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. An intelligent positioning construction method for a pile foundation on water, characterized in that: The following steps are involved: S1. Equipment preparation, Install high-precision Global Navigation Satellite System (GNSS) and Inertial Measurement Unit (IMU) positioning equipment at the construction site; S2. Data collection, Acquire real-time satellite positioning data through GNSS, and use IMU to monitor the dynamic information of construction equipment; S3, data fusion, Use Kalman filter algorithm to fuse GNSS data and IMU data to improve positioning accuracy; S4, positioning adjustment, According to the data analysis results, the entry angle and depth of the pile foundation are adjusted in real time to ensure accurate positioning of the pile foundation; S5. Construction monitoring, Wireless transmission technology is used to transmit data to the monitoring center in real time for real-time monitoring and adjustment.

2. The method for intelligent positioning of a pile foundation on water according to claim 1, characterized in that: The equipment preparation step comprises the following steps: 1) Preparation of high-precision global navigation satellite system GNSS equipment, Choose a GNSS receiver with high-precision positioning capabilities. It is recommended to use a multi-band receiver that can effectively receive signals from multiple satellites such as GPS, GLONASS, Beidou and Galileo; Ensure that the GNSS receiver is installed at a high location with no obstructions to maximize the quality of satellite signal reception; 2) Inertial measurement unit IMU preparation, Prepare high-precision IMU equipment that can monitor the acceleration and angular velocity of construction equipment in real time to provide dynamic position information; synchronize the IMU equipment with the GNSS system, and associate the position and velocity information obtained by GNSS with the acceleration, angular velocity and other data measured by the IMU for subsequent data fusion processing; 3) Preparation of data processing terminal equipment, Equipped with a computer or mobile device with signal reception and processing capabilities to receive GNSS and IMU data; The terminal device needs to be installed with professional software, mainly including Leica IPAS Pro software, which is the post-processing software of the Leica IPAS system. It provides a powerful and reliable positioning and orientation post-processing solution through the analysis and processing of IMU and GPS data. It has a simple window user interface and built-in Waypoint GrafNav / GrafNet GPS differential processing software for data processing, Kalman filter algorithm implementation and real-time display of positioning results; 4) Preparation of wireless transmission equipment, Prepare wireless data transmission equipment to transmit positioning data to the monitoring center or cloud platform in real time; configure necessary network protection measures to ensure the security of data transmission; 5) Preparation of construction equipment, Including positioning pile machines and pile drivers, integrated with the intelligent positioning system to ensure that these devices are calibrated and can be accurately operated according to the intelligent positioning solution; layout of the construction site, and marking the specific coordinates of each pile position according to the design drawings; 6) Preparation of auxiliary equipment, Prepare necessary auxiliary measurement tools, such as depth gauges and meteorological sensors, to provide environmental data for the construction site and ensure the reliability of the implementation of the method; collect relevant information on the water area, such as water flow velocity, wind speed and surface wave conditions, so as to make dynamic adjustments during the construction process. Specifically, use depth gauges, meteorological sensors and Doppler current meters to measure water flow velocity.

3. The intelligent positioning construction method for water pile foundation according to claim 1 is characterized in that: The data collection step includes the following steps: 1) GNSS data collection, Set up the GNSS receiver, install the high-precision GNSS receiver on the construction equipment, and ensure that its antenna is unobstructed and the position is stable; monitor the satellite signal in real time, start the GNSS receiver, monitor and record the received satellite signal strength, position coordinates, timestamp, positioning accuracy and other data in real time; Data storage: storing the collected GNSS data in a computer or data processing terminal for subsequent analysis and processing; 2) IMU data acquisition, Install IMU, install the inertial measurement unit (IMU) device on the construction equipment to ensure that it can effectively monitor the dynamic movement of the equipment; dynamic data recording, start the IMU, and record the acceleration, angular velocity and attitude information of the equipment in real time during the movement; data time synchronization, ensure that the timestamps of GNSS data and IMU data are synchronized for subsequent data fusion processing; 3) Environmental data collection, Water depth measurement: use water depth measuring instruments to obtain water depth information at the construction site, which is crucial for adjusting the depth of pile foundation into the water; meteorological data collection: set up meteorological sensors to monitor the wind speed, wind direction, temperature and water flow speed data at the site to provide a reference for dynamic adjustments during the construction process; 4) Data integration, Data aggregation: GNSS data, IMU data and environmental data are aggregated into a data processing platform through computers to integrate all relevant information; real-time updates ensure that all data can be updated in real time during the data collection process to facilitate subsequent decision support and positioning adjustments.

4. The method for intelligent positioning construction of water pile foundation according to claim 1, characterized in that: The data fusion step includes the following steps: 1) Data preprocessing, Time synchronization ensures that the timestamps of all sensor data match each other so that data from the same time period can be used for subsequent analysis; denoising processing filters the raw data to remove noise and outliers to improve data quality. Common denoising methods include Kalman filtering and low-pass filtering. 2) State estimation, Kalman filter algorithm, which combines GNSS and IMU data. This algorithm can effectively process noisy data and estimate the state in a dynamic environment. Prediction step, which uses IMU data to predict the position and attitude of the device. The update step integrates GNSS correction data to improve the predicted results and adjust the previous state estimate based on the position information provided by GNSS; 3) Data fusion model, determine the fusion model, establish the data fusion model, extended Kalman filter EKF or unscented Kalman filter UKF, and select the most appropriate algorithm according to actual needs; Fusion parameter adjustment: according to the accuracy and reliability of the sensor, adjust the weight parameters in the fusion model to optimize the final output positioning result; 4) Real-time monitoring and feedback, Real-time data update: the data fusion process should be carried out in real time to ensure that the location information of the equipment is updated at any time and fed back to the construction control system; positioning accuracy monitoring: continuously monitor the positioning accuracy and reliability after fusion, and adjust the use of sensors and fusion methods in time when the positioning error exceeds the preset threshold; sensors mainly include GNSS receivers, inclination sensors, depth sensors, current sensors, meteorological sensors, and water depth measuring instruments; 5) Result verification, Compare with the benchmark data and compare the fused positioning results with the known benchmark data or historical data to verify the accuracy of the fusion algorithm. Visual analysis and use visualization tools to display the positioning results, so that the construction team can intuitively understand the construction status and pile foundation position.

5. The intelligent positioning construction method for pile foundation on water according to claim 1 is characterized in that: The positioning adjustment step includes the following steps: 1) Real-time monitoring, Position data monitoring: by regularly reading the real-time position data of GNSS and IMU every day, monitoring the deviation between the actual position of the equipment and the target position; environmental change detection: obtaining data on water flow, wind speed and other influencing factors in real time, and analyzing their potential impact on the construction process; 2) Error analysis, Deviation calculation compares the real-time positioning data and the designed position to calculate the deviation value; error source identification, analysis of the source of the error, positioning accuracy, sensor failure, environmental interference; 3) Adjust strategy formulation, Position adjustment plan: formulate corresponding adjustment strategies based on the error analysis results to determine whether the pile foundation position needs to be recalibrated or adjusted; construction plan optimization: dynamically adjust the construction plan based on environmental factors such as water flow direction and wind speed, such as changing the angle or sequence of pile driving; 4) Adjust implementation, Equipment adjustment: sending new positioning instructions to construction equipment and tools to guide the equipment to move or recalibrate; real-time feedback: updating the equipment's position in real time through the data fusion system to ensure that the adjusted positioning data accurately reflects the changes in the equipment's position; 5) Effect verification, Continuous monitoring: Continue to monitor the position of the pile foundation after adjustment to verify the effectiveness of the adjustment; if deviations continue to occur, subsequent adjustments may need to be made again based on preset standards and monitoring results; 6) Documentation, Record the adjustment process, record the process and results of each positioning adjustment, and form a detailed document, which includes the time, reason, and position information after adjustment, to provide parameter basis for subsequent analysis and evaluation.

6. The method for intelligent positioning construction of water pile foundation according to claim 1, characterized in that: The construction monitoring step includes the following steps: 1) Establishment of monitoring system, Hardware facilities, equipped with appropriate monitoring equipment, including GNSS receivers, IMU sensors, surveillance cameras, and environmental sensors, to ensure comprehensive monitoring of the construction environment and equipment status; Software platform: develop or use construction management software to integrate various data sources and realize real-time data collection, storage and analysis; 2) Real-time data collection, Position data monitoring: monitor the position, posture and motion status of the pile foundation through GNSS and IMU data to ensure that the pile foundation is constructed according to the design parameters; environmental data monitoring: monitor the environmental conditions on site in real time, such as water flow velocity, wind speed, temperature, humidity, etc., to evaluate their impact on construction; 3) Construction progress monitoring, Progress tracking, recording every step of the construction, including the time, depth and position of the pile foundation, to ensure that the construction progress is consistent with the plan; data analysis, comparing the actual progress with the planned progress, timely adjusting resources and manpower to ensure the project is completed on time; 4) Quality control, Construction quality inspection: regularly inspect the quality of pile foundations, including the quality of materials and the conformity of construction methods, to ensure that the pile foundations meet the design standards; data recording and analysis: record relevant quality data, formulate improvement measures based on the analysis results, and improve construction quality; 5) Safety monitoring, Safety risk assessment, assessing the safety risks at the construction site and ensuring that safe operating procedures are followed during the construction process; Emergency warning system: Establish an early warning mechanism for the monitoring system to promptly detect and notify potential safety hazards, such as construction risks caused by environmental changes; 6) Real-time feedback and adjustment, Control instructions: issue adjustment instructions in a timely manner based on monitoring data to guide the construction team to make necessary adjustments or improvement measures; information sharing ensures that on-site construction personnel, management personnel, and related teams can receive monitoring results and adjustment instructions in real time to improve overall construction efficiency; 7) Documentation and reporting, The construction log records every data in the construction process in detail, including location, depth, environmental conditions, and quality inspections, forming a complete construction log; regular reports generate construction monitoring reports regularly to summarize and provide feedback on construction progress, quality, and safety conditions.