A method and system for locating a pile hole of a drainage pile pipe based on a multi-source sensor

Abstract

The present application relates to the technical field of drainage plate positioning, and discloses a pile hole positioning method and system for a drainage plate pile pipe based on a multi-source sensor.The present application realizes synchronous data acquisition of multi-source heterogeneous sensors through a GNSS receiver and an IMU, provides a data basis for subsequent fusion calculation, then dynamically calculates pile pipe root coordinates and a pile pipe three-dimensional attitude angle according to a pile driver top coordinate and pile pipe motion data through Kalman filter fusion, avoids root pose calculation errors caused by static calibration errors and structural deformation in motion, then dynamically calculates a pile pipe tip coordinate through coordinate rotation transformation, and introduces body motion data to compensate for deviation calculation, thereby solving the problem that existing technologies are not accurate enough in drainage plate pile hole positioning due to neglecting three-dimensional attitude changes of the pile pipe during construction, and being conducive to ensuring that each pile hole meets design precision requirements and fundamentally solving the problem of uncontrollable construction perpendicularity.

Description

Technical Field

[0001] This invention relates to the field of drainage board positioning technology, and in particular to a method and system for positioning the pile holes of drainage board pile pipes based on multi-source sensors. Background Technology

[0002] Drainage board piling is a core construction process in soft soil foundation treatment projects. It involves vertically driving or pressing plastic drainage boards (a geosynthetic material that combines drainage and reinforcement functions) into or into the soft soil subsurface using a specialized piling machine. The purpose is to construct underground drainage channels, accelerate the drainage of water from the soft soil, thereby consolidating the foundation, improving its bearing capacity, and laying a stable foundation for subsequent projects (such as roads, dams, and building foundations). Drainage board piling is a crucial process in soft soil foundation treatment, and the accuracy and efficiency of pile hole positioning directly affect project quality and construction progress. Currently, the industry mainly uses the following two technical solutions: Total station manual layout method: This method relies on surveyors to lay out the layout on-site according to the design coordinates, inserting physical markers (such as bamboo sticks or lime dots), and then the piling machine operator visually moves the machine to the marked points; GNSS single-point positioning method: This method installs a GNSS receiver on top of the piling machine, acquires the coordinates on the top of the machine and displays them on the screen, guiding the operator to manually move the machine to the design point.

[0003] Existing drainage sheet pile hole positioning technology systems mostly rely on a single type of sensor to acquire data. For example, they only collect and analyze the position information of the pile driver body, but ignore the three-dimensional posture changes of the pile pipe during construction. As a result, they lack the ability to integrate the spatial posture of the pile pipe with its precise position in real time, leading to inaccurate positioning of drainage sheet pile holes. Summary of the Invention

[0004] The main objective of this invention is to provide a method and system for locating the pile holes of drainage sheet piles based on multi-source sensors, aiming to solve the technical problems in the prior art.

[0005] This invention proposes a method for locating the pile hole of a drainage sheet pile pipe based on multi-source sensors, comprising:

[0006] The top coordinates of the pile driver, the movement data of the pile pipe, and the movement data of the machine body are obtained by multi-source heterogeneous sensors.

[0007] The coordinates of the pile root and the three-dimensional attitude angle of the pile are obtained based on the top coordinates of the pile driver and the movement data of the pile pipe.

[0008] The coordinates of the tip of the pile pipe are obtained based on the three-dimensional attitude angle of the pile pipe and the coordinates of the root of the pile pipe.

[0009] Obtain pile hole design data, and obtain pile hole positioning deviation data based on the machine motion data, pile pipe tip coordinates, and pile hole design data;

[0010] Based on the pile hole positioning deviation data and the three-dimensional attitude angle of the pile pipe, a coordinated adjustment command is obtained;

[0011] The system controls the pile driver to adjust the position of the pile pipe and drive the pile pipe according to the coordinated adjustment instructions, and obtains the pile pipe construction data.

[0012] Construction deviation data is obtained based on the pile pipe construction data and the pile hole design data, and positioning compliance value is obtained based on the construction deviation data;

[0013] Determine whether the positioning compliance value is greater than a preset threshold;

[0014] If the positioning compliance value is greater than the preset threshold, the pile pipe construction data will be automatically recorded;

[0015] If the positioning compliance value is not greater than the preset threshold, the construction deviation data is used as the pile hole positioning deviation data and the process is returned to the step of obtaining the coordinated adjustment instruction.

[0016] Preferably, the step of obtaining the root coordinates of the pile pipe and the three-dimensional attitude angle of the pile pipe based on the top coordinates of the pile driver and the movement data of the pile pipe includes:

[0017] The pile pipe angular velocity and pile pipe acceleration are obtained based on the pile pipe motion data, and the pile pipe angular velocity and pile pipe acceleration are filtered to obtain filtered angular velocity and filtered acceleration.

[0018] Acquire IMU measurement data, and obtain average accelerometer data and average gyroscope data based on the IMU measurement data;

[0019] Obtain the gravity vector of the navigation coordinate system, and perform coordinate system transformation on the filtered angular velocity and the filtered acceleration based on the gravity vector, the average accelerometer data and the average gyroscope data to obtain the angular velocity and acceleration of the pile-pipe navigation system.

[0020] The pile pipe structure parameters and system calibration data are obtained, and based on the extended Kalman filter model, the pile pipe root coordinates and three-dimensional attitude angles are obtained according to the pile pipe structure parameters, system calibration data, top coordinates of the pile driver, angular velocity of the pile pipe navigation system and acceleration of the pile pipe navigation system.

[0021] Preferably, the step of obtaining the coordinates of the tip of the pile pipe based on the three-dimensional attitude angle of the pile pipe and the coordinates of the root of the pile pipe includes:

[0022] The roll angle, pitch angle, and yaw angle are extracted from the three-dimensional attitude angles of the pile pipe;

[0023] Obtain the Euler rotation order, and obtain the yaw rotation matrix, pitch rotation matrix, and roll rotation matrix based on the rotation order, roll angle, pitch angle, and yaw angle;

[0024] The rotation transformation matrix is ​​obtained based on the yaw rotation matrix, pitch rotation matrix, and roll rotation matrix;

[0025] Obtain the rigid connection vector at the root tip of the pile pipe, and obtain the spatial compensation vector based on the rigid connection vector at the root tip of the pile pipe and the rotation transformation matrix;

[0026] The coordinates of the tip of the pile pipe are obtained based on the spatial compensation vector and the coordinates of the root of the pile pipe.

[0027] Preferably, the step of obtaining pile hole positioning deviation data based on the body motion data, the pile pipe tip coordinates, and the pile hole design data includes:

[0028] Based on the body motion data, real-time linear velocity, real-time acceleration, real-time angular velocity, and centrifugal acceleration are obtained, and a comprehensive acceleration vector is obtained based on the real-time acceleration and the centrifugal acceleration.

[0029] Obtain the total response delay time, and obtain the predicted translational displacement vector based on the total response delay time, the real-time linear velocity, and the real-time acceleration;

[0030] The predicted attitude rotation matrix is ​​obtained based on the total response delay time and the real-time angular velocity;

[0031] Obtain the inherent vector of the pile-pipe structure, and obtain the first compensation amount based on the inherent vector of the pile-pipe structure, the predicted attitude rotation matrix, and the predicted translational displacement vector;

[0032] Obtain the pile pipe material parameters, and obtain the second compensation amount based on the pile pipe material parameters, the comprehensive acceleration vector, and the three-dimensional attitude angle of the pile pipe;

[0033] The optimized coordinates of the pile tip are obtained based on the first compensation amount, the second compensation amount, and the coordinates of the pile pipe tip. The pile hole positioning deviation data are obtained based on the optimized coordinates of the pile tip and the pile hole design data.

[0034] Preferably, the step of obtaining the coordinated adjustment command based on the pile hole positioning deviation data and the three-dimensional attitude angle of the pile pipe includes:

[0035] Two-dimensional plane deviation vector and elevation deviation value are extracted from the pile hole positioning deviation data, and the pile pipe adjustment target is obtained based on the two-dimensional plane deviation vector and the three-dimensional attitude angle of the pile pipe.

[0036] Obtain the motion coupling law of the pile pipe, and obtain multiple pile pipe attitude adjustment amounts based on the motion coupling law of the pile pipe and the pile pipe adjustment target;

[0037] The expected trajectory of the pile tube is constructed based on multiple pile tube attitude adjustment amounts and the coordinates of the pile tube tip.

[0038] Obtain the cylinder stroke-attitude mapping law, and obtain the leveling cylinder compensation amount based on the cylinder stroke-attitude mapping law, the three-dimensional attitude angle of the pile pipe, and the expected travel trajectory of the pile pipe;

[0039] The main cylinder compensation amount is obtained based on the cylinder stroke-attitude mapping law and the elevation deviation value;

[0040] Obtain the hydraulic coupling matrix, and obtain the coordinated adjustment command based on the hydraulic coupling matrix, the leveling cylinder compensation amount, and the main cylinder compensation amount.

[0041] Preferably, the step of obtaining construction deviation data based on the pile pipe construction data and the pile hole design data, and obtaining the positioning compliance value based on the construction deviation data, includes:

[0042] The original horizontal deviation, original elevation deviation, and pile pipe attitude angle deviation are obtained based on the pile pipe construction data and the pile hole design data.

[0043] Obtain the foundation bearing capacity parameters and the historical settlement data of the pile driver, and obtain the instantaneous settlement based on the foundation bearing capacity parameters and the historical settlement data of the pile driver;

[0044] The compensated elevation deviation is obtained based on the instantaneous settlement and the original elevation deviation, and the original horizontal deviation, the compensated elevation deviation, and the pile pipe attitude angle deviation are used as construction deviation data.

[0045] Obtain the core parameters of the signal, and obtain the GNSS positioning reliability based on the core parameters of the signal;

[0046] Obtain the weight coefficient set and gain coefficient, and adjust the weight coefficient set according to the gain coefficient and the GNSS positioning confidence to obtain the weight optimization coefficient set;

[0047] The positioning compliance value is obtained based on the construction deviation data and the weighted optimization coefficient group.

[0048] This application also provides a pile hole positioning system for drainage sheet pile pipes based on multi-source sensors, including:

[0049] The data acquisition module is used to acquire the top coordinates of the pile driver, pile pipe movement data, and machine body movement data based on multi-source heterogeneous sensors;

[0050] The data fusion module is used to obtain the root coordinates of the pile pipe and the three-dimensional attitude angle of the pile pipe based on the top coordinates of the pile driver and the movement data of the pile pipe;

[0051] The coordinate acquisition module is used to acquire the coordinates of the tip of the pile pipe based on the three-dimensional attitude angle of the pile pipe and the coordinates of the root of the pile pipe.

[0052] The deviation calculation module is used to acquire pile hole design data and obtain pile hole positioning deviation data based on the machine motion data, pile pipe tip coordinates and pile hole design data.

[0053] The instruction generation module is used to obtain coordinated adjustment instructions based on the pile hole positioning deviation data and the three-dimensional attitude angle of the pile pipe;

[0054] The instruction execution module is used to control the pile driver to adjust the position of the pile pipe and drive the pile pipe according to the coordinated adjustment instructions, and to acquire the pile pipe construction data;

[0055] The positioning evaluation module is used to obtain construction deviation data based on the pile pipe construction data and the pile hole design data, and to obtain the positioning compliance value based on the construction deviation data.

[0056] The judgment and adjustment module is used to determine whether the positioning compliance value is greater than a preset threshold;

[0057] If the positioning compliance value is greater than the preset threshold, the pile pipe construction data will be automatically recorded;

[0058] If the positioning compliance value is not greater than the preset threshold, the construction deviation data is used as the pile hole positioning deviation data and the process is returned to the step of obtaining the coordinated adjustment instruction.

[0059] Preferably, the deviation calculation module includes:

[0060] The vector fusion unit is used to obtain real-time linear velocity, real-time acceleration, real-time angular velocity and centrifugal acceleration based on the body motion data, and to obtain a comprehensive acceleration vector based on the real-time acceleration and the centrifugal acceleration.

[0061] A translation prediction unit is used to obtain the total response delay time and to obtain the predicted translation displacement vector based on the total response delay time, the real-time linear velocity, and the real-time acceleration.

[0062] A rotation prediction unit is used to obtain a predicted attitude rotation matrix based on the total response delay time and the real-time angular velocity.

[0063] The first calculation unit is used to obtain the inherent vector of the pile-pipe structure, and to obtain the first compensation amount based on the inherent vector of the pile-pipe structure, the predicted attitude rotation matrix and the predicted translation displacement vector;

[0064] The second calculation unit is used to obtain the pile pipe material parameters and obtain the second compensation amount based on the pile pipe material parameters, the comprehensive acceleration vector and the three-dimensional attitude angle of the pile pipe.

[0065] The deviation acquisition unit is used to acquire the optimized coordinates of the pile tip based on the first compensation amount, the second compensation amount and the coordinates of the pile pipe tip, and to acquire the pile hole positioning deviation data based on the optimized coordinates of the pile tip and the pile hole design data.

[0066] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method for locating the pile hole of a drainage sheet pile pipe based on multi-source sensors.

[0067] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described method for locating the pile holes of a drainage sheet pile pipe based on a multi-source sensor.

[0068] The beneficial effects of this invention are as follows: This invention acquires the top coordinates of the pile driver, pile pipe motion data, and machine body motion data through a GNSS receiver and an IMU, respectively, thereby achieving synchronous data acquisition from multiple heterogeneous sensors. This provides a data foundation for subsequent fusion calculations. Then, through Kalman filtering fusion, the root coordinates and three-dimensional attitude angles of the pile pipe are dynamically calculated based on the top coordinates of the pile driver and the pile pipe motion data. This helps solve the problem of significant lag and accumulated errors in calculations caused by the inability of existing technologies to dynamically fuse multi-source heterogeneous sensor data, thus avoiding root attitude calculation errors caused by static calibration errors and structural deformation during movement. Next, through coordinate rotation transformation, the coordinates of the pile pipe tip are dynamically calculated, ensuring that the calculation of the pile tip coordinates is accurate regardless of the tilt of the machine body. This significantly improves the absolute positioning accuracy and reliability of the entire system at its root, overcoming the contradiction between positioning accuracy and construction efficiency in existing technologies. Finally, the machine body motion state is introduced to predict and compensate for deviation calculations and deformation, thereby solving the control... The model errors caused by loop lag and pile tube flexible deformation generate more realistic and timely deviation data, making high-precision control possible. Subsequently, based on the coupled kinematic model, collaborative adjustment commands are generated according to the pile hole positioning deviation data and the three-dimensional attitude angle of the pile tube, which can simultaneously control the chassis walking, body leveling and pile tube lifting. This breaks the oscillation problem caused by mutual interference of the actions of various actuators in the traditional mode, and significantly improves positioning efficiency. Then, intelligent collaborative control is executed and pile tube construction data is collected. At the same time, geological settlement compensation and GNSS confidence weighting mechanisms are introduced. Intelligent quality assessment is performed based on pile tube construction data and pile hole design data to obtain construction deviation data and positioning compliance value. This helps to solve the problem of misjudgment caused by geological settlement and GNSS signal quality in the existing technology. Based on the judgment results, the construction deviation data is automatically fed back to the control system for iterative adjustment, which helps to ensure that each pile hole can meet the design accuracy requirements and fundamentally solve the problem of uncontrollable construction verticality. Attached Figure Description

[0069] Figure 1 This is a schematic diagram of a method flow according to an embodiment of the present invention.

[0070] Figure 2 This is a schematic diagram of the system structure according to an embodiment of the present invention.

[0071] Figure 3 This is a schematic diagram of the internal structure of a computer device according to an embodiment of this application.

[0072] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0073] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0074] like Figure 1 As shown, this application provides a method for locating the pile hole of a drainage sheet pile pipe based on multi-source sensors, including:

[0075] S1. Obtain the top coordinates of the pile driver, pile pipe motion data, and machine body motion data based on multi-source heterogeneous sensors;

[0076] S2. Obtain the root coordinates and three-dimensional attitude angles of the pile pipe based on the top coordinates of the pile driver and the movement data of the pile pipe;

[0077] S3. Obtain the coordinates of the tip of the pile pipe based on the three-dimensional attitude angle of the pile pipe and the coordinates of the root of the pile pipe;

[0078] S4. Obtain pile hole design data, and obtain pile hole positioning deviation data based on the machine motion data, pile pipe tip coordinates and pile hole design data;

[0079] S5. Obtain a coordinated adjustment command based on the pile hole positioning deviation data and the three-dimensional attitude angle of the pile pipe;

[0080] S6. Control the pile driver to adjust the position of the pile pipe and drive the pile pipe according to the coordinated adjustment command, and obtain the pile pipe construction data;

[0081] S7. Obtain construction deviation data based on the pile pipe construction data and the pile hole design data, and obtain the positioning compliance value based on the construction deviation data;

[0082] S8. Determine whether the positioning compliance value is greater than a preset threshold;

[0083] If the positioning compliance value is greater than the preset threshold, the pile pipe construction data will be automatically recorded;

[0084] If the positioning compliance value is not greater than the preset threshold, the construction deviation data is used as the pile hole positioning deviation data and the process is returned to the step of obtaining the coordinated adjustment instruction.

[0085] As described in steps S1-S8 above, this invention acquires the top coordinates of the pile driver, pile pipe motion data, and machine body motion data through a GNSS receiver and an IMU, respectively, thereby achieving synchronous data acquisition from multiple heterogeneous sensors and providing a data foundation for subsequent fusion calculations. The main IMU is rigidly installed in the middle section of the pile pipe, and the auxiliary IMU is arranged at the joint of the machine arm. The distance between the GNSS antenna and the main IMU is ≤1.2m. The top coordinates of the pile driver refer to the three-dimensional coordinates of the phase center of the top antenna of the pile driver in a high-precision global coordinate system. The pile pipe motion data refers to the data acquired by the GNSS receiver and the auxiliary IMU through the IMU. The raw motion parameters collected by the inertial measurement unit (IMU) on the pipe, and the body motion data refer to the motion state parameters of the main body obtained by sensors mounted on the chassis of the pile driver; then, through Kalman filtering fusion, the coordinates of the pile root and the three-dimensional attitude angle of the pile pipe are dynamically calculated based on the coordinates of the top of the pile driver and the pile pipe motion data, realizing dynamic compensation for the inherent offset of the mechanical structure. The compensation range can reach ±2m, laying the foundation for subsequent positioning accuracy of ±3cm in plane and ±2cm in elevation. Among them, the coordinates of the pile root refer to the coordinates obtained by fusing GNSS position data and IMU motion data. Based on the calculated precise three-dimensional coordinates of the hinge point connecting the pile pipe and the main body in the world coordinate system, the three-dimensional attitude angles of the pile pipe refer to the pitch angle, roll angle, and yaw angle, expressed in Euler angle form, which describe the degree of rotation of the pile pipe axis relative to the world coordinate system around the three coordinate axes. This dynamic compensation method for the inherent offset of the mechanical structure helps to solve the problem that existing technologies cannot dynamically fuse multi-source heterogeneous sensor data, resulting in significant lag and cumulative errors in the calculation. It avoids root orientation calculation errors caused by static calibration errors and structural deformation during movement. Then, real-time... The calculated three-dimensional attitude angle of the pile pipe and the coordinates of the pile pipe root are subjected to coordinate rotation transformation to dynamically calculate the coordinates of the pile pipe tip. The pile pipe tip coordinates refer to the absolute coordinates of the pile pipe tip in the world coordinate system obtained by calculation. This method of coupling attitude change with position calculation in real time ensures that the calculation of the pile tip coordinates is accurate no matter how the machine body is tilted. It ensures that the verticality of the subsequent pile pipe can be controlled within ≤0.5°, thereby significantly improving the absolute positioning accuracy and reliability of the entire system from the root, and overcoming the contradiction between positioning accuracy and construction efficiency in the existing technology.

[0086] Then, the pile hole design data is acquired, and the machine motion state (such as acceleration and angular velocity) is introduced to predict and compensate for the deviation calculation. Based on the machine motion data, the pile pipe tip coordinates, and the pile hole design data, the pile hole positioning deviation data is obtained. The pile hole design data refers to the set of theoretical plane coordinates and elevation values ​​describing the target pile hole in the design coordinate system, extracted from design drawings or BIM models. This innovatively solves the model errors caused by control loop lag and pile pipe flexible deformation, generating more realistic and timely deviation data, thus enabling high-precision control. Subsequently, based on the coupled kinematic model, the pile hole positioning deviation data and the pile pipe... The three-dimensional attitude angle generation system generates coordinated adjustment commands that simultaneously control chassis movement, machine leveling, and pile pipe lifting. These coordinated adjustment commands are a set of control instructions that simultaneously drive the pile driver chassis movement system, vertical lifting hydraulic cylinder, and horizontal leveling hydraulic cylinder to perform coordinated actions. This innovative approach breaks away from the traditional sequential, decoupled control model, reducing the average single-hole positioning time from 3-5 minutes to ≤30 seconds. It solves the oscillation problem caused by mutual interference between the actuators, significantly improving positioning efficiency. Furthermore, this coordinated algorithm drastically reduces ineffective hydraulic system actions; actual measurements show that it reduces the number of start-stop cycles of the hydraulic leveling system by more than 70%, achieving significant energy consumption optimization. Then, according to the coordinated adjustment command, the pile driver is controlled to adjust the position of the pile pipe and drive the pile, so as to execute intelligent coordinated control and collect construction result data. The collected pile pipe construction data refers to the construction result dataset collected by sensors after the pile driver's posture adjustment and pile driving action are completed, including the final posture of the pile pipe, the final coordinates of the pile pipe tip, and the final state of the pile driver. Finally, geological settlement compensation and GNSS confidence weighting mechanism are introduced, and intelligent quality assessment is performed based on the pile pipe construction data and pile hole design data to obtain construction deviation data and positioning compliance value. The positioning compliance value is a quantity that can comprehensively reflect absolute accuracy, environmental adaptability and data reliability. The standard value is optimized to address the problem of misjudgment in construction quality assessment caused by geological settlement and GNSS signal quality in existing technologies. The standard value is compared with a preset threshold. If the standard value is greater than the preset threshold, the pile pipe construction data is automatically recorded, which helps ensure the authenticity and traceability of the construction data and provides a reliable basis for project quality acceptance. If the standard value is not greater than the preset threshold, the construction deviation data is automatically fed back to the control system for iterative adjustment until the requirements are met. This helps to achieve closed-loop control of the construction process, ensuring that each pile hole can meet the design accuracy requirements and fundamentally solving the problem of uncontrollable construction verticality.

[0087] In one embodiment, step S2, which involves obtaining the root coordinates of the pile pipe and the three-dimensional attitude angle of the pile pipe based on the top coordinates of the pile driver and the movement data of the pile pipe, includes:

[0088] S21. Obtain the pile pipe angular velocity and pile pipe acceleration based on the pile pipe motion data, and filter the pile pipe angular velocity and pile pipe acceleration to obtain filtered angular velocity and filtered acceleration.

[0089] S22. Acquire IMU measurement data, and acquire average accelerometer data and average gyroscope data based on the IMU measurement data;

[0090] S23. Obtain the gravity vector of the navigation coordinate system, and perform coordinate system transformation on the filtered angular velocity and the filtered acceleration based on the gravity vector, the average accelerometer data and the average gyroscope data to obtain the angular velocity and acceleration of the pile-pipe navigation system.

[0091] S24. Obtain the pile pipe structure parameters and system calibration data, and based on the extended Kalman filter model, obtain the pile pipe root coordinates and three-dimensional attitude angles of the pile pipe according to the pile pipe structure parameters, system calibration data, top coordinates of the pile driver, angular velocity of the pile pipe navigation system and acceleration of the pile pipe navigation system.

[0092] As described in steps S21-S24 above, this invention obtains the angular velocity and acceleration of the pile pipe through pile pipe motion data. Then, for the pile pipe angular velocity and acceleration, a first-order low-pass filter is used to suppress high-frequency vibration noise, and a mid-range filter is used to remove pulse outliers from the signal, resulting in filtered angular velocity and filtered acceleration. Since the pile pipe motion data initially exists in its own sensor coordinate system, while the GNSS data exists in a navigation coordinate system (such as ENU or ECEF), for fusion processing, all observation data must be unified to the same navigation coordinate system. The specific operation is as follows: First, under the condition that the pile driver is completely stationary, a segment of IMU measurement data is collected and averaged to obtain... The data is obtained from average accelerometer data and average gyroscope data. IMU measurement data refers to the raw angular velocity and acceleration data directly measured by the inertial measurement unit. In a stationary state, the acceleration measured by the IMU only includes gravitational acceleration; therefore, the acceleration vector direction directly indicates the "down" direction (i.e., the Z-axis of the navigation system, the opposite of the "up" direction). A high-precision gyroscope can measure the Earth's rotation angular velocity vector. In the Northern Hemisphere, this vector points due north and has an angle with the horizontal plane (related to local latitude), thus containing information about the "north" direction. The average accelerometer data is then normalized and aligned with the gravity vector of the navigation system. This allows the determination of the pitch and roll angles, and the calculation is then performed using... Using average gyroscope data, pitch angle, and roll angle, the yaw angle (the angle between the X-axis of the body coordinate system and true north) is further calculated. Finally, based on the calculated pitch, roll, and yaw angles (Eulerian angles), the orientation matrix from the pile driver's body coordinate system to the navigation coordinate system can be constructed, serving as the first orientation matrix. Then, based on the first orientation matrix, average accelerometer data, and average gyroscope data, an optimized algorithm is used to solve for the orientation matrix from the sensor coordinate system to the pile driver's body coordinate system, which is the second orientation matrix. Then, the first orientation matrix at this moment is multiplied by the transpose of the second orientation matrix to obtain the orientation matrix from the sensor coordinate system to the navigation coordinate system, which is the third orientation matrix. Then, in... During the movement of the pile driver, based on the filtered angular velocity, filtered acceleration, and the third orientation matrix, the third orientation matrix is ​​updated in real time by integrating through quaternion or rotation matrix differential equations to obtain the third rotation matrix. Subsequently, based on the third rotation matrix, the filtered angular velocity and filtered acceleration can be uniformly transformed to the navigation coordinate system through matrix multiplication to obtain the pile pipe navigation system angular velocity and pile pipe navigation system acceleration. This provides multi-source observation data in the same coordinate system for subsequent fusion filtering algorithms, laying a solid foundation for accurately calculating the six-dimensional pose of the pile pipe root. This solves the problem that traditional methods often ignore IMU installation deviation or only perform static compensation, resulting in calculation errors caused by coordinate system separation and installation deviation.

[0093] Next, the structural parameters of the pile tube and system calibration data are acquired. The structural parameters refer to the geometric parameters describing the physical dimensions of the pile tube itself, including its length. The system calibration data refers to the fixed parameters describing the relative spatial relationships between the components of the pile driver, including the GNSS lever arm vector and the IMU lever arm vector. The GNSS lever arm vector is a fixed, rigid connection vector obtained beforehand through calibration measurements, describing the relative position between the phase center of the top GNSS antenna and the root of the pile tube. The IMU lever arm vector is the installation offset vector describing the relative position between the IMU mounting center and the root of the pile tube. Subsequently, an extended Kalman filter (EKF) model is established, with its state vector defined as... ,in, This indicates the three-dimensional coordinates of the pile root in the navigation coordinate system. This indicates the velocity of the pile root in the navigation coordinate system. This represents the three-dimensional attitude angle of the pile root in the navigation coordinate system. Indicates accelerometer deviation. These represent gyroscope bias; these two biases change over time in the filter. The transpose symbol indicates the conversion of a row vector into a column vector. To describe the evolution of this state vector over time, a dynamic model of the system needs to be constructed based on the principles of physical kinematics. This model is a nonlinear state equation, built upon Newton's second law, rigid body rotation mechanics, and the previously obtained angular velocity and acceleration of the pile-pipe navigation system. It describes the dynamic evolution of the pile root state in a nonlinear form, where the velocity derivative is determined by the pile-pipe navigation system acceleration, and the attitude angular derivative is related to the pile-pipe navigation system angular velocity. Subsequently, the system state vector is associated with multi-source data through observation equations. Specifically, the coordinates of the top of the pile driver provided by GNSS are associated with the pile root coordinates through the GNSS lever arm vector and the first orientation matrix. If other auxiliary positioning sensors exist, their observations can be associated in a similar way through the corresponding lever arm vectors. Simultaneously, IMU data serves as the basis for assessing the motion state of the pile root. The observation constraints (including motion velocity and attitude) are ultimately applied to the EKF model. The angular velocity and acceleration of the pile-pipe navigation system, filtered IMU data (used as input to the state equation), and pile-pipe structural parameters are then input. Through a "prediction-update" iterative calculation, the model outputs high-precision coordinates of the pile root and the three-dimensional attitude angles of the pile in real time. In the prediction step, the state equation is used to calculate the mean and covariance of the current state. In the update step, the actual GNSS observations are compared with the predicted values, and the state estimate is corrected using the optimal Kalman gain, thereby dynamically compensating for mechanical offsets and sensor errors. This method of constructing an EKF model that deeply integrates mechanical structural parameters and multi-source sensor data enables real-time, high-precision estimation of the pile root's attitude. It helps solve the problem that existing technologies cannot dynamically integrate multi-source heterogeneous sensor data, leading to significant lag and cumulative errors in the calculation of the pile root's position and attitude under continuous pile driver movement and vibration conditions.

[0094] In one embodiment, step S3, which involves obtaining the coordinates of the tip of the pile pipe based on the three-dimensional attitude angle of the pile pipe and the coordinates of the root of the pile pipe, includes:

[0095] S31. Extract the roll angle, pitch angle and yaw angle from the three-dimensional attitude angle of the pile pipe;

[0096] S32. Obtain the Euler rotation order, and obtain the yaw rotation matrix, pitch rotation matrix and roll rotation matrix according to the rotation order, roll angle, pitch angle and yaw angle;

[0097] S33. Obtain the rotation transformation matrix based on the yaw rotation matrix, pitch rotation matrix and roll rotation matrix;

[0098] S34. Obtain the rigid connection vector of the pile pipe root tip, and obtain the spatial compensation vector based on the rigid connection vector of the pile pipe root tip and the rotation transformation matrix;

[0099] S35. Obtain the coordinates of the tip of the pile pipe based on the spatial compensation vector and the coordinates of the root of the pile pipe.

[0100] As described in steps S31-S35 above, this invention extracts the roll angle (γ), pitch angle (θ), and yaw angle (ψ) of the aircraft coordinate system relative to the navigation coordinate system from the three-dimensional attitude angles of the pile pipe. The roll angle refers to the angle of rotation of the aircraft around its own X-axis (pointing towards the forward direction of the pile driver), used to characterize the left and right tilt of the aircraft relative to the horizontal plane; its sign is determined by the right-hand rule. The pitch angle refers to the angle of rotation of the aircraft around its own Y-axis (pointing towards the left side of the aircraft), used to characterize the aircraft's relative position to the horizontal plane. In a horizontal plane, whether the aircraft is tilted up or down, the yaw angle refers to the angle of rotation of the aircraft around its own Z-axis (pointing towards the zenith). It is used to characterize the azimuth angle between the projection of the aircraft's longitudinal axis onto the horizontal plane and the geographic north direction. Following international standard practice, the Euler rotation sequence of the aircraft's coordinate system relative to the navigation coordinate system is determined, typically using a "yaw-pitch-roll" (ZYX) sequence. This means first rotating the aircraft's Z-axis (yaw axis) by an angle ψ, then rotating it around the newly formed Y-axis (pitch axis) by an angle θ, and finally rotating it around the newly formed X-axis by an angle θ. The axis (roll axis) is rotated by an angle γ. Subsequently, based on this rotation sequence, the independent rotation matrices corresponding to the three basic rotations are obtained: the yaw rotation matrix, the pitch rotation matrix, and the roll rotation matrix. The yaw rotation matrix is ​​a 3×3 direction cosine matrix corresponding to the rotation angle ψ around the Z-axis, the pitch rotation matrix is ​​a 3×3 direction cosine matrix corresponding to the rotation angle θ around the Y-axis, and the roll rotation matrix is ​​a 3×3 direction cosine matrix corresponding to the rotation angle γ around the X-axis. Then, these three basic rotation matrices are multiplied continuously in reverse order of rotation. That is, the roll rotation matrix is ​​multiplied by the pitch rotation matrix first, and then the result is multiplied by the yaw rotation matrix to synthesize a complete rotation transformation matrix from the body coordinate system to the world coordinate system. The rotation transformation matrix is ​​a 3×3 composite rotation matrix that transforms any vector from the body coordinate system to the navigation coordinate system. Each element of this matrix is ​​composed of the trigonometric function analytical expression of the roll angle, pitch angle, and yaw angle, thus ensuring the determinism and real-time performance of the calculation process.The core innovation of this series of operations lies in its construction of a mathematical tool capable of accurately representing any complex attitude of the aircraft. It solves the fundamental flaw of traditional methods, which fail to accurately describe the spatial orientation of the pile tube due to neglecting attitude changes. Traditional methods, when calculating the position of the pile tube tip, typically treat the "vector from the root of the pile tube to the tip" as a fixed quantity in the world coordinate system (usually assumed to be vertically downward). This approach completely ignores the complex attitude changes (such as pitch and roll) that inevitably occur during actual construction. When the aircraft tilts, the actual orientation of the pile tube in space deviates from the vertical line, yet traditional methods still use a vertical vector for calculation. This inevitably introduces a huge and unacceptable dynamic direction deviation. Through the aforementioned method, the system can convert the three Euler angle parameters representing the aircraft's attitude into a high-precision, real-time rotation transformation matrix that can be used to accurately transform any fixed vector of the aircraft, laying a solid mathematical foundation for subsequent dynamic compensation of spatial vectors.

[0101] Next, the rigid connection vector at the pile tip is obtained through precise calibration. This rigid connection vector represents the fixed connection vector from the pile root to the pile tip. Then, the rigid connection vector is multiplied by the aforementioned rotation transformation matrix to obtain the spatial compensation vector. The physical significance of this crucial operation is that it "maps" or "rotates" the inherent mechanical vector to the real-time world coordinate system based on the aircraft's attitude, thus solving the core technical problem of "inaccurate pile pointing calculations due to changes in aircraft attitude." The output spatial compensation vector of the above transformation is a vector in the world coordinate system whose direction and magnitude have been dynamically adjusted according to the current aircraft attitude. The adjusted compensation data is no longer a fixed value, but a vector that accurately reflects the actual orientation of the pile pipe in space in real time. This achieves dynamic compensation for the inherent offset of the mechanical structure, completely eliminating the inherent dynamic direction deviation of the traditional static calculation method. Finally, the coordinates of the pile pipe root and the spatial compensation vector are vector-added to obtain the coordinates of the pile pipe tip. This method achieves full dynamic and real-time compensation for the inherent offset of the mechanical structure, while ensuring that the pile tip positioning result is not affected by the change of the pile driver's posture. This significantly improves the absolute positioning accuracy and reliability of the entire system from the root, overcoming the contradiction between positioning accuracy and construction efficiency in the existing technology.

[0102] In one embodiment, step S4, which involves obtaining pile hole positioning deviation data based on the body motion data, the pile pipe tip coordinates, and the pile hole design data, includes:

[0103] S41. Obtain real-time linear velocity, real-time acceleration, real-time angular velocity and centrifugal acceleration based on the body motion data, and obtain a comprehensive acceleration vector based on the real-time acceleration and the centrifugal acceleration;

[0104] S42. Obtain the total response delay time, and obtain the predicted translational displacement vector based on the total response delay time, the real-time linear velocity, and the real-time acceleration;

[0105] S43. Obtain the predicted attitude rotation matrix based on the total response delay time and the real-time angular velocity;

[0106] S44. Obtain the inherent vector of the pile-pipe structure, and obtain the first compensation amount based on the inherent vector of the pile-pipe structure, the predicted attitude rotation matrix, and the predicted translation displacement vector;

[0107] S45. Obtain the pile pipe material parameters, and obtain the second compensation amount based on the pile pipe material parameters, the comprehensive acceleration vector, and the three-dimensional attitude angle of the pile pipe;

[0108] S46. Obtain the optimized coordinates of the pile tip based on the first compensation amount, the second compensation amount, and the coordinates of the pile pipe tip, and obtain the pile hole positioning deviation data based on the optimized coordinates of the pile tip and the pile hole design data.

[0109] As described in steps S41-S46 above, this invention extracts real-time linear velocity, real-time acceleration, real-time angular velocity, and centrifugal acceleration from the body's motion data. Simultaneously, through offline measurement or online calibration, it accurately determines the system's total response delay time. The total response delay time refers to the time consumed during system operation, including sensor data reading, filtering calculation, control command generation, and transmission. Existing technologies have a fatal flaw in real-time control: from the system acquiring the current motion state data of the pile driver through sensors to completing data processing, calculating the current position of the pile tip, and finally generating and issuing control commands, the entire process requires a non-negligible fixed time. However, the pile driver does not pause and wait during this period but instead... The current dynamic state is in continuous motion, resulting in the "real-time" pile tip coordinates used by the system for final decision-making actually being a "past" historical state. This state has a significant hysteresis deviation from the actual position reached by the pile driver. Therefore, the system in this invention predicts the translational displacement vector of the main body reference point (usually the GNSS antenna phase center) within the total response delay time based on the assumption of uniformly accelerated motion. The predicted translational displacement vector of the main body reference point within the total response delay time is calculated using the uniformly accelerated linear motion displacement formula based on real-time linear velocity and real-time acceleration. Here, the predicted translational displacement vector refers to the displacement change of the main body reference point due to translational motion within the system delay time. Simultaneously, the real-time angular velocity is compared with the total response delay... Multiplying by time yields the predicted attitude angle change vector of the machine body within the total response delay time. Then, the predicted attitude angle change vector is used to construct the corresponding predicted attitude rotation matrix. This predicted attitude rotation matrix is ​​a mathematical transformation matrix describing the attitude rotation change of the machine body relative to the current moment after the delay time. Next, the inherent vector of the pile-tube structure is obtained. This inherent vector is a fixed geometric connection vector, pre-measured and described in the pile driver's coordinate system, extending from the machine body reference point to the pile tip. The inherent vector of the pile-tube structure is then rotated and adjusted according to the predicted attitude rotation matrix to obtain the relative vector of the pile-tube structure. Finally, the relative... The difference between the pile-pipe structure vector and the inherent vector of the pile-pipe structure represents the change in pile tip position caused purely by the rotational motion of the machine body. Then, the difference between the pile-pipe structure vector and the translational displacement vector are added to obtain the first compensation amount. The first compensation amount refers to the pile tip position offset predicted by kinematic extrapolation to compensate for the spatiotemporal asynchrony error caused by the delay of the system control loop. This compensation amount is essentially a forward-looking estimate, which synchronizes the control state used by the system for calculation from "the time of past acquisition" to "the time of expected command issuance". This helps to solve the problem of lag deviation caused by the system delay leading to control commands based on outdated data in the existing technology, and significantly improves the control accuracy and response speed in dynamic construction environments.

[0110] Meanwhile, existing technologies are typically based on the assumption of an absolutely rigid connection between the pile and the pipe, and their algorithms determine the pile tip position through simple geometric calculations. However, in reality, the frequent start-stop and turning of pile drivers during construction generates enormous inertial and centrifugal forces. As a slender, elastic body with significant mass, the pile pipe inevitably undergoes elastic bending deformation under these dynamic loads. This causes a deviation between the theoretical pile tip position calculated based on the rigid model and the actual physical position of the pile pipe after bending under stress, a deviation completely ignored by traditional methods. Therefore, this invention constructs a flexible deformation model of the pile pipe based on materials mechanics to accurately calculate the deformation caused by dynamic forces. The actual physical position shift of the pile tip caused by the bending of the pile pipe due to inertial force is explained as follows: The comprehensive acceleration vector acting on the entire machine body is calculated based on real-time acceleration, gravitational acceleration, and centrifugal acceleration. This vector reflects the sum of all inertial effects experienced by the pile driver in space. Next, to analyze the impact of this comprehensive inertial acceleration on the bending of the pile pipe, it needs to be decomposed into a local coordinate system based on the pile pipe's own axis. Specifically, the direction vector of the pile pipe axis in the current world coordinate system is first determined based on the real-time obtained three-dimensional attitude angles of the pile pipe. Then, a new coordinate system is established using this axis direction as a reference axis of the local coordinate system. Finally, vector projection is used to... The calculation decomposes the composite acceleration vector from the world coordinate system into this new coordinate system and extracts the vertical acceleration component that is completely perpendicular to the pile pipe axis. This vertical acceleration component is the direct cause of the pile pipe's bending deformation. After obtaining the vertical acceleration component, the mass of the pile pipe is obtained. According to Newton's second law, multiplying the vertical acceleration component by the pile pipe mass yields the inertial force causing bending. The scalar magnitude of this inertial force is the bending moment. This inertial force is considered by the model to act at the theoretical center of mass of the pile pipe (usually assumed to be located at the midpoint of the pile pipe's length). This force produces a torsional effect on the fixed point at the root of the pile pipe. Then, the pile pipe material parameters are obtained. These are physical parameters that characterize the mechanical properties and cross-sectional geometric properties of pile pipe materials, including the material's elastic modulus and cross-sectional moment of inertia. The material's elastic modulus is the ratio of normal stress to corresponding normal strain during the elastic deformation stage, representing the material's ability to resist elastic deformation. The cross-sectional moment of inertia is the integral of the product of the area of ​​each infinitesimal element of the cross-section and the square of the distance from each infinitesimal element to a specified axis on the cross-section, representing the cross-section's resistance to bending. Finally, these parameters, including the bending moment, pile pipe length, material elastic modulus, and cross-sectional moment of inertia, are substituted into the material mechanics cantilever beam deflection formula for calculation. The result obtained is the second compensation amount, which is a three-dimensional deformation offset vector representing the pile tip's bending under stress.The calculation process is performed in real time, dynamically reflecting the actual bending amount of the pile pipe due to its own flexibility under various motion states of the pile driver (such as starting, braking, and turning). This compensates for the model error caused by treating the pile pipe as an absolutely rigid body, which helps to solve the problem of deviation between the theoretical calculated position and the actual physical position caused by ignoring the elastic deformation of the pile pipe in the existing technology, and fundamentally improves the physical authenticity of the pile tip positioning.

[0111] After successfully obtaining the first compensation amount (predicted compensation amount) and the second compensation amount (deformation compensation amount), the first and second compensation amounts are first vector-superimposed. Then, this composite compensation amount is further superimposed onto the pile tip coordinates to calculate an optimized pile tip coordinate that is closer to the actual state after dynamic prediction and deformation compensation. Next, the design plane coordinates and design elevation of the target pile hole are extracted from the pile hole design data. At the same time, the corresponding real-time plane coordinates and real-time elevation are separated from the optimized pile tip coordinates. Based on this, the two-dimensional plane deviation between the design plane coordinates and the real-time plane coordinates is calculated. The difference vector clarifies the direction and magnitude of the deviation and simultaneously calculates the elevation deviation between the design elevation and the real-time elevation. The two-dimensional plane deviation vector and the elevation deviation value constitute the pile hole positioning deviation data. This data provides a high-precision and high-reliability control basis for the piling machine's actuator. If the confidence level is insufficient, a system warning is triggered instead of direct control, thereby ensuring the accuracy and safety of construction. This invention, through a comprehensive compensation and fusion processing method for multi-source errors, organically combines predictive compensation and deformation compensation, solving the limitations of a single compensation method and forming a complete dynamic error compensation technical solution.

[0112] In one embodiment, step S5, which involves obtaining a coordinated adjustment command based on the pile hole positioning deviation data and the three-dimensional attitude angle of the pile pipe, includes:

[0113] S51. Extract the two-dimensional plane deviation vector and elevation deviation value from the pile hole positioning deviation data, and obtain the pile pipe adjustment target based on the two-dimensional plane deviation vector and the three-dimensional attitude angle of the pile pipe.

[0114] S52. Obtain the motion coupling law of the pile pipe, and obtain multiple pile pipe attitude adjustment amounts based on the motion coupling law of the pile pipe and the pile pipe adjustment target;

[0115] S53. Construct the expected travel trajectory of the pile tube based on the multiple pile tube posture adjustment amounts and the coordinates of the pile tube tip.

[0116] S54. Obtain the cylinder stroke-attitude mapping law, and obtain the leveling cylinder compensation amount based on the cylinder stroke-attitude mapping law, the three-dimensional attitude angle of the pile pipe and the expected travel trajectory of the pile pipe.

[0117] S55. Obtain the main cylinder compensation amount according to the cylinder stroke-attitude mapping law and the elevation deviation value;

[0118] S56. Obtain the hydraulic coupling matrix, and obtain the coordinated adjustment command based on the hydraulic coupling matrix, the leveling cylinder compensation amount, and the main cylinder compensation amount.

[0119] As described in steps S51-S56 above, the present invention extracts the two-dimensional plane deviation vector and elevation deviation value from the pile hole positioning deviation data, and simultaneously extracts the pitch angle and roll angle from the three-dimensional attitude angle of the pile pipe, so as to deeply fuse the pile hole positioning deviation data and the three-dimensional attitude angle of the pile pipe to achieve joint control of the pile pipe position. Since the existing technology generally adopts a sequential and decoupled processing strategy when generating control commands, that is, first control the chassis to move to eliminate the plane deviation, then adjust the body level, and finally adjust the pile pipe height;This isolated, step-by-step control method has inherent flaws: on the one hand, the actions of each actuator are independent of each other, failing to consider the strong coupling effects such as chassis movement causing changes in the machine's attitude and leveling actions slightly altering the spatial coordinates of the pile tip. This leads to repeated oscillations in the control process, significantly prolonging the positioning time. To fundamentally solve these problems, this invention proposes a deep fusion and joint computation intelligent instruction generation method: firstly, the coupling law of pile pipe motion is obtained, whereby the pile pipe motion coupling law is a model describing the overall kinematics of the pile driver. This model accurately describes the relationship between the chassis horizontal displacement, the change in the machine's pitch angle, and the final position change of the pile pipe tip in the horizontal plane. The mathematical relationship between the two is established, and then the pile pipe adjustment target is obtained based on the two-dimensional plane deviation vector. The pile pipe adjustment target refers to the displacement required for the pile pipe tip to reach the target plane coordinates. In this scheme, the pile pipe adjustment target is defined as aligning the final coordinates of the pile pipe tip with the design plane coordinates of the target pile hole. Next, the model uses the chassis horizontal displacement and the resulting possible change in fuselage pitch angle as control variables, thus constructing a system of equations regarding the chassis horizontal displacement and fuselage pitch angle change. By solving this system of equations, multiple sets of pile pipe attitude adjustment amounts that can simultaneously eliminate horizontal deviation and optimize fuselage attitude can be obtained. Among these, the pile pipe attitude adjustment... The quantity refers to the adjustment amount of the pile pipe to meet the horizontal displacement required by the chassis and the pitch angle change required by the fuselage. Based on this, and combined with the coordinates of the pile pipe tip, the expected travel trajectory of the pile pipe is constructed. The expected travel trajectory of the pile pipe refers to the chassis movement path that includes the movement speed curve and the expected change in fuselage attitude. For example, the model might calculate a trajectory requiring "appropriate over-movement" of the chassis: that is, the horizontal displacement of the chassis might be slightly larger than the original plane deviation vector. By doing so, during the chassis movement, its inertia is deliberately used to generate a small, beneficial pitch angle change in the fuselage. This change causes the pile pipe to swing back like a pendulum, ultimately... When the chassis reaches the new position, the tip of the pile tube is precisely aligned with the target point due to the leverage effect, and the pitch attitude of the fuselage is also improved, reducing the workload for subsequent leveling operations. Furthermore, the expected travel trajectory of the pile tube output by the model is not a simple point-to-point straight line command, but an optimized path that takes into account the coupling of system dynamics and aims to achieve "movement as calibration". This ensures that the entire movement process is smooth, accurate and efficient, thereby fundamentally avoiding the inefficient oscillation cycle of "movement-stopping-leveling-re-fine-tuning" in traditional step control. It helps to overcome the accuracy bottleneck of traditional methods that cannot achieve "one-step" accuracy due to ignoring the characteristics of system dynamics.

[0120] Next, the cylinder stroke-attitude mapping law of the hydraulic system is obtained. This law describes the quantitative conversion relationship between the extension / retraction stroke of each hydraulic cylinder and the spatial pose (position and attitude) of the pile driver. Through this law, the hydraulic support system of the pile driver can be abstracted into a geometric model. The inputs to this model are the expected trajectory of the pile tube, the elevation adjustment value, and the expected horizontal attitude of the machine body (roll angle target is 0°, pitch angle target is the current value or also 0°). The output is the precise stroke change required for each group of hydraulic cylinders (vertical main cylinder and leveling auxiliary cylinder). During calculation, the system first calculates the compensation amount of each leveling cylinder required for leveling the machine body (i.e., setting φ to zero) based on the current roll angle φ and the expected trajectory of the pile tube. Then, based on the elevation deviation value, it calculates the compensation amount of each leveling cylinder required for leveling the machine body (i.e., setting φ to zero). The main hydraulic cylinder compensation amount required to eliminate elevation deviation is determined, and then the hydraulic coupling matrix is ​​obtained. The compensation amounts of each leveling cylinder and the main hydraulic cylinder are solved simultaneously to obtain the coordinated control amount, which is used as a comprehensive and optimized coordinated adjustment command. The meaning of this set of commands is: to drive the main hydraulic cylinder and the leveling cylinder simultaneously. The final effect is not to complete the leveling or lifting in the first step, but to make the net displacement of the pile pipe tip exactly the expected total compensation displacement in one step. At the same time, the roll angle of the machine body is precisely corrected to the horizontal. This means that the "vertical compensation amount" and "leveling compensation amount" calculated by the system are no longer two independent values, but a set of actuator control amounts that work in coordination after coupling and decoupling calculation. This achieves synchronous adjustment of elevation and levelness, and completely avoids the problems of repeated adjustments and low efficiency caused by mechanical coupling of the actuator.

[0121] In one embodiment, step S6, which involves obtaining construction deviation data based on the pile pipe construction data and the pile hole design data, and obtaining the positioning compliance value based on the construction deviation data, includes:

[0122] S61. Obtain the original horizontal deviation, original elevation deviation, and pile pipe attitude angle deviation based on the pile pipe construction data and the pile hole design data;

[0123] S62. Obtain the foundation bearing capacity parameters and the historical settlement data of the pile driver, and obtain the instantaneous settlement based on the foundation bearing capacity parameters and the historical settlement data of the pile driver;

[0124] S63. Obtain the compensated elevation deviation based on the instantaneous settlement and the original elevation deviation, and use the original horizontal deviation, the compensated elevation deviation, and the pile pipe attitude angle deviation as construction deviation data;

[0125] S64. Obtain the core parameters of the signal, and obtain the GNSS positioning reliability based on the core parameters of the signal;

[0126] S65. Obtain the weight coefficient group and gain coefficient, and adjust the weight coefficient group according to the gain coefficient and the GNSS positioning confidence to obtain the weight optimization coefficient group;

[0127] S66. Obtain the positioning compliance value based on the construction deviation data and the weight optimization coefficient group.

[0128] As described in steps S61-S66 above, this invention obtains the actual coordinates of the pile tip and the actual three-dimensional attitude angle of the pile pipe based on the pile pipe construction data. Combined with the pile hole design data, it calculates the original horizontal deviation (ΔX, ΔY), the original elevation deviation (ΔZ), and the pile pipe attitude angle deviation. Then, it obtains the foundation bearing capacity parameters of the current working area from the geological survey database. These foundation bearing capacity parameters are comprehensive performance parameters characterizing the shear failure resistance of the foundation soil, typically including the allowable bearing capacity value, deformation modulus, and compression modulus. Simultaneously, it also obtains... Historical settlement data of the piling machine refers to the statistical values ​​of platform settlement recorded during previous piling processes in this area or under similar geological conditions. Then, based on the original elevation deviation, the system estimates the potential instantaneous settlement of the piling machine under current equipment weight, geological conditions, and vibration, using a built-in empirical model or machine learning prediction model (such as linear regression or support vector machine algorithms) based on the foundation bearing capacity parameters and the historical settlement data. The difference between the original elevation deviation and the instantaneous settlement is used as the compensated elevation deviation. This invention addresses the issue of misclassifying settlement caused by geological factors, specifically non-equipment control errors, from the original elevation deviation. The resulting compensated elevation deviation, reflecting the accuracy of the pile driver's elevation control system itself, eliminates the influence of geological factors. Existing technologies, when calculating construction deviations in soft soil foundations, suffer from instantaneous settlement due to the pile driver's weight and vibrations. This leads to a systematic underestimation of the pile tip elevation measured via GNSS and other methods. This settlement, originating from geological conditions rather than the accuracy error of the pile driver's elevation control system, is still included in the original coordinate deviation calculation, causing the system to overestimate construction errors and triggering unnecessary re-adjustments, significantly reducing construction efficiency. This invention, by introducing a geological settlement prediction model into the pile driving construction quality assessment process, intelligently deducts systematic errors. This solves the technical problem of misjudging equipment settlement caused by geological conditions as equipment elevation control errors in existing technologies, avoiding false alarms and invalid re-aiming, and significantly improving the accuracy of elevation control assessment and construction efficiency.

[0129] Existing technologies, when calculating construction deviations and determining final compliance, do not fully consider the differences in data reliability between different sensors under different operating conditions. For example, when the GNSS signal is obstructed or subjected to electromagnetic interference, reducing its positioning reliability, the absolute coordinate data it provides may contain significant errors. If these errors are still included in the final quality assessment with relatively high-precision inertial attitude measurement data using a fixed weight, the reliability and robustness of the judgment results will be significantly reduced, potentially leading to misjudgments. Therefore, this invention extracts core signal parameters that directly reflect signal quality from the quality information of integrated GNSS receiver data. These core signal parameters refer to those obtained from raw GNSS observations. The parameters parsed from the data and navigation messages used to quantify signal transmission characteristics include the signal-to-noise ratio (SNR) or carrier-to-noise ratio (C / N0) of all visible satellites. Simultaneously, the number of satellites in a locked state is counted; a higher number of satellites generally indicates better geometry and higher solution reliability. Then, the receiver's internal positioning engine outputs its estimated accuracy factors, primarily including the horizontal accuracy factor (HDOP) and vertical accuracy factor (VDOP). These factors quantify the amplification effect of the current satellite spatial geometry on the positioning error. Furthermore, the receiver typically provides single-point positioning in the northeast sky (ENU) based on the solution residuals and statistical models. The standard deviation in each direction of the coordinate system directly reflects the internal consistency accuracy of the positioning result at the current moment. Finally, the system also monitors the receiver's tracking status flags, such as whether there is a cycle slip, whether it has entered the fixed solution or floating solution state of differential correction (RTK / RTD), because the confidence levels of different solution states are fundamentally different. Then, the system calls a pre-calibrated and trained confidence fusion model (e.g., based on a fuzzy logic system or a machine learning regression model). This model uses all the above-mentioned core signal parameters as input features and, through a complex nonlinear mapping... The system executes the shooting rules and ultimately outputs a normalized continuous scalar value between 0 (completely unreliable) and 1 (completely reliable), which is the GNSS positioning confidence score. This value comprehensively and intelligently characterizes the reliability of the current GNSS positioning result. As a single, quantitative confidence index that can comprehensively reflect signal strength, geometric configuration, internal coincidence accuracy, and solution status, the GNSS positioning confidence score helps to solve the technical problem of existing technologies that "rely on a single index (such as the number of satellites or HDOP) or a simple threshold to judge the reliability of GNSS data, resulting in a one-sided and unreliable evaluation result." It provides an accurate and reliable input basis for subsequent intelligent weight allocation.

[0130] Then, the weight coefficient set is obtained. This set refers to the initial set of importance coefficients assigned to the three components—plane deviation, elevation deviation, and attitude angle deviation—when evaluating the positioning achievement value. It includes the plane deviation weight corresponding to plane deviation, the elevation deviation weight corresponding to elevation deviation, and the attitude angle weight corresponding to attitude angle deviation. Simultaneously, the gain coefficient is obtained. This gain coefficient is a preset adjustment parameter used to control the rate of change of the weights with GNSS confidence. Based on the GNSS positioning confidence and the gain coefficient, the plane deviation weight, elevation deviation weight, and attitude angle weight are adjusted respectively to obtain the weight optimization coefficient set. This weight optimization coefficient set refers to the set obtained after dynamic adjustment. The final weight set for weighted calculation includes plane deviation optimization weight, elevation deviation optimization weight, and attitude angle optimization weight. The specific adjustment method is as follows: When the GNSS positioning reliability is at a high level (e.g., GNSS positioning reliability greater than 0.7), it indicates that the absolute coordinate data provided by the Global Navigation Satellite System has extremely high reliability. At this time, it is necessary to strengthen the trust in absolute positioning accuracy indicators while correspondingly weakening the dependence on relative attitude indicators. The plane deviation weight is adjusted by adding a dynamic increment obtained by multiplying the gain coefficient by the current GNSS positioning reliability to the plane deviation weight. The elevation deviation weight follows the exact same adjustment principle, ensuring its weight value is equal to... The plane deviation increases synchronously, while the attitude angle weight is adjusted by subtracting a dynamic reduction obtained by multiplying the current GNSS positioning confidence by a weighted gain function of twice the weight. When the GNSS positioning confidence is low (e.g., less than 0.7), it indicates that the reliability of the absolute coordinate data provided by the Global Navigation Satellite System is questionable. In this case, the system implements the opposite adjustment strategy to the high-confidence case, which requires reducing the dependence on absolute positioning data while significantly increasing the dependence on the device's own attitude stability indicators. Specifically, the plane deviation weight is directly multiplied by the current GNSS positioning confidence to obtain the plane deviation. The weights are optimized, and the elevation deviation weights are adjusted in the same way to obtain the optimized elevation deviation weights, so that their weight values ​​decay synchronously with the plane deviation. At the same time, the optimized attitude angle weights are obtained by subtracting the sum of the optimized plane deviation weights and the optimized elevation deviation weights from "1". This dynamic weight redistribution algorithm based on data reliability realizes a smooth and adaptive switch from "absolute coordinate-dominated" to "equipment attitude-dominated" evaluation strategy. It helps to solve the technical problem of "using fixed weights for fusion evaluation under different GNSS signal quality, blindly trusting unreliable absolute coordinate data when the signal is poor, leading to misjudgment" in the existing technology. It greatly improves the reliability and robustness of the final quality evaluation results.

[0131] Finally, the three parameters representing different performance dimensions—original horizontal deviation, compensated elevation deviation, and pile pipe attitude angle deviation—are mapped to evaluation scores between 0 and 100 through their respective normalization functions (designed based on the maximum deviation tolerance allowed by construction specifications), making them dimensionless and comparable values. Based on the optimized weights of plane deviation, elevation deviation, and attitude angle, a weighted summation algorithm is used to calculate the positioning compliance value. The positioning compliance value is a comprehensive quality assessment indicator that not only reflects the final absolute positioning accuracy of the pile driver but also eliminates systematic errors caused by geological settlement and intelligently responds to changes in the reliability of data from different sensors. Its output provides an intelligent and highly reliable decision-making basis for whether to record results or trigger re-alignment adjustments, effectively avoiding misjudgments caused by geological factors or unreliable data, and significantly improving the scientific nature of construction quality assessment and overall operational efficiency.

[0132] This application also provides a pile hole positioning system for drainage sheet pile pipes based on multi-source sensors, including:

[0133] The data acquisition module is used to acquire the top coordinates of the pile driver, pile pipe movement data, and machine body movement data based on multi-source heterogeneous sensors;

[0134] The data fusion module is used to obtain the root coordinates of the pile pipe and the three-dimensional attitude angle of the pile pipe based on the top coordinates of the pile driver and the movement data of the pile pipe;

[0135] The coordinate acquisition module is used to acquire the coordinates of the tip of the pile pipe based on the three-dimensional attitude angle of the pile pipe and the coordinates of the root of the pile pipe.

[0136] The deviation calculation module is used to acquire pile hole design data and obtain pile hole positioning deviation data based on the machine motion data, pile pipe tip coordinates and pile hole design data.

[0137] The instruction generation module is used to obtain coordinated adjustment instructions based on the pile hole positioning deviation data and the three-dimensional attitude angle of the pile pipe;

[0138] The instruction execution module is used to control the pile driver to adjust the position of the pile pipe and drive the pile pipe according to the coordinated adjustment instructions, and to acquire the pile pipe construction data;

[0139] The positioning evaluation module is used to obtain construction deviation data based on the pile pipe construction data and the pile hole design data, and to obtain the positioning compliance value based on the construction deviation data.

[0140] The judgment and adjustment module is used to determine whether the positioning compliance value is greater than a preset threshold;

[0141] If the positioning compliance value is greater than the preset threshold, the pile pipe construction data will be automatically recorded;

[0142] If the positioning compliance value is not greater than the preset threshold, the construction deviation data is used as the pile hole positioning deviation data and the process is returned to the step of obtaining the coordinated adjustment instruction.

[0143] In one embodiment, the deviation calculation module includes:

[0144] The vector fusion unit is used to obtain real-time linear velocity, real-time acceleration, real-time angular velocity and centrifugal acceleration based on the body motion data, and to obtain a comprehensive acceleration vector based on the real-time acceleration and the centrifugal acceleration.

[0145] A translation prediction unit is used to obtain the total response delay time and to obtain the predicted translation displacement vector based on the total response delay time, the real-time linear velocity, and the real-time acceleration.

[0146] A rotation prediction unit is used to obtain a predicted attitude rotation matrix based on the total response delay time and the real-time angular velocity.

[0147] The first calculation unit is used to obtain the inherent vector of the pile-pipe structure, and to obtain the first compensation amount based on the inherent vector of the pile-pipe structure, the predicted attitude rotation matrix and the predicted translation displacement vector;

[0148] The second calculation unit is used to obtain the pile pipe material parameters and obtain the second compensation amount based on the pile pipe material parameters, the comprehensive acceleration vector and the three-dimensional attitude angle of the pile pipe.

[0149] The deviation acquisition unit is used to acquire the optimized coordinates of the pile tip based on the first compensation amount, the second compensation amount and the coordinates of the pile pipe tip, and to acquire the pile hole positioning deviation data based on the optimized coordinates of the pile tip and the pile hole design data.

[0150] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method for locating the pile hole of a drainage sheet pile pipe based on multi-source sensors.

[0151] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described method for locating the pile holes of a drainage sheet pile pipe based on a multi-source sensor.

[0152] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in this application and in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-speed SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0153] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0154] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for positioning a pile hole of a drainage pile tube based on a multi-source sensor, characterized in that, The method comprises the following steps: acquiring pile top coordinates, pile pipe motion data and machine body motion data based on multi-source heterogeneous sensors; acquiring pile pipe root coordinates and pile pipe three-dimensional attitude angles based on the pile top coordinates and the pile pipe motion data; acquiring pile pipe tip coordinates based on the pile pipe three-dimensional attitude angles and the pile pipe root coordinates; acquiring pile hole design data, and acquiring pile hole positioning deviation data based on the machine body motion data, the pile pipe tip coordinates and the pile hole design data; acquiring cooperative adjustment instructions based on the pile hole positioning deviation data and the pile pipe three-dimensional attitude angles; controlling the pile driver to adjust the pile pipe position and drive the pile pipe based on the cooperative adjustment instructions, and acquiring pile pipe construction data; acquiring construction deviation data based on the pile pipe construction data and the pile hole design data, and acquiring positioning compliance values based on the construction deviation data; judging whether the positioning compliance values are greater than preset threshold values; if the positioning compliance values are greater than the preset threshold values, automatically recording the pile pipe construction data; if the positioning compliance values are not greater than the preset threshold values, taking the construction deviation data as the pile hole positioning deviation data and returning to the step of acquiring the cooperative adjustment instructions.

2. The multi-source sensor based piling pipe positioning method of claim 1, wherein, The step of acquiring the pile pipe root coordinates and the pile pipe three-dimensional attitude angles based on the pile top coordinates and the pile pipe motion data comprises the following steps: acquiring pile pipe angular velocity and pile pipe acceleration based on the pile pipe motion data, and performing filtering processing on the pile pipe angular velocity and the pile pipe acceleration to obtain filtered angular velocity and filtered acceleration; acquiring IMU measurement data, and acquiring average accelerometer data and average gyroscope data based on the IMU measurement data; acquiring a gravity vector of a navigation coordinate system, and performing coordinate system conversion on the filtered angular velocity and the filtered acceleration based on the gravity vector, the average accelerometer data and the average gyroscope data to obtain pile pipe navigation system angular velocity and pile pipe navigation system acceleration; acquiring pile pipe structure parameters and system calibration data, and acquiring the pile pipe root coordinates and the pile pipe three-dimensional attitude angles based on the pile pipe structure parameters, the system calibration data, the pile top coordinates, the pile pipe navigation system angular velocity and the pile pipe navigation system acceleration based on an extended Kalman filtering model.

3. The multi-source sensor based piling pipe positioning method of claim 1, wherein, The step of acquiring the pile pipe tip coordinates based on the pile pipe three-dimensional attitude angles and the pile pipe root coordinates comprises the following steps: extracting a roll angle, a pitch angle and a yaw angle from the pile pipe three-dimensional attitude angles; acquiring an Euler rotation sequence, and acquiring a yaw rotation matrix, a pitch rotation matrix and a roll rotation matrix based on the rotation sequence, the roll angle, the pitch angle and the yaw angle; acquiring a rotation transformation matrix based on the yaw rotation matrix, the pitch rotation matrix and the roll rotation matrix; acquiring a pile pipe root tip rigid connection vector, and acquiring a space compensation vector based on the pile pipe root tip rigid connection vector and the rotation transformation matrix; acquiring the pile pipe tip coordinates based on the space compensation vector and the pile pipe root coordinates.

4. The multi-source sensor based piling pipe positioning method of claim 1, wherein, The step of acquiring the pile hole positioning deviation data based on the machine body motion data, the pile pipe tip coordinates and the pile hole design data comprises the following steps: According to the body motion data, real-time linear velocity, real-time acceleration, real-time angular velocity and centrifugal acceleration are obtained, and a comprehensive acceleration vector is obtained according to the real-time acceleration and the centrifugal acceleration; A total response delay time is obtained, and a predicted translational displacement vector is obtained according to the total response delay time, real-time linear velocity and real-time acceleration; A predicted attitude rotation matrix is obtained according to the total response delay time and real-time angular velocity; A pile pipe structure inherent vector is obtained, and a first compensation amount is obtained according to the pile pipe structure inherent vector, predicted attitude rotation matrix and predicted translational displacement vector; A pile pipe material parameter is obtained, and a second compensation amount is obtained according to the pile pipe material parameter, comprehensive acceleration vector and pile pipe three-dimensional attitude angle; A pile tip optimization coordinate is obtained according to the first compensation amount, second compensation amount and pile pipe tip coordinate, and a pile hole positioning deviation data is obtained according to the pile tip optimization coordinate and pile hole design data.

5. The multi-source sensor based piling of a sheet pile pipe pile hole positioning method according to claim 1, wherein, The step of obtaining the cooperative adjustment instruction according to the pile hole positioning deviation data and the pile pipe three-dimensional attitude angle comprises: A two-dimensional plane deviation vector and an elevation deviation value are extracted from the pile hole positioning deviation data, and a pile pipe adjustment target is obtained according to the two-dimensional plane deviation vector and the pile pipe three-dimensional attitude angle; A pile pipe motion coupling rule is obtained, and a plurality of pile pipe attitude adjustment amounts are obtained according to the pile pipe motion coupling rule and the pile pipe adjustment target; A pile pipe expected walking track is constructed according to a plurality of the pile pipe attitude adjustment amounts and the pile pipe tip coordinate; An oil cylinder stroke-attitude mapping rule is obtained, and a leveling oil cylinder compensation amount is obtained according to the oil cylinder stroke-attitude mapping rule, pile pipe three-dimensional attitude angle and pile pipe expected walking track; A main oil cylinder compensation amount is obtained according to the oil cylinder stroke-attitude mapping rule and the elevation deviation value; A hydraulic coupling matrix is obtained, and a cooperative adjustment instruction is obtained according to the hydraulic coupling matrix, leveling oil cylinder compensation amount and main oil cylinder compensation amount.

6. The multi-source sensor based piling of a sheet pile pipe pile hole positioning method according to claim 1, wherein, The step of obtaining the construction deviation data according to the pile pipe construction data and the pile hole design data, and obtaining the positioning compliance value according to the construction deviation data comprises: An original horizontal deviation, an original elevation deviation and a pile pipe attitude angle deviation are obtained according to the pile pipe construction data and the pile hole design data; A foundation bearing capacity parameter and a pile driver historical settlement data are obtained, and an instantaneous settlement amount is obtained according to the foundation bearing capacity parameter and the pile driver historical settlement data; A compensated elevation deviation is obtained according to the instantaneous settlement amount and the original elevation deviation, and the original horizontal deviation, compensated elevation deviation and pile pipe attitude angle deviation are taken as the construction deviation data; A signal core parameter is obtained, and a GNSS positioning reliability is obtained according to the signal core parameter; A weight coefficient group and a gain coefficient are obtained, and the weight coefficient group is adjusted according to the gain coefficient and the GNSS positioning reliability to obtain a weight optimized coefficient group; The positioning compliance value is obtained according to the construction deviation data and the weight optimized coefficient group.

7. A pile hole positioning system for drainage sheet pile pipes based on multi-source sensors, characterized in that, Comprise: A data acquisition module is used to obtain a pile driver top coordinate, a pile pipe motion data and a body motion data according to a plurality of source heterogeneous sensors; a data fusion module configured to obtain pile tube root coordinates and a pile tube three-dimensional attitude angle based on the pile driver top coordinates and the pile tube motion data; a coordinate acquisition module configured to obtain pile tube tip coordinates based on the pile tube three-dimensional attitude angle and the pile tube root coordinates; a deviation calculation module configured to obtain pile hole design data, and obtain pile hole positioning deviation data based on the machine motion data, the pile tube tip coordinates, and the pile hole design data; an instruction generation module configured to obtain cooperative adjustment instructions based on the pile hole positioning deviation data and the pile tube three-dimensional attitude angle; an instruction execution module configured to control the pile driver to adjust the pile tube position and drive the pile tube based on the cooperative adjustment instructions, and obtain pile tube construction data; a positioning evaluation module configured to obtain construction deviation data based on the pile tube construction data and the pile hole design data, and obtain a positioning compliance value based on the construction deviation data; a judgment adjustment module configured to judge whether the positioning compliance value is greater than a preset threshold value; if the positioning compliance value is greater than the preset threshold value, automatically record the pile tube construction data; if the positioning compliance value is not greater than the preset threshold value, take the construction deviation data as the pile hole positioning deviation data and return to the step of obtaining the cooperative adjustment instructions.

8. The multi-source sensor based piling pipe positioning system of the sheet pile according to claim 7, wherein, the deviation calculation module comprises: a vector fusion unit configured to obtain real-time linear velocity, real-time acceleration, real-time angular velocity, and centrifugal acceleration based on the machine motion data, and obtain a comprehensive acceleration vector based on the real-time acceleration and the centrifugal acceleration; a translation prediction unit configured to obtain a total response delay time, and obtain a predicted translation displacement vector based on the total response delay time, real-time linear velocity, and real-time acceleration; a rotation prediction unit configured to obtain a predicted attitude rotation matrix based on the total response delay time and the real-time angular velocity; a first calculation unit configured to obtain a pile tube structure inherent vector, and obtain a first compensation amount based on the pile tube structure inherent vector, the predicted attitude rotation matrix, and the predicted translation displacement vector; a second calculation unit configured to obtain a pile tube material parameter, and obtain a second compensation amount based on the pile tube material parameter, the comprehensive acceleration vector, and the pile tube three-dimensional attitude angle; a deviation acquisition unit configured to obtain a pile tip optimized coordinate based on the first compensation amount, the second compensation amount, and the pile tube tip coordinates, and obtain pile hole positioning deviation data based on the pile tip optimized coordinate and the pile hole design data. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor executes the computer program to implement the steps of the method of any one of claims 1 to 6.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

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