Offshore photovoltaic pile foundation positioning system and method, storage medium, electronic equipment

Abstract

This disclosure relates to the field of offshore photovoltaic (PV) pile foundation construction technology, providing an offshore PV pile foundation positioning system and method, storage medium, and electronic equipment. The offshore PV pile foundation positioning system includes: a positioning base station located around the construction area, used to generate and broadcast high-precision GNSS differential correction data to the construction equipment; the construction equipment is equipped with a combined navigation terminal, used to receive the high-precision GNSS differential correction data and integrate inertial measurement data with internal sensor signals of the construction equipment to calculate the spatial position of the pile foundation's action point in real time; and a data processing module used to compare the spatial position with preset pile location design coordinates to generate pile foundation positioning status information. This disclosure enables high-precision, high-reliability automatic positioning and positioning judgment in offshore pile foundation construction, significantly improving construction efficiency and digital management level.

Description

Technical Field

[0001] This disclosure relates to the field of offshore photovoltaic pile foundation construction technology, and in particular to an offshore photovoltaic pile foundation positioning system and method, storage medium, and electronic equipment. Background Technology

[0002] Offshore photovoltaic (PV) foundation construction requires extremely high positioning accuracy, as deviations in pile position directly affect the arrangement of PV arrays, the adaptability of support installation, and the long-term stability of the structure. However, due to the dynamic sea conditions such as wind, waves, and currents, the construction platform is constantly moving, making it difficult for traditional positioning methods to achieve high-precision, automated pile positioning control, thus failing to meet the actual needs of offshore PV projects.

[0003] Therefore, there is an urgent need in this field to develop a new positioning system for offshore photovoltaic pile foundations.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure. Summary of the Invention

[0005] The purpose of this disclosure is to provide a marine photovoltaic pile foundation positioning system, a marine photovoltaic pile foundation positioning method, a computer-readable storage medium, and an electronic device, thereby overcoming, to at least a certain extent, the technical problem of difficulty in achieving high-precision and automated pile foundation positioning control due to limitations in related technologies.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part by practice of this disclosure.

[0007] According to a first aspect of this disclosure, a marine photovoltaic pile foundation positioning system is provided, comprising: The positioning base station is located around the construction area and is used to generate and broadcast high-precision GNSS differential correction data to the construction equipment. The construction equipment is equipped with a combined navigation terminal, which is used to receive the high-precision GNSS differential correction data and integrate inertial measurement data with the internal sensor signals of the construction equipment to calculate the spatial position of the pile foundation action point in real time. The data processing module is used to compare the spatial location with the preset pile position design coordinates to generate pile foundation placement status information.

[0008] In an exemplary embodiment of this disclosure, the integrated navigation terminal includes a GNSS receiver and an inertial measurement unit; When the high-precision GNSS differential correction data fails, dead reckoning is performed based on the data output by the inertial measurement unit to maintain the continuity of the spatial position output of the pile foundation action point.

[0009] In an exemplary embodiment of this disclosure, the internal sensing signals of the construction equipment include mechanical state parameters characterizing the spatial configuration of the boom and the installation state of the pile. The integrated navigation terminal calculates the spatial position of the pile foundation's point of action based on the mechanical state parameters, inertial measurement data, and high-precision GNSS differential correction data.

[0010] In an exemplary embodiment of this disclosure, the pile foundation positioning status information includes positioning deviation values; The data processing module is used to generate a positioning prompt signal when the positioning deviation value is less than or equal to a preset accuracy threshold.

[0011] In an exemplary embodiment of this disclosure, the system further includes a handheld mobile terminal; The handheld mobile terminal is connected to the data processing module and is used to push the pile foundation positioning status information to the crane operator or on-site commander in real time.

[0012] In an exemplary embodiment of this disclosure, the data processing module is further configured to record the actual coordinates, elevation, and timestamp of the pile foundation action point at the time of each pile driving completion, and store them as as-built data.

[0013] In an exemplary embodiment of this disclosure, the system further includes a management platform; The management platform is communicatively connected to the data processing module, which is used to visually display the pile foundation positioning status information of each construction equipment and automatically generate construction progress reports based on the completion data.

[0014] According to a second aspect of this disclosure, a method for positioning offshore photovoltaic (PV) pile foundations is provided, comprising: Positioning base stations are deployed around the construction area, and high-precision GNSS differential correction data is generated and broadcast to the construction equipment by the positioning base stations. The high-precision GNSS differential correction data is received by the combined navigation terminal installed on the construction equipment, and the inertial measurement data and the internal sensor signals of the construction equipment are integrated to calculate the spatial position of the pile foundation action point in real time. The spatial location of the pile foundation's action point is compared with the preset pile position design coordinates to generate pile foundation placement status information.

[0015] According to a third aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the offshore photovoltaic pile positioning method described in the second aspect above.

[0016] According to a fourth aspect of this disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the offshore photovoltaic pile positioning method described in the second aspect above by executing the executable instructions.

[0017] As can be seen from the above technical solutions, the marine photovoltaic pile foundation positioning system, marine photovoltaic pile foundation positioning method, computer-readable storage medium, and electronic device in the exemplary embodiments of this disclosure have at least the following advantages and positive effects: Among the technical solutions provided in some embodiments of this disclosure, a marine photovoltaic pile foundation positioning system is provided, including: a positioning base station set up around the construction area for generating and broadcasting high-precision GNSS differential correction data to the construction equipment; the construction equipment is equipped with a combined navigation terminal for receiving high-precision GNSS differential correction data and fusing inertial measurement data with internal sensor signals of the construction equipment to calculate the spatial position of the pile foundation's action point in real time; and a data processing module for comparing the spatial position with the preset pile position design coordinates to generate pile foundation positioning status information. This technical solution achieves high-precision perception and automatic status determination of the pile foundation positioning process by constructing an integrated closed-loop architecture of "base station—shipborne terminal—data processing": on the one hand, by utilizing shore-based differential enhancement and multi-source sensor fusion, the accuracy of calculating the spatial position of the pile foundation's action point is significantly improved; on the other hand, by comparing the measured position with the design coordinates in real time, positioning status information is automatically generated, replacing the traditional operation mode that relies on manual judgment, thereby improving the positioning accuracy, operation efficiency, and automation level of marine pile foundation construction.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0020] Figure 1 This diagram illustrates the structure of the offshore photovoltaic pile foundation positioning system in an embodiment of this disclosure. Figure 2 A flowchart illustrating the process of determining pile foundation positioning in an embodiment of this disclosure; Figure 3 This diagram illustrates the process of recording and storing as-built data after the completion of pile foundation construction in an embodiment of this disclosure. Figure 4 This diagram illustrates the overall architecture of the offshore photovoltaic pile foundation positioning system as described in this embodiment. Figure 5 This diagram illustrates the structure of the offshore photovoltaic pile foundation positioning method in an exemplary embodiment of this disclosure. Figure 6 A schematic diagram of the structure of an electronic device in an exemplary embodiment of this disclosure is shown. Detailed Implementation

[0021] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this disclosure more comprehensive and complete, and to fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced with one or more of the specific details omitted, or other methods, components, apparatus, steps, etc., can be employed. In other instances, well-known technical solutions are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0022] The terms “a,” “an,” “the,” and “the” are used in this specification to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markings and are not a limitation on the number of objects.

[0023] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0024] In related technologies, pile location confirmation is generally based on multi-sensor fusion and manual post-correction; however, the positioning process lacks a real-time closed-loop feedback mechanism, making it difficult to balance accuracy and automation, thus limiting construction efficiency.

[0025] In the embodiments of this disclosure, a marine photovoltaic pile foundation positioning system is first provided, which at least to some extent overcomes the shortcomings of related technologies in achieving high-precision and automated pile foundation positioning control.

[0026] Figure 1This diagram illustrates the structure of the offshore photovoltaic pile foundation positioning system in an embodiment of this disclosure. (Refer to...) Figure 1 The offshore photovoltaic pile positioning system 100 according to an embodiment of the present disclosure includes the following components: The positioning base station 110 is located around the construction area and is used to generate and broadcast high-precision GNSS (Global Navigation Satellite System) differential correction data to the construction equipment 120. Construction equipment 120 is equipped with a combined navigation terminal 1201. The combined navigation terminal 1201 is used to receive high-precision GNSS differential correction data and integrate inertial measurement data with internal sensor signals of the construction equipment to calculate the spatial position of the pile foundation action point in real time. The data processing module 130 is used to compare the spatial location with the preset pile position design coordinates to generate pile foundation positioning status information.

[0027] exist Figure 1 The technical solution provided in the illustrated embodiment offers a marine photovoltaic pile foundation positioning system, comprising: a positioning base station located around the construction area, used to generate and broadcast high-precision GNSS differential correction data to the construction equipment; a combined navigation terminal on the construction equipment, used to receive the high-precision GNSS differential correction data and fuse inertial measurement data with internal sensor signals of the construction equipment to calculate the spatial position of the pile foundation's action point in real time; and a data processing module, used to compare the spatial position with the preset pile location design coordinates to generate pile foundation positioning status information. This technical solution achieves high-precision perception and automatic status determination during the pile foundation positioning process by constructing an integrated closed-loop architecture of "base station—shipborne terminal—data processing": on the one hand, by utilizing shore-based differential enhancement and multi-source sensor fusion, the accuracy of calculating the spatial position of the pile foundation's action point is significantly improved; on the other hand, by comparing the measured position with the design coordinates in real time, positioning status information is automatically generated, replacing the traditional operation mode that relies on manual judgment, thereby improving the positioning accuracy, operation efficiency, and automation level of marine pile foundation construction.

[0028] The following combination Figure 1 The specific implementation methods of each component in the system are explained in detail: The positioning base station 110 is located around the construction area and is used to generate and broadcast high-precision GNSS differential correction data to the construction equipment 120.

[0029] In an exemplary embodiment of this disclosure, the positioning base station 110 can be a high-precision GNSS reference station dedicated to the construction area. It is typically deployed in a stable, open location around the construction area, such as a shore-based control point, temporary surveying pier, auxiliary work platform, or a securely installed structure, to ensure a good observation environment and known coordinates. It should be noted that the site selection and installation of the positioning base station 110 is a prerequisite for system deployment and directly affects subsequent positioning accuracy and stability.

[0030] The positioning base station 110 includes a high-precision multi-frequency GNSS receiving antenna, a data processing unit, a communication module, and a power supply unit. In a preferred embodiment, the positioning base station 110 may employ a P2E BeiDou high-precision reference station receiver. This device features a split design, supports multi-frequency signals from the entire constellation of BeiDou, GPS (Global Positioning System), GLONASS, and Galileo, and can provide millimeter-level carrier phase observations. It is characterized by high accuracy, strong stability, and good versatility, and is widely applicable to demanding application scenarios such as high-precision surveying, mechanical control, and marine engineering.

[0031] The GNSS receiving antenna is configured to simultaneously receive L1 / L2 / L5 multi-frequency signals from multiple satellite navigation systems (including but not limited to BeiDou, GPS, GLONASS, and Galileo) to obtain high-quality raw pseudorange and carrier phase observations. Based on these observations and known precise coordinates, the data processing unit calculates various error corrections in real time, including satellite orbit deviation, satellite clock error, ionospheric delay, tropospheric delay, and receiver hardware deviation, and generates high-precision GNSS differential correction data according to standard protocols (such as RTCM 3.x series). The communication module broadcasts this differential correction data wirelessly to the construction equipment 120. The communication link can use UHF (Very High Frequency) / VHF (Ultra High Frequency) radios, 4G / 5G cellular networks, LoRa self-organizing networks, or dedicated industrial wireless modules. The specific choice depends on the communication conditions, transmission distance, and anti-interference requirements of the construction sea area. The power supply unit can use mains power, solar panels, or vehicle power to adapt to the long-term operation requirements in an offshore environment without a power grid.

[0032] In practical applications, the positioning base station 110 can be configured as a single base station, suitable for scenarios with an operating radius of less than 10 kilometers; alternatively, multiple base stations can be deployed to form a local CORS (Continuously Operating Reference Station) network. Through master-slave collaboration or network RTK (Real-Time Kinematic) algorithms, coverage and positioning reliability can be further improved, making it particularly suitable for the zoned construction needs of large-scale offshore photovoltaic arrays. The construction equipment 120 is equipped with a combined navigation terminal 1201. The combined navigation terminal 1201 receives high-precision GNSS differential correction data and integrates inertial measurement data with internal sensor signals from the construction equipment to calculate the spatial position of the pile foundation's point of action in real time.

[0033] In an exemplary embodiment of this disclosure, the construction equipment 120 may be an engineering vessel or jack-up platform for offshore pile foundation installation operations, such as a pile driving vessel, crane vessel, multi-functional construction vessel, or static pressure pile planting platform. The construction equipment 120 is equipped with a lifting mechanism (such as a crane, hydraulic pile driving frame, or clamping and lowering system) for grabbing, positioning, and driving the pile to the designed position on the seabed.

[0034] The construction equipment 120 is equipped with a combined navigation terminal 1201, which is integrated into the equipment's control system. It is used to receive high-precision GNSS differential correction data broadcast from the positioning base station 110, and to fuse inertial measurement data with internal sensor signals of the construction equipment to calculate the spatial position of the pile foundation action point in real time.

[0035] In a preferred embodiment, the integrated navigation terminal 1201 may employ a CGI-410 positioning and orientation receiver. This product, based on multi-sensor data fusion technology, deeply integrates multi-frequency GNSS positioning with a MEMS (Micro-Electro-Mechanical Systems) inertial measurement unit (IMU), enabling it to maintain high-precision and high-reliability navigation output even in complex environments where satellite signals are blocked or subject to multipath interference (such as densely packed steel structures at sea or conditions of severe ship swaying).

[0036] Specifically, the integrated navigation terminal 1201 includes a high-precision GNSS receiver, an inertial measurement unit (IMU), an embedded processing unit, and a multi-source data synchronization interface. Among these: The GNSS receiver is used to receive multi-system satellite signals (such as Beidou, GPS, Galileo, etc.) and differential correction data (such as RTCM format) sent by the positioning base station 110, and to calculate the position, velocity and attitude of the construction equipment carrier (such as ship or platform) in real time by combining the original observation values. The CGI-410 has a built-in three-axis MEMS gyroscope and accelerometer, and supports external odometer information assistance. It can effectively maintain the continuity and accuracy of carrier attitude estimation when the GNSS signal is briefly interrupted. The multi-source data synchronization interface connects to the internal sensor network of the construction equipment 120 to acquire mechanical state parameters characterizing the spatial configuration of the boom and the installation status of the pile.

[0037] The internal sensing signals of the construction equipment include, but are not limited to: boom pitch angle, slewing angle, telescopic length, main hook height, pile clamp opening and closing status, pile length, and water penetration depth. These parameters are collected in real time by detection devices installed on hydraulic cylinders, slewing bearings, encoders, or tilt sensors, and are synchronously transmitted to the integrated navigation terminal 1201.

[0038] Based on the aforementioned mechanical state parameters, the integrated navigation terminal 1201 constructs a geometric relationship model of the pile foundation's point of action relative to the construction equipment carrier (e.g., through forward kinematics calculation). Combined with the carrier's high-precision pose (calculated by GNSS / IMU integrated navigation), it ultimately outputs the real-time three-dimensional spatial position of the pile foundation's point of action (such as the pile tip or target positioning point) in the global coordinate system. This positional information has an accuracy down to the centimeter level and an update frequency of no less than 10Hz, sufficient to support precise positioning control under highly dynamic sea conditions.

[0039] Under normal operating conditions, the integrated navigation terminal 1201 employs tightly coupled or loosely coupled algorithms to deeply fuse GNSS differential positioning results with IMU data, outputting high-precision, high-frequency vehicle pose. When high-precision GNSS differential correction data temporarily fails due to complex marine environments (such as steel structure obstruction, surface multipath effects, or communication link interruptions), it can automatically switch to inertial navigation mode: the embedded processing unit uses the vehicle pose at the moment before the failure as the initial state, continuously recursively calculates the instantaneous pose of the vehicle based on IMU data using dead reckoning algorithms, and combines real-time mechanical state parameters to continue calculating the spatial position of the pile foundation action point, thereby maintaining the continuity and availability of positioning output during GNSS interruption.

[0040] Thanks to the application of high-performance integrated navigation terminals such as CGI-410, this system can achieve a horizontal positioning accuracy of better than ±2cm and an elevation accuracy of ±3cm in typical offshore construction scenarios, significantly meeting the core requirements of offshore photovoltaic pile foundations for high-precision and robust positioning.

[0041] This mechanism can effectively cope with short-term GNSS loss of lock (usually lasting from a few seconds to tens of seconds) that is common in offshore operations, avoid operational stagnation or misjudgment caused by positioning jumps or interruptions, and significantly improve the robustness and reliability of the system in harsh sea conditions.

[0042] The data processing module 130 is used to compare the spatial location with the preset pile position design coordinates to generate pile foundation positioning status information.

[0043] In an exemplary embodiment of this disclosure, the data processing module 130 can be integrated into the local control unit of the construction equipment 120, the shore foundation monitoring center, or the cloud server. Its main function is to dynamically compare the spatial position of the pile foundation action point (usually the three-dimensional coordinates under WGS-84 or the local coordinate system of the project) calculated in real time by the combined navigation terminal 1201 with the preset pile position design coordinates to generate information reflecting the current positioning status.

[0044] Specifically, the preset pile location design coordinates are derived from the engineering BIM model or construction layout files, including the target position of each pile in the plane (X,Y) and elevation (Z). Users can manually input the required accuracy thresholds for this piling operation (e.g., horizontal ±30mm, elevation ±20mm) through the human-machine interface (HMI). These thresholds can be flexibly adjusted according to the pile type, sea conditions, or support adaptation requirements.

[0045] The data processing module 130 calculates the deviation between the measured location and the design coordinates (including horizontal offset, elevation difference and comprehensive spatial distance), and combines it with preset allowable error thresholds (such as horizontal deviation ≤ ±30mm, elevation deviation ≤ ±20mm) to determine whether the pile foundation is within an acceptable placement range.

[0046] Based on the comparison results, the data processing module 130 generates pile foundation positioning status information, such as status indicators like "not in position," "close to position," "in position," or "out-of-tolerance alarm," and can output feedback to the operator or pile driving execution mechanism through a human-machine interface (HMI), audible and visual prompts, or an automatic control interface. Specifically, when the boom moves the pile body, causing the pile foundation's point of action to enter the user-defined accuracy range, the pile position indicator icon or progress bar in the HMI will be highlighted in green, intuitively indicating to the operator that "positioning conditions have been met," facilitating timely decision-making regarding pile driving timing.

[0047] In some implementations, the module can also record the timestamps, deviation curves, and final positioning accuracy of the placement process for construction quality traceability and acceptance. Furthermore, the data processing module 130 supports multi-pile collaborative management, enabling simultaneous tracking of the design coordinates and measured status of multiple pile locations. This is suitable for large-scale, high-density pile deployment scenarios for offshore photovoltaic arrays, effectively improving construction efficiency and automation levels.

[0048] In exemplary embodiments of this disclosure, reference is made to Figure 2 , Figure 2 This is a flowchart illustrating the process of determining the placement of pile foundations in an embodiment of this disclosure. The data processing module 130 described above can also be used to execute... Figure 2 Step S201: In step S201, when the positioning deviation value is less than or equal to the preset accuracy threshold, a positioning prompt signal is generated.

[0049] In this step, the positioning deviation value refers to the distance between the real-time spatial position of the pile foundation's point of action and the corresponding preset design coordinates of the pile position, including horizontal offset and / or elevation deviation. The data processing module 130 calculates the difference between the real-time position data provided by the integrated navigation terminal 1201 and the design coordinates, and comprehensively evaluates whether the positioning accuracy requirements are met.

[0050] The preset accuracy thresholds can be manually entered by on-site operators via a control panel or handheld terminal 150, enabling customized accuracy control strategies. These preset accuracy thresholds can also be set according to the specific needs of the offshore photovoltaic project, such as based on support installation tolerances, pile foundation stress uniformity requirements, or construction specifications. Typically, they are ±20mm to ±50mm in the horizontal direction and ±10mm to ±30mm in the vertical direction. These thresholds can be pre-configured by operators or dynamically adjusted by the system based on current sea conditions, pile type parameters, or construction stage.

[0051] When the calculated positioning deviation value does not exceed the preset accuracy threshold, the data processing module 130 determines that the pile foundation has been accurately positioned and generates a positioning prompt signal. This prompt signal can be presented as a green visual icon on the local human-machine interface, and simultaneously pushed to the handheld mobile terminal 150, ensuring that the operator in the crane cab and the command personnel on the deck can be aware of the "positioning completed" status in real time, realizing multi-party collaborative confirmation.

[0052] This mechanism effectively avoids errors caused by relying on manual visual inspection or experience-based judgment, and improves the automation level and operational reliability of offshore pile foundation construction.

[0053] In exemplary embodiments of this disclosure, reference is made to Figure 3 , Figure 3 This diagram illustrates the process of recording and storing as-built data after pile foundation construction in an embodiment of this disclosure. The data processing module 130 can also be used to execute... Figure 3 Step S301 in the process: In step S301, the actual coordinates, elevation and timestamp of the pile foundation action point are recorded each time the pile driving is completed, and stored as as-built data.

[0054] In this step, the data processing module 130 is responsible for recording the actual coordinates, elevation, and timestamp of the pile foundation's action point at the completion of each pile driving operation, and storing this information as as-built data. This process ensures the accurate recording of all key location and time information during construction.

[0055] Specifically, after each pile driving operation is completed, the integrated navigation terminal 1201 provides the actual spatial location information of the pile foundation's point of action, including its planar coordinates (i.e., X and Y coordinates) and elevation (Z coordinate). Simultaneously, the system also acquires the current time information, forming a timestamp. These data collectively constitute the key parameters describing the positioning of each pile foundation.

[0056] After receiving the above information, the data processing module 130 integrates it and stores it in a database or a designated data storage medium as as-built data. This as-built data is of great significance for subsequent engineering quality inspection, structural health monitoring, and maintenance. It not only provides accurate location information of each pile foundation during the project implementation, but also includes time-dimensional information on the construction progress, which helps to trace the work status of specific construction stages, verify whether the construction is carried out in accordance with design requirements, and support any adjustments or repairs that may be needed.

[0057] Furthermore, by comparing the design coordinates with the actual coordinates in the as-built data, construction deviations can be analyzed, which is extremely important for assessing the overall project quality and optimizing future construction plans. At the same time, the saved timestamps allow the construction team to track the construction sequence and duration of each pile foundation, which is beneficial for project management and scheduling.

[0058] In summary, step S301 ensures precise positioning of each pile foundation and detailed recording of the construction process, thereby improving the transparency and reliability of the entire offshore photovoltaic project management.

[0059] In an exemplary embodiment of this disclosure, the aforementioned offshore photovoltaic pile foundation positioning system 100 may further include a management platform 140. The management platform 140 establishes a communication connection with the data processing module 130 via a wired or wireless communication link (such as 4G / 5G, satellite communication, industrial Ethernet, or self-organizing network) to receive and centrally manage pile foundation positioning status information and completion data from one or more construction equipment 120.

[0060] Specifically, the management platform 140 can be deployed at a shore-based control center, project command vessel, or cloud server, and has data aggregation, visualization, and intelligent analysis functions. During construction, the management platform 140 receives real-time reports from various construction equipment on the pile foundation positioning status (such as "not in place," "in place," "in place," "out of tolerance alarm," etc.), and dynamically displays the current status, positional deviation, and work progress of each pile on an electronic map or 3D engineering model, which facilitates management personnel to have a comprehensive understanding of the on-site construction situation and to promptly allocate resources or intervene in abnormal working conditions.

[0061] In addition, the management platform 140 automatically summarizes, classifies, and statistically analyzes the as-built data (including the actual coordinates, elevation, timestamp, and positioning accuracy of the pile foundation action points) uploaded by the data processing module 130, generating a structured construction progress report. This report can be output by time, region, construction vessel, or pile number, and includes key indicators such as the number of completed piles, pass rate, average positioning deviation, and daily construction efficiency. It supports exporting to PDF, Excel, or integration with a Project Management Information System (PMIS) for project acceptance, quality traceability, and settlement purposes.

[0062] By introducing the management platform 140, the offshore photovoltaic pile foundation positioning system of this disclosure not only achieves high-precision positioning and positioning control of a single machine, but also further constructs a digital construction management system for multi-equipment collaborative operations, significantly improving the informatization, intelligence, and refined management level of offshore photovoltaic projects. In an exemplary embodiment of this disclosure, the aforementioned offshore photovoltaic pile foundation positioning system 100 may also include a handheld mobile terminal 150. The handheld mobile terminal 150 establishes a communication connection with the data processing module 130 via wireless communication (such as Wi-Fi, 4G / 5G, Bluetooth, or a dedicated industrial wireless network) to push pile foundation positioning status information to crane operators, pile drivers, or on-site command personnel in real time.

[0063] Specifically, the handheld mobile terminal 150 can be a ruggedized tablet, industrial smartphone, or dedicated handheld device, possessing characteristics such as waterproofing, dustproofing, and drop resistance to adapt to harsh marine environments. During construction, the terminal receives positioning status information (such as "approaching positioning," "in position," "horizontal deviation exceeds limit," etc.) from the data processing module 130, and intuitively presents the current positioning status of the pile foundation through graphical interfaces, color indicators (such as red / yellow / green lights), text prompts, or sound alarms, allowing operators to obtain accurate positioning feedback on the work site in real time without relying on the main control room or remote monitoring.

[0064] Especially when the pile foundation action point enters the user-defined accuracy tolerance range, the handheld terminal 150 interface will simultaneously turn the status indicator green, and may be accompanied by vibration or short beep to ensure that critical positioning information can still be effectively conveyed in noisy sea conditions.

[0065] In addition, the handheld mobile terminal 150 also supports interactive functions, such as allowing operators to confirm the completion of positioning, report abnormal situations, view the design coordinates of the target pile position, or access historical positioning records, thereby improving the efficiency of human-machine collaboration. In scenarios with densely deployed multiple piles, the terminal can also display the status of adjacent pile positions, helping operators avoid collisions or misaligned construction.

[0066] By introducing a handheld mobile terminal 150, this system extends high-precision positioning information to the front line of operations, effectively bridging the information gap between automated positioning and manual operation, and significantly improving the response speed, operational accuracy, and overall operational safety of offshore pile foundation construction.

[0067] refer to Figure 4 , Figure 4 This diagram illustrates the overall architecture of the offshore photovoltaic pile foundation positioning system as described in this disclosure. Figure 4 As shown, the offshore photovoltaic pile foundation positioning system 100 mainly includes: a shore-based reference station (equivalent to the aforementioned positioning base station 110), multiple shipborne positioning stations (equivalent to the aforementioned integrated navigation terminal 1201), and a data processing module 130. Figure 4 (not shown in the image), and achieve collaborative work through a communication network.

[0068] Among them, shore-based reference stations are deployed on stable land, temporary surveying piers, or fixed working platforms around the construction area, serving as the reference source for high-precision GNSS differential correction data. These reference stations simultaneously receive multi-system, multi-frequency satellite signals from BeiDou, GPS, GLONASS, Galileo, and other systems. Combined with their known precise coordinates, they calculate common error terms such as orbital error, clock error, ionospheric delay, and tropospheric delay in real time. High-precision differential correction data is then generated according to standard protocols (such as the RTCM 3.x series) and broadcast to the offshore operation units via wireless links, providing centimeter-level positioning support for construction.

[0069] Within the construction area, multiple shipborne positioning stations are deployed, installed on construction equipment such as pile-driving vessels, crane vessels, or jack-up platforms. Each shipborne positioning station receives differential correction data from shore-based reference stations and integrates attitude information output by its onboard inertial measurement unit with mechanical state parameters collected by sensors inside the construction equipment to calculate the three-dimensional spatial position of the pile foundation's point of action in the global coordinate system in real time.

[0070] The dashed line in the figure represents the GNSS differential data downlink, which is used to broadcast differential correction information from the shore-based reference station to each shipborne positioning station; the solid line represents the status data uplink, which is used to transmit the pile foundation positioning status information from the shipborne positioning station to the data processing module 130.

[0071] The construction status of each pile location is visually indicated by circular icons of different colors in the diagram: The yellow circles indicate the pile locations where work is currently being carried out; Blue circles indicate pile locations that have not yet been started for construction; Green circles indicate pile locations that have been installed and confirmed to be in place.

[0072] This system architecture enables a highly efficient collaborative operation mode of "one shore, multiple ships": a single shore-based reference station can simultaneously provide high-precision positioning services for multiple shipborne positioning stations, significantly improving the operational efficiency and equipment resource utilization rate of pile foundation deployment in large-scale offshore photovoltaic projects. Simultaneously, through centralized visualization of the pile position status across the entire area, on-site command personnel can monitor the overall construction progress in real time, dynamically optimize scheduling strategies, and ensure the high-quality and efficient advancement of the project.

[0073] Based on the above technical solutions, this disclosure has at least the following technical effects: First, it achieves centimeter-level high-precision pile foundation positioning, significantly improving the accuracy of offshore construction positioning. By integrating high-precision GNSS differential correction data, inertial measurement unit (IMU) information, and internal mechanical state parameters of construction equipment, the system can calculate the three-dimensional spatial position of the pile foundation's point of action in real time, with a positioning accuracy within ±2cm, effectively meeting the stringent requirements for high-precision pile position control in projects such as offshore photovoltaic projects.

[0074] Second, ensure the continuity and reliability of positioning output under complex sea conditions. When the GNSS signal is temporarily lost due to obstruction or multipath effect, the system automatically switches to inertial dead reckoning mode, using IMU high-frequency data to maintain the carrier's attitude recursion, ensuring that the calculation of the pile foundation's point of action is uninterrupted, and avoiding operation stoppage or misoperation.

[0075] Third, it supports intelligent positioning judgment and real-time feedback through human-machine collaboration. The system can automatically judge the positioning status based on the accuracy threshold set by the user, and generate a green positioning prompt signal when the deviation reaches the standard. At the same time, it is pushed to the crane operator and on-site command personnel through a handheld mobile terminal, improving decision-making efficiency and operational safety.

[0076] Fourth, it enables digital recording and visual management of the entire construction process. The actual coordinates, elevation, and timestamp of each pile are automatically recorded as as-built data, and the status of all piles on the site (such as pending construction, under construction, or completed) is centrally displayed through the management platform. Construction progress reports are automatically generated, providing data support for quality traceability, acceptance, and project scheduling.

[0077] Fifth, improve the efficiency of multi-vehicle collaborative operations in large-scale offshore engineering projects. A single positioning base station can simultaneously serve multiple construction equipment vessels. Combined with distributed data processing and remote monitoring, it enables efficient collaboration between multiple vessels on one shore, significantly shortening the overall construction cycle and reducing reliance on manual labor and management costs.

[0078] This disclosure also provides a method for positioning offshore photovoltaic pile foundations. Figure 5 This diagram illustrates a flowchart of a method for positioning offshore photovoltaic pile foundations in an exemplary embodiment of this disclosure, including the following steps S501-S503: In step S501, positioning base stations are deployed around the construction area, and high-precision GNSS differential correction data is generated by the positioning base stations and broadcast to the construction equipment. In step S502, high-precision GNSS differential correction data is received through the combined navigation terminal installed on the construction equipment, and inertial measurement data and internal sensor signals of the construction equipment are fused together to calculate the spatial position of the pile foundation action point in real time. In step S503, the spatial position of the pile foundation action point is compared with the preset pile position design coordinates to generate pile foundation positioning status information.

[0079] In an exemplary embodiment of this disclosure, the above-described offshore photovoltaic pile foundation positioning method may further include the following steps: when high-precision GNSS differential correction data fails, dead reckoning is performed based on the data output by the inertial measurement unit in order to maintain the continuity of the spatial position output of the pile foundation action point.

[0080] In an exemplary embodiment of this disclosure, the above-mentioned offshore photovoltaic pile foundation positioning method may further include the following steps: calculating the spatial position of the pile foundation action point based on mechanical state parameters characterizing the spatial configuration of the boom and the installation state of the pile, inertial measurement data, and high-precision GNSS differential correction data.

[0081] In an exemplary embodiment of this disclosure, the above-described offshore photovoltaic pile foundation positioning method may further include the following steps: calculating the positioning deviation value between the spatial position of the pile foundation action point and the preset pile position design coordinates; and generating a positioning prompt signal when the positioning deviation value is less than or equal to a preset accuracy threshold.

[0082] In an exemplary embodiment of this disclosure, the above-described method for positioning marine photovoltaic pile foundations may further include the following steps: pushing pile foundation positioning status information to the crane operator or on-site commander in real time via a handheld mobile terminal.

[0083] In an exemplary embodiment of this disclosure, the above-described offshore photovoltaic pile foundation positioning method may further include the following steps: recording the actual coordinates, elevation, and timestamp of the pile foundation action point at the time of each pile driving completion, and storing them as as-built data.

[0084] In an exemplary embodiment of this disclosure, the above-mentioned offshore photovoltaic pile foundation positioning method may further include the following steps: visually displaying the pile foundation positioning status information of each construction equipment through a management platform, and automatically generating a construction progress report based on the completion data.

[0085] The specific details of each step in the above-mentioned offshore photovoltaic pile foundation positioning method have been described in detail in the corresponding offshore photovoltaic pile foundation positioning system, so they will not be repeated here.

[0086] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0087] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0088] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0089] This disclosure also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into the electronic device.

[0090] Computer-readable storage media can be, for example—but not limited to—electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0091] A computer-readable storage medium can be sent, propagated, or transmitted for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable storage medium can be transmitted using any suitable medium, including but not limited to: wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

[0092] A computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to perform the methods described in the above embodiments.

[0093] Furthermore, this disclosure also provides an electronic device capable of implementing the above-described method.

[0094] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0095] The following reference Figure 6 To describe an electronic device 600 according to such an embodiment of the present disclosure. Figure 6 The electronic device 600 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0096] like Figure 6 As shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processor 610, at least one memory 620, a bus 630 connecting different system components (including memory 620 and processor 610), and a display 640.

[0097] The memory stores program code that can be executed by the processor 610, causing the processor 610 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processor 610 can perform actions such as... Figure 5As shown in step S501, positioning base stations are deployed around the construction area, and high-precision GNSS differential correction data is generated and broadcast to the construction equipment by the positioning base stations; in step S502, the high-precision GNSS differential correction data is received by the combined navigation terminal installed on the construction equipment, and inertial measurement data and internal sensor signals of the construction equipment are fused to calculate the spatial position of the pile foundation action point in real time; in step S503, the spatial position of the pile foundation action point is compared with the preset pile position design coordinates to generate pile foundation positioning status information.

[0098] The memory 620 may include a readable medium in the form of volatile storage, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include read-only memory (ROM) 6203.

[0099] The memory 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0100] Bus 630 can represent one or more of several types of bus structures, including a memory bus or memory controller, peripheral bus, graphics acceleration port, processor, or a local bus using any of the various bus structures.

[0101] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. As shown, network adapter 660 communicates with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0102] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

Claims

1. An offshore photovoltaic pile foundation positioning system, characterized in that, include: The positioning base station is located around the construction area and is used to generate and broadcast high-precision GNSS differential correction data to the construction equipment. The construction equipment is equipped with a combined navigation terminal, which is used to receive the high-precision GNSS differential correction data and integrate inertial measurement data with the internal sensor signals of the construction equipment to calculate the spatial position of the pile foundation action point in real time. The data processing module is used to compare the spatial location with the preset pile position design coordinates to generate pile foundation placement status information.

2. The system according to claim 1, characterized in that, The integrated navigation terminal includes a GNSS receiver and an inertial measurement unit; When the high-precision GNSS differential correction data fails, dead reckoning is performed based on the data output by the inertial measurement unit to maintain the continuity of the spatial position output of the pile foundation action point.

3. The system according to claim 1, characterized in that, The internal sensing signals of the construction equipment include mechanical state parameters used to characterize the spatial configuration of the boom and the installation status of the pile. The integrated navigation terminal calculates the spatial position of the pile foundation's point of action based on the mechanical state parameters, inertial measurement data, and high-precision GNSS differential correction data.

4. The system according to claim 1, characterized in that, The pile foundation positioning status information includes positioning deviation values; The data processing module is used to generate a positioning prompt signal when the positioning deviation value is less than or equal to a preset accuracy threshold.

5. The system according to claim 4, characterized in that, The system also includes a handheld mobile terminal; The handheld mobile terminal is connected to the data processing module and is used to push the pile foundation positioning status information to the crane operator or on-site commander in real time.

6. The system according to claim 1, characterized in that, The data processing module is also used to record the actual coordinates, elevation and timestamp of the pile foundation action point when each pile driving is completed, and store them as as-built data.

7. The system according to claim 6, characterized in that, The system also includes a management platform; The management platform is communicatively connected to the data processing module, which is used to visually display the pile foundation positioning status information of each construction equipment and automatically generate construction progress reports based on the completion data.

8. A method for positioning offshore photovoltaic pile foundations, characterized in that, include: Positioning base stations are deployed around the construction area, and high-precision GNSS differential correction data is generated and broadcast to the construction equipment by the positioning base stations. The high-precision GNSS differential correction data is received by the combined navigation terminal installed on the construction equipment, and the inertial measurement data and the internal sensor signals of the construction equipment are integrated to calculate the spatial position of the pile foundation action point in real time. The spatial location of the pile foundation's action point is compared with the preset pile position design coordinates to generate pile foundation placement status information.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the offshore photovoltaic pile foundation positioning method of claim 8.

10. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the offshore photovoltaic pile positioning method of claim 8 by executing the executable instructions.

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