A positioning method and positioning system for water pile foundation in fish-light complementary water area

Abstract

The application belongs to the technical field of pile foundation construction, and discloses a positioning method and positioning system for water pile foundation in fish-light complementary water area, aiming to solve the problems of low positioning accuracy, poor efficiency and ecological disturbance caused by dynamic deviation of platform and information lag in traditional manual measurement method. Method: based on three-dimensional model, pile position data is imported; through Beidou positioning array, real-time pose of pile driver is solved; deviation vector is dynamically generated to control autonomous positioning of walking mechanism; double-axis inclination sensor is used to feedback closed-loop correction of pile verticality; when the pile is sinking, continuous monitoring and dynamic compensation of over tolerance are carried out. The system comprises a positioning control unit, a Beidou positioning array, an inclination sensor and a hydraulic execution system. The application realizes centimeter-level positioning and real-time verticality control, effectively improves construction efficiency and reduces ecological disturbance.

Description

Technical Field

[0001] This invention belongs to the field of pile foundation construction technology, specifically relating to a method and system for positioning floating pile foundations in aquatic environments where fisheries and solar power complement each other. Background Technology

[0002] Photovoltaic power plant construction is an important component of clean energy development. The "fishery-solar complementary" model, which combines photovoltaic power plant construction with aquaculture, can efficiently utilize land and water resources, achieving synergistic effects between energy production and agricultural production. In the construction of fishery-solar complementary water areas, the construction of underwater pile foundations is a crucial step in the foundation structure construction. The positioning accuracy and verticality of the piles directly determine the installation accuracy and structural stability of the subsequent photovoltaic support structures, making it a critical process affecting overall construction quality and project efficiency.

[0003] In construction scenarios where the proposed site is an existing aquaculture area such as a fishpond or crabpond, the positioning of pile foundations on water faces significant environmental constraints and technical challenges. The ecosystems of such water bodies are extremely sensitive to construction disturbances; factors such as water agitation and sediment diffusion can cause stress responses or even death in aquaculture species. Therefore, ecological protection must be prioritized during construction to minimize the impact and disturbance to the water body. Conventional construction strategies typically rely on traditional surveying equipment such as total stations and levels mounted on the shore or floating platform, combined with manual observation and command, to guide the pile-driving machinery to complete the positioning and attitude adjustment. Workers must repeatedly measure and manually correct to approximate the designed pile coordinates and verticality requirements.

[0004] However, in existing technologies, this implementation method, which relies primarily on manual measurement and adjustment, inevitably exposes deep-seated technical contradictions when handling large-scale pile foundation construction tasks in aquatic environments where fisheries and solar power are integrated. Specifically, the aquatic construction environment lacks a stable ground benchmark. The floating or soft-bottomed working platform of the pile driver is constantly in a state of dynamic slight deviation due to the influence of wind, waves, water flow, and the vibration of the machinery itself. This causes the real-time spatial coordinates and attitude of the pile driver's mechanical center to be constantly changing. Traditional measurement methods can only provide discrete, non-real-time point coordinate feedback, and cannot perform continuous, high-bandwidth dynamic tracking of the pile driver's mechanical center. This results in construction personnel facing a lagging control object, with each decision on pile position correction and verticality adjustment based on an outdated coordinate snapshot. Due to the delay in perceived information and the discontinuity of adjustment actions, the entire positioning and verification process evolves into an oscillating cycle consisting of "deviation generation, manual discovery, manual elimination, and re-deviation." When faced with construction projects involving hundreds or thousands of piles, this repetitive "measurement-correction" cycle leads to an exponential decline in construction efficiency. More critically, while pursuing ecological protection and striving to shorten single-pile construction time and reduce the disturbance to the waterbed caused by frequent equipment movement, this inefficient cycle forces a prolonged construction time for each pile, simultaneously increasing the duration and scope of disturbance. This dramatically increases the risk of raising the concentration of suspended solids in the water above the threshold affecting the survival of aquaculture organisms. Thus, traditional methods lead to a paradoxical dilemma: to protect the aquaculture ecosystem, precise and rapid construction is needed to shorten disturbance time. However, existing manual positioning technologies, due to their inherent dynamic response lag and oscillating adjustment mechanisms, cannot achieve efficient and rapid single-pile construction while ensuring accurate positioning and verticality. Instead, they approach the construction target with greater time costs and more frequent disturbances. Therefore, existing technologies have formed a systemic bottleneck in balancing construction accuracy, efficiency, and ecological environmental protection, becoming a pressing technical challenge in this field. Summary of the Invention

[0005] The purpose of this invention is to provide a waterborne pile foundation positioning system and method for solar-fishery complementary water areas, which can effectively solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a method for positioning floating pile foundations in aquatic environments where fisheries and solar power are integrated, comprising the following specific steps: S1: Establish a three-dimensional digital model of the construction site, import the preset pile location design data into the positioning control unit, and the positioning control unit generates the theoretical coordinate value of each pile location based on the three-dimensional digital model; S2: Deploy a positioning array consisting of multiple Beidou high-precision positioning receiving antennas on the amphibious pile driver to calculate the three-axis absolute coordinates and heading angle of the mechanical center of the amphibious pile driver in the construction coordinate system in real time, and form a real-time pose data stream of the mechanical center. S3: Dynamically compare the real-time pose data stream of the mechanical center with the theoretical coordinate value of the current target pile position to generate a positioning deviation vector containing planar position deviation and azimuth angle deviation. Then, convert the positioning deviation vector into the first hydraulic execution command to drive the amphibious pile driver's walking mechanism, guiding the amphibious pile driver to autonomously move to the target pile position. During the movement, the positioning control unit continuously updates the first hydraulic execution command at a frequency not lower than the preset frequency. S4: After the amphibious pile driver is in place, the real-time tilt angle data of the pile body in two orthogonal directions is obtained by the dual-axis tilt angle sensor deployed on the pile hammer guide frame. The positioning control unit compares the real-time tilt angle data with the vertical reference value, generates the tilt angle deviation vector, and converts the tilt angle deviation vector into the second hydraulic execution command to drive the attitude adjustment mechanism of the pile hammer guide frame, and performs closed-loop correction of the verticality of the pile body. S5: During the pile driving process, the positioning control unit simultaneously performs continuous monitoring of the real-time position and posture of the mechanical center and the real-time tilt angle of the pile. When the real-time position and posture of the mechanical center deviates from the preset allowable deviation zone or the real-time tilt angle of the pile exceeds the preset verticality threshold, a composite correction command is generated to drive the corresponding hydraulic actuator to perform dynamic compensation.

[0007] Preferably, in step S1, the three-dimensional digital model is a building information model, and the pile location design data includes the number of each pile location, the theoretical plane coordinates in the construction coordinate system, the design pile top elevation, and the design pile length; the positioning control unit divides multiple consecutive pile locations into a construction section according to the travel path planning of the amphibious pile driver, and sequentially retrieves the theoretical coordinate values ​​of the corresponding pile locations as the target values ​​for dynamic comparison according to the construction sequence of the pile locations in the section.

[0008] Preferably, in step S2, the positioning array includes at least three BeiDou high-precision positioning receiving antennas, of which two BeiDou high-precision positioning receiving antennas are deployed at intervals along the main travel axis of the amphibious pile driver, and the third BeiDou high-precision positioning receiving antenna is deployed at a position deviating from the main travel axis. The positioning control unit calculates the antenna phase center coordinates of each BeiDou high-precision positioning receiving antenna through real-time dynamic differential positioning technology, and combines the pre-calibrated coordinates of each antenna in the coordinate system of the pile driver body, and calculates the three-axis absolute coordinates and heading angle of the mechanical center of the amphibious pile driver in the construction coordinate system through rigid body transformation.

[0009] Preferably, in step S2, the positioning control unit further performs adaptive Kalman filtering on the calculated real-time pose data stream of the mechanical center. The state vector of the filter includes at least the position, velocity, and acceleration of the mechanical center, and the observation noise covariance matrix is ​​dynamically adjusted according to the currently received satellite geometric distribution accuracy factor.

[0010] Preferably, in step S3, the positioning control unit adopts a segmented variable gain control strategy to convert the positioning deviation vector into a first hydraulic execution command. When the planar position deviation is greater than the first preset threshold, a high-gain control law is used to drive the walking mechanism at the maximum speed in a preset first ratio for rapid approach. When the planar position deviation is less than or equal to the first preset threshold and greater than the second preset threshold, a low-gain control law is switched to drive the walking mechanism at the maximum speed in a preset second ratio for micro-adjustment. When the planar position deviation is less than or equal to the second preset threshold and the azimuth angle deviation is less than the preset angle threshold, it is determined that the amphibious pile driver is in place.

[0011] Preferably, in step S4, the dual-axis tilt sensor is rigidly mounted on the pile hammer guide frame, and its measuring axes are orthogonal to the guiding direction of the pile hammer guide frame. The dual-axis tilt sensor has a preset measuring range and resolution, and the data output frequency is not lower than the preset frequency. The positioning control unit reads the measured values ​​of the dual-axis tilt sensor to form a two-dimensional tilt vector describing the pile posture, and performs vector subtraction with the theoretical two-dimensional tilt value in the vertical state to obtain the tilt deviation vector.

[0012] Preferably, in step S4, the process of converting the tilt angle deviation vector into a second hydraulic execution command includes using a proportional-integral-derivative control algorithm. The output of the controller corresponds to the extension and retraction of the hydraulic cylinders of the pile hammer guide frame in two orthogonal directions. By adjusting the extension and retraction of the hydraulic cylinders, the spatial attitude of the pile hammer guide frame is changed, thereby compensating for the tilt deviation of the pile body in the reverse direction, until the difference between the two-dimensional tilt angle vector fed back by the dual-axis tilt angle sensor and the theoretical value of the two-dimensional tilt angle in the vertical state converges to the preset verticality threshold range.

[0013] Preferably, in step S5, the preset allowable deviation zone is a circular area centered on the theoretical plane coordinates of the target pile position and with a preset radius, and the preset verticality threshold is that the angle between the pile axis and the plumb line does not exceed a preset angle value. When the real-time position of the mechanical center is within the allowable deviation zone and the real-time inclination angle of the pile is within the verticality threshold, the pile driving process continues. When the real-time position of the mechanical center exceeds the allowable deviation zone or the real-time inclination angle of the pile exceeds the verticality threshold, the positioning control unit interrupts the pile driving signal and prioritizes the closed-loop correction of the pile verticality. After the real-time inclination angle of the pile recovers to within the verticality threshold, the mechanical center position correction is performed, and finally the pile driving signal is restarted.

[0014] Preferably, the present invention also provides a waterborne pile foundation positioning system for amphibious waters with aquatic-solar hybrid development. The system includes: a positioning control unit, a positioning array consisting of multiple BeiDou high-precision positioning receiving antennas deployed on an amphibious pile driver, a dual-axis tilt sensor rigidly mounted on a pile hammer guide frame, and a hydraulic actuation system for the walking mechanism of the amphibious pile driver and the attitude adjustment mechanism of the pile hammer guide frame. The positioning control unit is electrically connected to the positioning array, the dual-axis tilt sensor and the hydraulic actuation system, respectively, and the positioning control unit is used to execute the steps of the waterborne pile foundation positioning method for amphibious-solar hybrid waters.

[0015] Preferably, the positioning control unit includes a data interface module, a pose calculation module, a deviation calculation module, and an instruction generation module; the data interface module is used to receive three-dimensional digital model data, raw observation data from the Beidou high-precision positioning receiving antenna, and measurement data from the dual-axis tilt sensor; the pose calculation module is used to execute real-time dynamic differential positioning algorithm and rigid body transformation calculation, and output the real-time pose data stream of the mechanical center; the deviation calculation module is used to generate the positioning deviation vector and tilt deviation vector; the instruction generation module is used to execute control law calculation, and output the first hydraulic execution instruction and the second hydraulic execution instruction.

[0016] By means of the above-described solution, the present invention has at least the following advantages: 1. By deeply integrating the BeiDou high-precision positioning array with the hydraulic execution system of the amphibious pile driver, a closed-loop control system from perception and decision-making to execution was constructed. This transformed the discrete manual measurement and control process into a continuous autonomous positioning and correction process, breaking the oscillating adjustment cycle caused by information lag in traditional methods. This achieved a synergistic improvement in pile foundation positioning accuracy, construction efficiency, and ecological environmental protection.

[0017] 2. It achieves centimeter-level autonomous positioning. Relying on real-time dynamic differential positioning technology and multi-antenna rigid body transformation calculation, it can perform high-frequency dynamic tracking of the mechanical center of the pile driver. Based on the hierarchical control strategy, it can autonomously drive the walking mechanism to complete rapid approach and micro-motion positioning, effectively overcoming the positioning problem caused by the dynamic offset of the floating platform on the water surface.

[0018] 3. Real-time monitoring and closed-loop correction of verticality during pile driving were achieved. The hydraulic actuator was driven by a highly sensitive dual-axis tilt sensor and a proportional-integral-derivative control algorithm. This can actively suppress the tilting trend of the pile while the pile driving operation is in progress, and constrain the verticality deviation within the preset verticality threshold, thus ensuring the installation accuracy of the subsequent photovoltaic support.

[0019] 4. When the pile driving process detects an out-of-tolerance position or verticality deviation, the system can automatically interrupt the pile driving and perform composite dynamic compensation, prioritizing the restoration of the pile's verticality before correcting the planar position. This ensures that the state of each pile foundation is within a controlled range throughout the entire pile driving process, fundamentally reducing additional and prolonged construction disturbances caused by rework or remedial operations. It significantly reduces the ecological risk of excessive suspended solids concentration in the water, making it particularly suitable for the construction requirements of aquaculture waters such as fishponds and crab ponds that are sensitive to ecological disturbance.

[0020] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show a certain embodiment of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram illustrating the principle of the method framework of this invention; Figure 2 This is a schematic diagram of the system control of the present invention. Detailed Implementation

[0023] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0024] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below. Example

[0025] This embodiment applies to the pile foundation construction of photovoltaic power stations integrating fish farming and solar power in existing aquaculture areas such as fish ponds and crab ponds. These water bodies typically range in depth from 2 to 5 meters, with a bottom primarily composed of silty clay or clayey silt. Water transparency is low, and the ecosystem is extremely sensitive to construction disturbances. The system and method in this embodiment deeply integrate BeiDou high-precision positioning technology, dual-axis tilt monitoring technology, and an amphibious pile driver hydraulic execution system. The aim is to construct a closed-loop autonomous positioning and verticality control system from perception and decision-making to execution, fundamentally resolving the systemic contradiction between construction accuracy, efficiency, and ecological environmental protection caused by information lag and oscillating adjustments in traditional manual measurement methods.

[0026] The technical solution of this embodiment is first embodied in a complete floating pile foundation positioning system for aquatic complementary fisheries. This system is deployed on an amphibious pile driver, a special engineering machine capable of floating on water and walking on land. Its main structure includes a sealed floating chassis providing buoyancy, a walking mechanism providing propulsion on both water and land, a pile hammer guide frame carrying a diesel or hydraulic hammer, and an attitude adjustment mechanism for adjusting the spatial attitude of the pile hammer guide frame. The walking mechanism consists of four or six independently driven hydraulic motors and reducers. Each hydraulic motor drives a highly buoyant tire or tracked walking device. By adjusting the speed and direction of each hydraulic motor, the amphibious pile driver can achieve omnidirectional movement functions such as forward, backward, turning in place, and crab-like movement. The pile hammer guide frame attitude adjustment mechanism consists of two sets of orthogonally arranged hydraulic cylinders. The two sets of hydraulic cylinders are installed along the longitudinal and transverse symmetry planes of the amphibious pile driver, respectively. The piston rod ends are hinged to the top or middle of the pile hammer guide frame through universal joints. By controlling the extension and retraction of the two sets of hydraulic cylinders, the pile hammer guide frame can be deflected around two orthogonal horizontal axes in space, thereby causing the clamped pile to swing at a small angle around its bottom mud entry point, thus adjusting the verticality of the pile.

[0027] The amphibious pile driver's main structure, in this embodiment, includes four core subsystems for its waterborne pile foundation positioning system: a positioning control unit, a positioning array consisting of multiple BeiDou high-precision positioning receiving antennas deployed on the amphibious pile driver, a dual-axis tilt sensor rigidly mounted on the pile hammer guide frame, and a hydraulic actuation system associated with the amphibious pile driver's walking mechanism and the pile hammer guide frame attitude adjustment mechanism. The positioning control unit is electrically connected to the positioning array, dual-axis tilt sensor, and hydraulic actuation system via an industrial-grade Ethernet or controller area network bus, forming a distributed real-time control network.

[0028] The positioning control unit is the core computing and control hub of the system. Its hardware architecture utilizes an embedded industrial computer motherboard based on an ARM Cortex-A72 or Cortex-A53 core, equipped with a 64-bit processor with a clock speed of at least 1.5GHz, at least 4GB of LPDDR4 RAM, and at least 64GB of eMMC solid-state storage. It runs an embedded real-time operating system based on the Linux kernel. This motherboard achieves physical layer connectivity with external sensors and actuators through an onboard Gigabit Ethernet physical layer chip, multiple RS-485 / RS-232 serial communication interfaces, and a controller area network bus controller. At the logical functional level, the positioning control unit contains four software functional modules: a data interface module, a pose calculation module, a deviation calculation module, and an instruction generation module. The data interface module is responsible for the transmission and reception of physical layer data, protocol parsing, and timestamp alignment. Specific data types received include: 3D digital model data imported through the engineering construction management platform, raw observation data received through the serial communication interface from each BeiDou high-precision positioning receiving antenna, and real-time tilt measurement data received through the serial communication interface from the dual-axis tilt sensor. The pose calculation module is responsible for executing the real-time dynamic differential positioning algorithm and rigid body transformation calculation based on quaternions or Euler angles, converting the antenna coordinates into the pose of the mechanical center of the amphibious pile driver, and outputting a real-time pose data stream of the mechanical center with timestamps. The deviation calculation module receives the real-time pose of the mechanical center and the theoretical coordinates of the current target pile position output by the pose calculation module, performs vector subtraction to generate a positioning deviation vector, and simultaneously receives the two-dimensional tilt vector from the dual-axis tilt sensor, performs vector subtraction with the vertical reference vector to generate a tilt deviation vector. The command generation module receives the deviation vector output by the deviation calculation module, executes control law calculation according to the preset control strategy and control parameters, and outputs a first hydraulic execution command for driving the walking mechanism and a second hydraulic execution command for driving the pile hammer guide frame attitude adjustment mechanism.

[0029] The positioning array consists of at least three BeiDou high-precision positioning receiving antennas. Each BeiDou high-precision positioning receiving antenna includes a high-precision measurement antenna element and a receiver module integrating an RF front-end, baseband processor, and real-time dynamic differential positioning engine. The antenna element uses a four-arm helical or choke coil antenna that supports the reception of BeiDou B1I, B2I, and B3I multi-frequency signals, with a phase center stability better than 1 mm. The receiver module uses a multi-system, multi-frequency measurement board that supports the parallel reception and processing of GPS L1 / L2, GLONASS G1 / G2, Galileo E1 / E5b, and BeiDou B1I / B2I / B3I signals, and can provide a data update rate of up to 20 Hz under dynamic conditions. In terms of physical deployment, the antenna elements of two BeiDou high-precision positioning receiving antennas are installed at intervals along the main travel axis of the amphibious piling machine, with the distance between them being 60% to 80% of the total length of the amphibious piling machine. They are fixedly mounted on rigid supports above the front and rear ends of the floating chassis. The antenna elements of the third BeiDou high-precision positioning receiving antenna are deployed on a side offset from the main travel axis, forming a non-collinear triangular layout with the front and rear antennas. It is usually mounted on a side mounting bracket on the top of the cab. Each receiver module is connected to the data interface module of the positioning control unit via a serial communication interface or an Ethernet interface, outputting raw observation data streams in real time based on NMEA 0183 or RTCM 3.3 format. The data streams contain pseudorange, carrier phase, Doppler observations, satellite ephemeris, and time information for each locked satellite.

[0030] The dual-axis tilt sensor is the core sensing element for performing closed-loop correction of pile verticality. In this embodiment, a high-precision dual-axis tilt sensor based on microelectromechanical systems (MEMS) technology is selected. Its measurement range is ±30 degrees, resolution is 0.001 degrees, and data output frequency is 50 Hz. The sensor is encapsulated in an aluminum alloy or stainless steel housing with IP68 protection rating and rigidly mounted to one side of the pile hammer guide frame using four M6 bolts. The mounting surface is precision ground to ensure that the sensor's measuring axis is strictly orthogonal to the guide direction of the pile hammer guide frame. The sensor's two measuring axes correspond to the tilt angles of the pile hammer guide frame in two orthogonal directions. Internally, it integrates a 16-bit or 24-bit analog-to-digital converter and a temperature compensation circuit. It outputs real-time tilt angle data, after temperature compensation and digital filtering, to the positioning control unit's data interface module via an RS-485 serial communication interface using the Modbus RTU protocol.

[0031] The hydraulic actuator system is the terminal unit that converts positioning deviation vectors and tilt angle deviation vectors into physical actions. This system includes a hydraulic pump station, a set of electro-hydraulic proportional multi-way valves, and hydraulic lines connected to the hydraulic motors of the traveling mechanism and the hydraulic cylinders of the pile hammer guide frame attitude adjustment mechanism. The hydraulic pump station is driven by a diesel engine, producing a piston-type variable pump with a rated working pressure of 25 MPa, providing high-pressure hydraulic oil to the system. The electro-hydraulic proportional multi-way valve group consists of multiple three-position four-way electro-hydraulic proportional directional valves. The valve spool position of each directional valve is controlled by a proportional electromagnet driven by a pulse width modulation signal. The valve opening can be continuously adjusted by changing the duty cycle of the pulse width modulation, thereby precisely controlling the flow rate and direction to each hydraulic motor or hydraulic cylinder. The command generation module of the positioning control unit converts the calculated first hydraulic execution command and the second hydraulic execution command into corresponding proportional electromagnet drive signals through the analog output module or the pulse width modulation output module. These signals are then applied to the electro-hydraulic proportional directional valve controlling the walking mechanism and the electro-hydraulic proportional directional valve controlling the hydraulic cylinder of the attitude adjustment mechanism, thereby achieving continuous control of the amphibious pile driver's travel speed and direction, as well as the pile hammer guide frame deflection angle and speed.

[0032] Supported by the above system architecture, the method for positioning floating pile foundations in the aquaculture-solar complementary water area in this embodiment is strictly executed according to the sequence of steps S1 to S5, forming a dynamic closed-loop control process.

[0033] In the execution phase of step S1, pre-construction preparations are initiated first. Operators import a pre-constructed 3D digital model, based on the geological survey report and photovoltaic support design requirements, into the data interface module of the positioning control unit via the engineering construction management platform. This 3D digital model is a building information model, which includes not only the underwater topographic surface, bottom sediment layering information, and hydrological conditions of the construction site, but also detailed pile location design data for each pile foundation. The pile location design data is stored in the solid-state storage unit of the positioning control unit in the form of a structured data table. Each record contains a unique code for the pile location, its theoretical plane coordinates in the construction coordinate system, the design pile top elevation, and the design pile length. The construction coordinate system is an independently defined Cartesian coordinate system, typically with a fixed reference point at the lower left corner of the construction site as the origin. The X-axis points due east, the Y-axis points due north, and the Z-axis coincides with the local gravity plumb line, pointing towards the zenith. The theoretical plane coordinates are the projection coordinates of the pile top center onto the XOY plane of the construction coordinate system. After successfully importing the model, the data interface module of the positioning control unit performs a data integrity check to confirm that the theoretical coordinate values ​​of all pile positions are within the valid range.

[0034] Subsequently, the deviation calculation module of the positioning control unit divides all pile positions within the construction area into sections according to the preset amphibious pile driver travel path planning logic. This logic, based on a greedy algorithm or minimum spanning tree algorithm, divides multiple consecutive pile positions that can be constructed sequentially without significant turning around into a construction section. The number of pile positions contained in a section is typically between 10 and 30, depending on the geometric boundary shape of the aquaculture pond. After completing the section division, the deviation calculation module establishes a pile position queue data structure according to the predetermined pile position construction sequence within that section. During subsequent autonomous navigation, the deviation calculation module sequentially retrieves the theoretical coordinate values ​​of the corresponding pile positions from the head of the queue and sets them as the target value for the current positioning deviation vector calculation. When the construction of one pile foundation is completed and navigation begins for the next pile foundation, the next pile position in the queue is automatically updated with the current target value.

[0035] The initiation of step S2 marks the start of autonomous positioning and navigation for the amphibious piling machine. The three BeiDou high-precision positioning receiving antennas in the positioning array lock onto BeiDou navigation satellites within their respective fields of view, receiving carrier signals broadcast by the BeiDou satellites in real time. The baseband processor inside each receiver module performs down-conversion, correlation despreading, and carrier phase extraction on the carrier signals to generate a raw observation data stream. This raw observation data stream is output at a frequency of at least 10 Hz, and each frame contains pseudorange observations, carrier phase observations, Doppler shift observations, and corresponding satellite ephemeris information for at least 8 to 15 BeiDou satellites at the B1I, B2I, and B3I frequency points received by the antenna.

[0036] All raw observation data is aggregated to the data interface module of the positioning control unit via a serial communication interface. The data interface module performs cyclic redundancy check and timing alignment on each received frame of data to eliminate timestamp deviations that may be introduced due to differences in transmission paths. The preprocessed raw observation data is then sent to the pose calculation module. The pose calculation module first performs real-time dynamic differential positioning calculation, which requires the differential correction data provided by a BeiDou reference station receiver deployed at a stable benchmark point near the construction site. The positioning control unit establishes a data link with the BeiDou reference station receiver via a 4G / 5G wireless communication module or data radio, and receives differential correction data messages broadcast in RTCM 3.3 format in real time. The messages contain the carrier phase observation values ​​of each common-view satellite and the known coordinates of the reference station. The pose calculation module uses an extended Kalman filter or the least squares ambiguity decorrelation adjustment method to perform real-time dynamic differential positioning calculation on the antenna phase center of each BeiDou high-precision positioning receiving antenna. During the calculation process, the filter eliminates satellite clock error, receiver clock error and most atmospheric delay error by constructing a double-difference observation equation. The integer ambiguity of the carrier phase is fixed by integer least squares search or LAMBDA method. Finally, the three-axis absolute coordinates of the phase center of each antenna in the construction coordinate system are solved. Its positioning accuracy is better than 2 cm in the horizontal direction and better than 3 cm in the vertical direction. The data update frequency is synchronized with the original data output frequency and is not less than 10 Hz.

[0037] After obtaining the real-time phase center coordinates of each of the three BeiDou high-precision positioning receiving antennas, the pose calculation module immediately performs rigid body transformation calculations. The pre-calibrated coordinates of all antennas in the amphibious pile driver's body coordinate system have been pre-stored in the solid-state storage unit of the positioning control unit. The amphibious pile driver's body coordinate system is a rectangular coordinate system rigidly connected to the pile driver's mechanical structure. Its origin is usually defined at the bottom projection point of the pile driver's mechanical center. The X-axis points directly forward along the main travel axis of the pile driver, the Y-axis points to the left side of the pile driver, and the Z-axis points to the top. The pre-calibrated coordinates of each antenna are obtained through fine calibration using a total station before construction, with a calibration accuracy at the millimeter level. The pose calculation module takes the real-time phase center coordinates of the three antennas in the construction coordinate system and their pre-calibrated coordinates in the body coordinate system as input. By solving a rigid body transformation equation based on the least squares criterion, it calculates the three-axis absolute coordinates of the origin of the body coordinate system (i.e., the mechanical center of the amphibious pile driver) in the construction coordinate system, as well as the Euler angles of each coordinate axis of the body coordinate system relative to each coordinate axis of the construction coordinate system. From these, the rotation angle around the Z-axis is extracted as the heading angle of the amphibious pile driver. This rigid body transformation calculation uses a point registration algorithm based on singular value decomposition or a closed-form solution method based on quaternions, which has high computational efficiency and can be completed within each data update cycle.

[0038] To further improve the stability and smoothness of the real-time pose data stream, the pose calculation module also performs adaptive Kalman filtering post-processing on the calculated real-time pose data stream of the machine center. The post-processing filter uses a nine-dimensional state vector, which includes at least the three-dimensional position, three-dimensional velocity, and three-dimensional acceleration of the machine center in the construction coordinate system. The filter's process model uses a constant acceleration model or a current statistical model, predicting the temporal evolution of the state vector by assuming that the acceleration remains constant over a period of time or satisfies a first-order Markov process. The observation model uses the calculated three-axis coordinates and heading angle as observations. Unlike conventional Kalman filters, the observation noise covariance matrix in this embodiment is not a fixed value, but is dynamically adjusted according to the accuracy factor of the currently received satellite geometric distribution. In each filtering cycle, the pose calculation module extracts the geometric distribution accuracy factor (GFA) value of the currently visible satellites from the internal state of the real-time dynamic differential positioning (RTD) calculation. When the GFA value is low, indicating good satellite geometry and high positioning accuracy, a lower observation noise covariance is set, making the filter more reliant on the observations. Conversely, when the GFA value is high, indicating poor satellite geometry and potential reduction in positioning accuracy, a higher observation noise covariance is set, making the filter more dependent on the predictions of the process model. This adaptive mechanism effectively suppresses instantaneous jumps in positioning results caused by satellite signal obstruction or multipath effects, outputting a smooth, continuous real-time pose data stream of the mechanical center.

[0039] Upon entering step S3, the positioning control unit dynamically compares the real-time pose data stream of the mechanical center generated in step S2 with the theoretical coordinates of the current target pile position preloaded in step S1, and begins autonomous navigation control. In each control cycle, the deviation calculation module receives the real-time pose of the mechanical center after adaptive Kalman filtering, output by the pose calculation module. It extracts the current coordinates and heading angle of the mechanical center in the XOY plane of the construction coordinate system and reads the theoretical plane coordinates of the target pile position from the current head element of the pile position queue. The deviation calculation module performs a planar geometric operation, calculating the Euclidean distance between the theoretical plane coordinates of the target pile position and the current coordinates of the mechanical center, using this distance as the planar position deviation. Simultaneously, it calculates the azimuth angle of the theoretical plane coordinates of the target pile position relative to the current coordinates of the mechanical center, and subtracts it from the current heading angle. The difference is normalized to the range of -180 degrees and 180 degrees to obtain the azimuth deviation. These two deviation values ​​together constitute the positioning deviation vector.

[0040] After receiving the positioning deviation vector, the command generation module uses a piecewise variable gain control strategy to convert the positioning deviation vector into the first hydraulic execution command. This control strategy divides the entire autonomous navigation process into three control stages based on the magnitude of the planar position deviation. When the planar position deviation is greater than the first preset threshold, the amphibious pile driver is in the rapid approach stage, with a typical setting of 1.5 meters for the first preset threshold. In this stage, the command generation module uses a high-gain control law, which can be a proportional-integral control algorithm or a fuzzy control algorithm. Its output is the desired speed of the hydraulic motors controlling each walking mechanism. Under the high-gain control law, the output is mapped to 80% of the maximum speed of the hydraulic motors, driving the amphibious pile driver to move towards the target pile position at a higher speed. Simultaneously, the differential speed ratio of the left and right hydraulic motors is adjusted according to the azimuth deviation to achieve heading correction during movement. When the planar position deviation is less than or equal to the first preset threshold and greater than the second preset threshold, the amphibious pile driver enters the micro-adjustment stage, with a typical setting of 0.3 meters for the second preset threshold. During this stage, the command generation module automatically switches to a low-gain control law, mapping the output to 30% of the maximum speed of the hydraulic motor. This drives the amphibious pile driver to slowly approach the target pile position at a lower speed, resulting in less overshoot and more sufficient response time during the final precise positioning. When the planar position deviation is less than or equal to the second preset threshold and the absolute value of the azimuth angle deviation is less than the preset angle threshold (typically set at 1.5 degrees), the deviation calculation module determines that the amphibious pile driver has positioned itself at the target pile position. It then outputs a zero-speed command to the hydraulic execution system through the command generation module. The amphibious pile driver stops moving and locks the brakes, completing the autonomous positioning process. Throughout the movement, the positioning control unit cyclically executes data acquisition, pose calculation, deviation calculation, and command generation at a frequency of no less than 10 Hz, continuously updating the first hydraulic execution command to form a continuous closed-loop control of the machine's center pose.

[0041] Step S4 begins immediately after the completion of step S3, entering the precise verticality correction stage for the pile. After the amphibious pile driver completes its autonomous positioning, the construction personnel operate the pile gripper on the pile hammer guide frame to hold a pile, with the lower end of the pile resting against the muddy surface at the bottom of the water. At this time, the dual-axis tilt sensor, rigidly mounted on the pile hammer guide frame, begins to measure the tilt angle of the pile hammer guide frame in real time at a frequency of 50 Hz. Since the pile hammer guide frame and the pile are fixedly connected by the rigid pile gripper, the tilt angle of the pile hammer guide frame represents the instantaneous tilt angle of the pile in two orthogonal directions. The microelectromechanical system (MEMS) sensitive element inside the dual-axis tilt sensor senses the gravitational acceleration components along the two measurement axes, converts them into digital angle values ​​in degrees through analog-to-digital conversion and temperature compensation calculations, and continuously outputs real-time tilt angle data to the data interface module of the positioning control unit via the Modbus RTU protocol and RS-485 bus. The data interface module performs cyclic redundancy check on the received data. If the check passes, it extracts the tilt angle values ​​in two orthogonal directions to form a two-dimensional tilt angle vector describing the current spatial attitude of the pile.

[0042] Inclination correction control is based on a preset vertical reference value, which is the theoretical value of the two-dimensional inclination vector in the absolutely vertical state of the pile. Ideally, when the pile is installed vertically, the outputs of both measuring axes of the dual-axis inclination sensor should be 0.000 degrees. However, in actual installation, due to factors such as the machining error of the pile hammer guide frame and the flatness error of the mounting surface of the dual-axis inclination sensor, the theoretical value in the vertical state may be an offset vector that is close to zero but not zero. This offset vector is obtained before construction by calibrating the pile hammer guide frame on a vertical line platform calibrated with a level and stored in the configuration parameters of the deviation calculation module. In each control cycle, the deviation calculation module reads the current two-dimensional inclination vector fed back by the dual-axis inclination sensor, performs vector subtraction with the pre-calibrated offset vector in the vertical state, and obtains the inclination deviation vector. The two components of this vector describe the angular deviation of the pile in two orthogonal directions.

[0043] After receiving the tilt angle deviation vector, the instruction generation module converts it into a second hydraulic execution instruction using a proportional-integral-derivative (PID) control algorithm. The controller is either a parallel PID controller or a PID controller with anti-integral saturation mechanism. The controller's input consists of the two components of the tilt angle deviation vector, and its output corresponds to the desired displacement of the two sets of hydraulic cylinders in the pile hammer guide frame attitude adjustment mechanism. The proportional term provides rapid correction based on the current deviation magnitude; the integral term integrates the accumulated deviation over a period of time to eliminate steady-state error and ensure that the verticality remains near zero deviation over a long period; the derivative term provides damping based on the deviation's trend, suppressing oscillations caused by hydraulic cylinder overshoot. In actual implementation, the proportional coefficient, integral time constant, and derivative time constant of the PID controller are obtained through step response experiments and Ziegler-Nichols method tuning during the installation and commissioning phase of the amphibious pile driver, and are then fixed as configuration parameters. The instruction generation module converts the calculated desired displacements of the two sets of hydraulic cylinders into the duty cycles of corresponding analog voltage signals or pulse width modulation signals, and outputs them to the electro-hydraulic proportional directional valve of the hydraulic cylinder in the attitude adjustment mechanism. The piston rod of the hydraulic cylinder moves linearly according to the input signal, changing the spatial attitude of the pile hammer guide frame in two orthogonal directions through a universal joint, thereby compensating for the pile's tilt deviation. This closed-loop correction process continues at a control frequency of no less than 50 Hz, with a response speed faster than the tilt change rate caused by most construction disturbances. When the difference between the two-dimensional tilt vector fed back by the dual-axis tilt sensor and the theoretical value of the two-dimensional tilt angle in the vertical state converges to within the preset verticality threshold range, the deviation calculation module determines that the pile's verticality has been adjusted to be acceptable. This verticality threshold is the angle between the pile axis and the plumb line, and its value is no greater than 0.25 degrees.

[0044] Step S5 is integral to the entire pile driving operation and serves as a continuous monitoring and dynamic compensation process parallel to the pile driving action. At the start of the pile driving operation, the operator activates the pile hammer, which strikes the top of the pile at a set frequency and energy, causing the pile to gradually sink in the mud at the bottom of the water. During this process, the pose calculation module and deviation calculation module of the positioning control unit simultaneously perform continuous monitoring of the real-time pose of the mechanical center and the real-time tilt angle of the pile, with monitoring frequencies not lower than 10 Hz and 50 Hz, respectively. The deviation calculation module maintains two logical judgment conditions: one is a preset allowable deviation zone, which is a circular area centered on the theoretical plane coordinates of the target pile position with a preset radius of 0.3 meters; the other is a preset verticality threshold, meaning the angle between the pile axis and the plumb line does not exceed 0.25 degrees.

[0045] Within each monitoring cycle, the deviation calculation module performs the following logical judgments. If the real-time pose projection of the mechanical center is within the allowable deviation zone, and the real-time inclination angle of the pile is within the verticality threshold, it indicates that the current construction state is completely under control. The deviation calculation module maintains the current operating state unchanged through the instruction generation module, the pile driving process continues, and the hydraulic actuator maintains the original instructions or outputs zero compensation. If the real-time pose of the mechanical center exceeds the allowable deviation zone or the real-time inclination angle of the pile exceeds the verticality threshold, it indicates that abnormal disturbance has occurred during construction or the pile has encountered inclined strata, etc. The deviation calculation module immediately triggers the out-of-tolerance handling mechanism. The out-of-tolerance handling mechanism first outputs an interrupt pile driving signal to the pile hammer controller through the instruction generation module, causing the hammering action to stop immediately to prevent continued driving in an unqualified state from causing the pile to deviate further or the pile position to shift permanently. Subsequently, the deviation calculation module performs composite correction according to the preset task priority. The task priority ranking rule is: the priority of pile verticality correction is higher than that of mechanical center pose correction. This is because in soft-bottomed aquatic environments, if the pile has already tilted, directly correcting the planar position of the pile driver may exacerbate the lateral stress on the pile, or even cause it to break. Therefore, the deviation calculation module first marks the tilt angle deviation vector as the highest priority. The instruction generation module immediately executes the proportional-integral-derivative closed-loop correction process described in step S4, driving the pile hammer guide frame attitude adjustment mechanism to adjust the pile back to a vertical state, waiting for feedback from the dual-axis tilt angle sensor to confirm that the real-time tilt angle of the pile has recovered to within the verticality threshold. After the pile's verticality is restored, the deviation calculation module then marks the positioning deviation vector as the current priority. The instruction generation module executes the low-gain control strategy described in step S3, driving the amphibious pile driver's walking mechanism to make micro-adjustments to bring the mechanical center back within the allowable deviation zone. Once the real-time position and posture of the mechanical center have recovered to within the allowable deviation zone, the instruction generation module of the positioning control unit re-outputs the start pile driving signal to the pile hammer controller, and the pile driving operation continues. This composite dynamic compensation strategy of "synchronous monitoring, out-of-tolerance interruption, verticality priority, position and orientation secondary, and recovery and restart" is applied to every pile foundation from the start of construction to the final pile formation, ensuring that the pile position and verticality are within the preset control range throughout the entire life cycle of the pile. Example

[0046] This embodiment shares the same system architecture and workflow as Embodiment 1. The difference lies in the control strategy used when the positioning control unit converts the positioning deviation vector into the first hydraulic execution command in step S3. This strategy is replaced by a model predictive control-based algorithm instead of piecewise variable gain control. This embodiment is particularly suitable for scenarios with complex wind, wave, and current conditions in construction waters, where the dynamic response characteristics of amphibious pile drivers exhibit significant time-varying characteristics.

[0047] Based on Example 1, a simplified version of the kinematic model of an amphibious pile driver is additionally loaded into the instruction generation module of the positioning control unit. This model constructs a transfer function containing delay and inertial elements based on the identification relationship between the hydraulic motor's speed command and the actual travel speed of the walking mechanism. Its parameters are obtained during system debugging by injecting pseudo-random binary sequence excitation signals and collecting the walking mechanism's speed response data, using a least-squares system identification algorithm. In actual operation, the model predictive controller, within each control cycle, uses the positioning deviation vector between the current real-time pose of the machine center and the target pile position as the initial state, and uses the internal kinematic model to predict the trajectory of the amphibious pile driver within the next 2 to 3 seconds. The controller's optimization solver calculates a set of optimal control sequences that satisfy constraints such as hydraulic motor speed limits, speed change rate limits, and maximum travel speed, minimizing a quadratic cost function composed of the sum of squares of positioning deviations and the sum of squares of control increments. The controller only converts the first control quantity in this optimal control sequence—the target speed command output to the hydraulic motor of the walking mechanism in the current cycle—into the corresponding first hydraulic execution command and outputs it. When the next control cycle arrives, the model predictive controller uses the newly received real-time pose of the mechanical center to perform feedback correction on the model state and repeats the above prediction and optimization process. Compared with the method relying on a preset gain switching table in Embodiment 1, model predictive control can more naturally handle multivariable coordinated control, explicit constraint processing, and control problems of time-delay systems. In complex aquatic environments with wind and wave lateral thrust, it can achieve smaller overshoot and smoother travel trajectory, further improving positioning accuracy and adaptability to the construction environment. The other steps of this embodiment, including system initialization and pile position data import in step S1, real-time pose calculation of the mechanical center in step S2, closed-loop correction of pile verticality in step S4, and dynamic composite compensation in step S5, are completely consistent with Embodiment 1. Example

[0048] The main difference between this embodiment and Embodiments 1 and 2 lies in the configuration of the positioning array and the pose calculation method in step S2. This embodiment is designed to address the special situation where, in the edge areas of aquaculture waters, some BeiDou satellite signals are blocked by high dams or existing photovoltaic support structures, resulting in a deterioration in the geometric distribution of satellites.

[0049] At the system architecture level, the positioning array in this embodiment is expanded from the three pure BeiDou high-precision positioning receiving antennas in Embodiment 1 into a composite positioning array integrating an inertial measurement unit (IMU). The IMU is deployed on a rigid base near the mechanical center of the amphibious piling machine, and integrates a three-axis microelectromechanical system (MEMS) gyroscope and a three-axis MEMS accelerometer. The three-axis gyroscope measures the rotational angular velocity around the three axes of the body coordinate system, with a measurement range of ±300 degrees / second and a zero-bias instability better than 1 degree / hour. The three-axis accelerometer measures the specific force along the three axes of the body coordinate system, with a measurement range of ±6g and a zero-bias instability better than 50 microg. The digital signal processor integrated within the IMU samples, performs anti-aliasing filtering, and temperature compensation on the raw analog signals from the gyroscope and accelerometer at a frequency of 200 Hz, and outputs angular rate increment and velocity increment data to the data interface module of the positioning control unit via a serial peripheral interface or an RS-422 interface.

[0050] At the methodological level, in the pose calculation module of step S2, the original observation data is no longer limited to the carrier phase data output by the BeiDou high-precision positioning receiving antenna, but also incorporates high-frequency inertial data output by the inertial measurement unit. The pose calculation module executes a tightly coupled real-time dynamic differential positioning and inertial navigation system fusion calculation algorithm. Specifically, the data from the inertial measurement unit is first integrated with the angular rate and specific force using a strapdown inertial navigation calculation algorithm to obtain a high-frequency output pose prediction value, but with errors diverging over time, updated at a frequency of 200 Hz. Simultaneously, the BeiDou real-time dynamic differential positioning calculation provides absolute coordinates and heading angle observations at a frequency of 10 Hz. A centralized or federated extended Kalman filter is used as the fusion engine, whose state vector is expanded to include 15 or 21 dimensions: position, velocity, attitude, gyroscope bias, and accelerometer bias. When BeiDou satellite signal conditions are good and the satellite geometric distribution accuracy factor is low, the filter weights tend to favor BeiDou observations, while simultaneously estimating and correcting the zero bias of the inertial measurement unit online. When the amphibious pile driver enters a signal-blocked area, and the number of observable satellites drops below four, or the satellite geometric distribution accuracy factor increases instantaneously, causing a decrease in the accuracy of the real-time dynamic differential positioning solution or the appearance of a floating-point solution, the filter automatically increases the confidence level of the inertial navigation system's predictions. It uses pure inertial navigation for short-term estimation, and the main heading and position accuracy can be maintained at the centimeter to decimeter level within tens of seconds of estimation. Once the signal is restored, the filter quickly readjusts and corrects the accumulated errors of the inertial navigation system using new, high-quality BeiDou observations. This composite positioning array and tightly coupled fusion algorithm system solves the system vulnerability problem of easily failing under obstructed conditions when relying solely on satellite positioning. It ensures the continuity and robustness of autonomous navigation in step S3 and dynamic monitoring in step S5 throughout the entire construction area, and is particularly suitable for complex environments in aquaculture areas where surface structures such as aerators and feeding platforms cause local signal blockage.

[0051] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the technical solutions of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall still fall within the protection scope of the technical solutions of the present invention.

[0052] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for positioning floating pile foundations in aquatic environments where fisheries and solar power are integrated, characterized in that, Includes the following steps: S1. Establish a three-dimensional digital model of the construction site, import the preset pile location design data into a positioning control unit, and the positioning control unit generates the theoretical coordinate value of each pile location based on the three-dimensional digital model; S2. Deploy a positioning array consisting of multiple Beidou high-precision positioning receiving antennas on an amphibious pile driver, and calculate in real time the three-axis absolute coordinates and heading angle of a mechanical center of the amphibious pile driver in the construction coordinate system to form a real-time pose data stream of the mechanical center. S3. The real-time pose data stream of the mechanical center is dynamically compared with the theoretical coordinate value of the current target pile position to generate a positioning deviation vector containing planar position deviation and azimuth angle deviation. The positioning deviation vector is then converted into a first hydraulic execution command to drive the amphibious pile driver's walking mechanism, guiding the amphibious pile driver to autonomously move to the target pile position. During the movement, the positioning control unit continuously updates the first hydraulic execution command. S4. After the amphibious pile driver is in place, the real-time tilt angle data of the pile body in two orthogonal directions is obtained by a dual-axis tilt angle sensor deployed on the pile hammer guide frame. The positioning control unit compares the real-time tilt angle data with a vertical reference value, generates a tilt angle deviation vector, and converts the tilt angle deviation vector into a second hydraulic execution command to drive the attitude adjustment mechanism of the pile hammer guide frame, and performs closed-loop correction of the verticality of the pile body. S5. During the pile driving process, the positioning control unit simultaneously performs continuous monitoring of the real-time position of the mechanical center and the real-time inclination angle of the pile. When the real-time position of the mechanical center deviates from a preset allowable deviation zone or the real-time inclination angle of the pile exceeds a preset verticality threshold, a composite correction command is generated to drive the corresponding hydraulic actuator to perform dynamic compensation.

2. The method for positioning floating pile foundations in aquatic environments with fishery-solar complementary ecosystems according to claim 1, characterized in that, The three-dimensional digital model mentioned in step S1 is a building information model. The pile location design data includes the number of each pile location, the theoretical plane coordinates in the construction coordinate system, the design pile top elevation, and the design pile length. The positioning control unit divides multiple consecutive pile locations into a construction section according to the travel path planning of the amphibious pile driver, and sequentially retrieves the theoretical coordinate values ​​of the corresponding pile locations as the target values ​​for the dynamic comparison according to the construction sequence of the pile locations in the section.

3. The method for positioning floating pile foundations in aquatic environments with fishery-solar complementary ecosystems according to claim 1, characterized in that, The positioning array in step S2 includes at least three BeiDou high-precision positioning receiving antennas, of which two BeiDou high-precision positioning receiving antennas are deployed at intervals along the main travel axis of the amphibious pile driver, and the third BeiDou high-precision positioning receiving antenna is deployed at a position offset from the main travel axis. The positioning control unit calculates the antenna phase center coordinates of each Beidou high-precision positioning receiving antenna using real-time dynamic differential positioning technology, and combines the pre-calibrated coordinates of each antenna in the coordinate system of the pile driver body to calculate the three-axis absolute coordinates and heading angle of the mechanical center of the amphibious pile driver in the construction coordinate system through rigid body transformation.

4. The method for positioning floating pile foundations in aquatic environments with fishery-solar complementary ecosystems according to claim 1 or 3, characterized in that, In step S2, the positioning control unit performs adaptive Kalman filtering on the calculated real-time pose data stream of the mechanical center. The state vector of the filter includes at least the position, velocity, and acceleration of the mechanical center. An observation noise covariance matrix is ​​dynamically adjusted according to the accuracy factor of the currently received satellite geometric distribution.

5. The method for positioning floating pile foundations in aquatic environments with fisheries-solar complementary ecosystems according to claim 1, characterized in that, In step S3, the positioning control unit adopts a segmented variable gain control strategy to convert the positioning deviation vector into the first hydraulic execution command: when the planar position deviation is greater than the first preset threshold, a high-gain control law is used to drive the walking mechanism to make rapid approach; when the planar position deviation is less than or equal to the first preset threshold and greater than the second preset threshold, a low-gain control law is switched to drive the walking mechanism to make micro-adjustments. When the planar position deviation is less than or equal to the second preset threshold and the azimuth angle deviation is less than a preset angle threshold, the amphibious pile driver is determined to be in place.

6. The method for positioning floating pile foundations in aquatic environments with fisheries-solar complementary ecosystems according to claim 1, characterized in that, In step S4, the dual-axis tilt sensor is rigidly mounted on the pile hammer guide frame, and its measuring axes are orthogonal to the guiding direction of the pile hammer guide frame. The positioning control unit reads the measured value of the dual-axis tilt sensor to form a two-dimensional tilt vector describing the attitude of the pile body, and performs vector subtraction with the theoretical two-dimensional tilt value in the vertical state to obtain the tilt deviation vector.

7. The method for positioning floating pile foundations in aquatic environments with fishery-solar complementary ecosystems according to claim 1 or 6, characterized in that, Step S4, which converts the tilt angle deviation vector into the second hydraulic execution command, includes using a proportional-integral-derivative control algorithm. The controller's output corresponds to the extension and retraction of the hydraulic cylinders of the pile hammer guide frame in two orthogonal directions. By adjusting the extension and retraction of the hydraulic cylinders, the spatial attitude of the pile hammer guide frame is changed, thereby compensating for the tilt deviation of the pile body in the reverse direction, until the difference between the two-dimensional tilt angle vector fed back by the dual-axis tilt angle sensor and the theoretical value of the two-dimensional tilt angle in the vertical state converges to the preset verticality threshold range.

8. The method for positioning floating pile foundations in aquatic environments with fisheries-solar complementary ecosystems according to claim 1, characterized in that, In step S5, the preset allowable deviation zone is a circular area centered on the theoretical plane coordinates of the target pile position and with a preset radius. The preset verticality threshold is that the angle between the pile axis and the plumb line does not exceed a preset angle value. When the real-time position of the mechanical center is within the allowable deviation zone and the real-time inclination angle of the pile is within the verticality threshold, the pile driving process continues. When the real-time position of the mechanical center exceeds the allowable deviation zone or the real-time inclination angle of the pile exceeds the verticality threshold, the positioning control unit interrupts the pile driving signal and prioritizes the closed-loop correction of the pile verticality. After the real-time inclination angle of the pile recovers to within the verticality threshold, the mechanical center position correction is performed, and finally the pile driving signal is restarted.

9. A floating pile foundation positioning system for aquaculture-solar hybrid waterways, characterized in that, The system comprises: a positioning control unit; a positioning array deployed on an amphibious pile driver, consisting of multiple BeiDou high-precision positioning receiving antennas; a dual-axis tilt sensor rigidly mounted on the pile hammer guide frame; and a hydraulic actuation system for the walking mechanism of the amphibious pile driver and the attitude adjustment mechanism of the pile hammer guide frame. The positioning control unit is electrically connected to the positioning array, the dual-axis tilt sensor, and the hydraulic actuation system, respectively. The positioning control unit is used to perform the steps of the method for positioning amphibious pile foundations in waters with fishery-solar complementary waterways as described in any one of claims 1 to 8.

10. The aquatic pile foundation positioning system for fishery-solar complementary waterways according to claim 9, characterized in that, The positioning control unit includes: a data interface module for receiving three-dimensional digital model data, raw observation data from the Beidou high-precision positioning receiving antenna, and measurement data from the dual-axis tilt sensor; a pose calculation module for executing a real-time dynamic differential positioning algorithm and rigid body transformation calculation, and outputting a real-time pose data stream of the mechanical center; a deviation calculation module for generating the positioning deviation vector and the tilt deviation vector; and an instruction generation module for executing control law calculation and outputting the first hydraulic execution instruction and the second hydraulic execution instruction.

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