CN109669203A - A kind of GNSS 3 d pose positioning piling navigation aid system and method - Google Patents
A kind of GNSS 3 d pose positioning piling navigation aid system and method Download PDFInfo
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- CN109669203A CN109669203A CN201910058710.2A CN201910058710A CN109669203A CN 109669203 A CN109669203 A CN 109669203A CN 201910058710 A CN201910058710 A CN 201910058710A CN 109669203 A CN109669203 A CN 109669203A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
本发明涉及一种GNSS三维姿态定位打桩导航辅助系统和方法，包括桩机和带有多天线的GNSS打桩导航仪，所述桩机上安装有用于打桩的桩头，所述GNSS打桩导航仪的至少三个天线安装于桩机平台上，用于获取所述桩机的三维姿态定位数据，根据桩机的三维姿态定位计算桩头的姿态定位，从而解算打桩位置的坐标。通过在桩机上设置三个以上天线一体化即时位置解算的GNSS打桩导航仪，对桩机平台进行三维姿态解算，实现桩机平台的姿态定位，再根据桩机平台的尺寸推算桩头即打桩位置的精准定位；同时也可以通过两两天线组合分别解算桩机平台的位置和方向角，多解算方法对比，使桩机平台的定位更加准确、可靠。
The invention relates to a GNSS three-dimensional attitude positioning piling navigation assistance system and method, comprising a pile driver and a GNSS piling navigator with multiple antennas. The three antennas are installed on the pile driver platform, and are used to obtain the three-dimensional attitude positioning data of the pile driver, and calculate the attitude positioning of the pile head according to the three-dimensional attitude positioning of the pile driver, thereby solving the coordinates of the pile driving position. By setting the GNSS piling navigator with more than three antennas to solve the real-time position calculation on the pile driver, the three-dimensional attitude calculation of the pile driver platform is carried out to realize the attitude positioning of the pile driver platform, and then the pile head is calculated according to the size of the pile driver platform. Accurate positioning of the pile driving position; at the same time, the position and direction angle of the pile driver platform can be calculated separately through the combination of two antennas, and the multi-calculation method comparison can make the positioning of the pile driver platform more accurate and reliable.
Description
Technical field
The present invention relates to piling location technical fields, lead more specifically to a kind of positioning piling of GNSS 3 d pose
Auxiliary system of navigating and method.
Background technique
In the engineerings such as solar energy, wind power plant, reservoir dam fence and highway, railway bed, stake is as lower part load-bearing
Structure is the important component of engineering.The superiority and inferiority of piling construction technique and technology directly influences pile foundation quality, and then influences
The quality of integrated engineering.At present in piling field, one kind is disclosed application No. is 201510179361.1 Chinese patent and is based on
Reference station is arranged using on known coordinate point, in stake machine or stake machine in the piling location auxiliary system and application method of RTK technology
The mode of outer setting rover station, calculates pile driving position, guiding construction.Application No. is 201610948692.1 Chinese patents to disclose
A kind of control system and method for the construction of Ancillary Terrestrial piling vehicle, install GNSS receiver using on stake vehicle, according to stake machine
Position and the position of piling point obtain the mode at azimuth and distance between the two and control the piling of machine, above two calculating
All there are some problems in the mode of pile driving position coordinate, the position driven piles on stake machine platform is accounted for by the mast of stake machine, pile body itself
With needing on platform other positions installation GNSS piling navigator fix instrument, current GNSS piling airmanship is single
Point location and azimuth positioning, cannot effectively correct the inclination bring error of a machine platform, so as to cause position inaccurate.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of GNSS 3 d pose positioning piling navigation aid system and side
Method, the GNSS piling navigator of exploitation three or more antenna, realizes the 3 d pose positioning of piling machine (or piling hull), eliminates
Stake machine platform tilts bring position error.
The technical solution of the invention is as follows: the present invention provides a kind of GNSS 3 d pose positioning piling navigation auxiliary system
System, GNSS including stake machine and with multiple antennas drive piles navigator, and the pile crown for piling is equipped on the stake machine, described
At least three antennas of GNSS piling navigator are installed on a machine platform, and the 3 d pose for obtaining the stake machine positions number
According to according to the attitude orientation of the 3 d pose location Calculation pile crown of stake machine, to resolve the coordinate of pile driving position.
In order to solve the technical problem, the present invention furthermore provides GNSS 3 d pose positioning piling navigation auxiliary, packet
Include following steps:
S1, the GNSS piling navigator that multiple antennas integration instantaneous combination resolves is installed on stake machine；
S2, the GNSS antenna that three or more are at least installed on stake machine platform；
S3, navigator of being driven piles by GNSS obtain the spatial coordinate (x, y, z) of three or more antennas immediately, realize that stake machine is flat
The 3 d pose of platform positions；
S4, the 3 d pose coordinate that pile crown is calculated according to the size of stake machine platform, user is according to the coordinate of pile crown and predetermined
The mobile stake machine of coordinate of piling point is driven piles.
Further, can also be distinguished by being combined according to the spatial coordinate (x, y, z) of any two antenna in S3 step
Resolve the position and direction angle of stake machine platform.
Implement GNSS 3 d pose positioning piling navigation aid system and method for the invention, has the advantages that
The GNSS piling navigator resolved by the way that three or more antenna integrated present positions are arranged on stake machine, carries out stake machine platform
3 d pose resolves, and realizes the attitude orientation of stake machine platform, calculates pile crown, that is, pile driving position further according to the size of stake machine platform
Precise positioning；The position and direction angle of stake machine platform, more calculation methods can also be resolved respectively by antenna combination two-by-two simultaneously
Comparison keeps the positioning of a machine platform more accurate, reliable.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is that GNSS drives piles the schematic diagram of the mutiple antennas of navigator when being mounted on machine platform；
Fig. 2 is the structural schematic diagram of multiple antennas 3 d pose positioning.
Specific embodiment
GNSS 3 d pose positioning piling navigation aid system of the present invention includes a machine and the GNSS piling with multiple antennas
Navigator, the pile crown for piling is equipped on stake machine, and at least three antennas of GNSS piling navigator are installed on a machine platform
On, according to navigator to the location data of three antennas, the 3 d pose location data of stake machine platform is obtained, according to the three of stake machine
The attitude orientation that attitude orientation calculates pile crown is tieed up, to resolve the coordinate of pile driving position.The mutiple antennas of GNSS piling navigator
Position it is different, height is different, and three aerial heads are connected to form a plane, and three or more aerial heads are connected to form one
A irregular body, the pile crown of stake machine are located at one end of stake machine platform, and the three-dimensional location data of mutiple antennas is obtained by navigator
Guide pile machine platform, then the size of foundation stake machine platform and the position of pile crown calculate the 3 d pose coordinate of pile crown, that is, can determine
Pile driving position.It is positioned compared to usually used One-Point Location and azimuth, this GNSS 3 d pose positioning piling navigation auxiliary system
System is that 3 d pose positions, more more acurrate than two-dimensional localization mode, can effectively correct the inclination bring error of a machine platform, together
When can also resolve the position and direction angle of stake machine platform respectively by antenna combination two-by-two, more calculation methods comparisons, control is fixed
Position data, keep the positioning of a machine platform relatively reliable.In addition this GNSS 3 d pose positioning piling navigation aid system not only may be used
To drive piles for land, marine piling hull can also be applied to and positioned, had wide range of applications.
The present invention also provides GNSS 3 d poses to position piling navigation auxiliary, includes the following steps:
S1, the GNSS piling navigator that multiple antennas integration instantaneous combination resolves is installed on stake machine, GNSS piling is led
The instrument that navigates includes at least three antennas.
S2, the GNSS antenna that three or more are at least installed on stake machine platform；
S3, navigator of being driven piles by GNSS obtain the spatial coordinate (x, y, z) of three or more antennas immediately, realize that stake machine is flat
The 3 d pose of platform positions.The present embodiment is by taking three antennas as an example, as Figure 1-Figure 2, using horizontal plane as X-axis and Y-axis, vertically
Direction is Z axis, and the antenna of three GNSS piling navigators is primary antenna, from antenna 1 and from antenna 2, the installation position of three antennas
It is set to any position on a machine platform, the three-dimensional location coordinates of three antennas, primary antenna are obtained from GNSS piling navigator
(X0, Y0, Z0), from antenna 1 (X1, Y1, Z1) and from antenna 2 (X2, Y2, Z2), stake machine is calculated according to above three antenna coordinate
The 3 d pose coordinate of platform realizes the attitude orientation of stake machine platform.
S4, the 3 d pose coordinate that pile crown is calculated according to the size of stake machine platform, that is, obtain the 3 d pose of pile driving position
Coordinate, pile crown the position on stake machine platform be it is fixed known to, the 3 d pose positioning that can use a machine platform is extrapolated
Pile crown position.User drives piles according to the mobile stake machine of coordinate of the coordinate and predetermined piling point of pile crown, can by three-dimensional localization
Error caused by avoid tilting because of stake machine is more accurate than One-Point Location and azimuth positioning.
It can also be distinguished by being combined according to the spatial coordinate (x, y, z) of any two antenna in S3 step in the present embodiment
The position and direction angle of stake machine platform is resolved, as a result two kinds of calculation method comparisons compare, keep the positioning of a machine platform more quasi-
Really, reliably.
Using GNSS 3 d pose positioning piling navigation aid system of the invention and method, by being arranged three on stake machine
The GNSS piling navigator that a above antenna integrated present position resolves, carries out 3 d pose resolving to stake machine platform, realizes
The attitude orientation of stake machine platform calculates pile crown, that is, pile driving position precise positioning further according to the size of stake machine platform；It simultaneously can also
To resolve the position and direction angle of stake machine platform respectively by antenna combination two-by-two, more calculation method comparisons make a machine platform
Positioning is more accurate, reliable.
The above is only a preferred embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, in specific embodiments and applications can be with many changes may be made, as long as these variations are without departing from structure of the invention
Think, all belongs to the scope of protection of the present invention.
Claims (3)
1. a kind of GNSS 3 d pose positioning piling navigation aid system, which is characterized in that including stake machine and with multiple antennas
GNSS drives piles navigator, is equipped with the pile crown for piling on the stake machine, and at least three days of the GNSS piling navigator
Line is installed on a machine platform, for obtaining the 3 d pose location data of the stake machine, is positioned according to the 3 d pose of stake machine
The attitude orientation for calculating pile crown, to resolve the coordinate of pile driving position.
2. a kind of GNSS 3 d pose positioning piling navigation auxiliary, which comprises the steps of:
S1, the GNSS piling navigator that multiple antennas integration instantaneous combination resolves is installed on stake machine；
S2, the GNSS antenna that three or more are at least installed on stake machine platform；
S3, navigator of being driven piles by GNSS obtain the spatial coordinate (x, y, z) of three or more antennas immediately, realize stake machine platform
3 d pose positioning；
S4, the 3 d pose coordinate that pile crown is calculated according to the size of stake machine platform, coordinate and predetermined piling of the user according to pile crown
The mobile stake machine of the coordinate of point is driven piles.
3. GNSS 3 d pose positioning piling navigation aid system application method according to claim 2, which is characterized in that
The position of stake machine platform can also be resolved respectively in S3 step by combining according to the spatial coordinate (x, y, z) of any two antenna
And deflection.
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| CN201910058710.2A CN109669203A (en) | 2019-01-22 | 2019-01-22 | A kind of GNSS 3 d pose positioning piling navigation aid system and method |
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| CN201910058710.2A CN109669203A (en) | 2019-01-22 | 2019-01-22 | A kind of GNSS 3 d pose positioning piling navigation aid system and method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110412954A (en) * | 2019-07-12 | 2019-11-05 | 山东四维卓识信息技术有限公司 | A kind of board-plugging device foundation construction monitoring system and method |
| CN110552349A (en) * | 2019-09-12 | 2019-12-10 | 中交二公局第五工程有限公司 | Construction method based on Internet of things accurate control in special treatment of highway bridges and soft foundations |
| CN111749235A (en) * | 2020-07-30 | 2020-10-09 | 山东临工工程机械有限公司 | Auxiliary piling system and pile driver with same |
| WO2021253958A1 (en) * | 2020-06-18 | 2021-12-23 | 万宝矿产有限公司 | Method for smart high-precision positioning of excavator based on satellite navigation |
| CN118294995A (en) * | 2024-02-22 | 2024-07-05 | 中建三局集团华南有限公司 | Intelligent pile machine positioning system based on satellite positioning technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110412954A (en) * | 2019-07-12 | 2019-11-05 | 山东四维卓识信息技术有限公司 | A kind of board-plugging device foundation construction monitoring system and method |
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| WO2021253958A1 (en) * | 2020-06-18 | 2021-12-23 | 万宝矿产有限公司 | Method for smart high-precision positioning of excavator based on satellite navigation |
| CN111749235A (en) * | 2020-07-30 | 2020-10-09 | 山东临工工程机械有限公司 | Auxiliary piling system and pile driver with same |
| CN118294995A (en) * | 2024-02-22 | 2024-07-05 | 中建三局集团华南有限公司 | Intelligent pile machine positioning system based on satellite positioning technology |
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