CN108265713A - A kind of 3 D stereo guiding pile-driving method based on satellite positioning tech - Google Patents
A kind of 3 D stereo guiding pile-driving method based on satellite positioning tech Download PDFInfo
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- CN108265713A CN108265713A CN201611270779.4A CN201611270779A CN108265713A CN 108265713 A CN108265713 A CN 108265713A CN 201611270779 A CN201611270779 A CN 201611270779A CN 108265713 A CN108265713 A CN 108265713A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
- E02D13/06—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers for observation while placing
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
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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
- G01S19/42—Determining position
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Structural Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The present invention relates to a kind of 3 D stereos based on satellite positioning tech to guide pile-driving method, 3 D stereo guiding pile-driving method based on satellite positioning tech sets reference station in destination item pre-determined distance, the installment work station on stake machine, it is cooperated by reference to station and work station, realizes automatic and accurate positioning.This piling location bootstrap technique positioning accuracy is high, and the data such as stake position, stake depth, can calculate the piling period automatically in energy programming count work progress.By the plan-position variation of drilling rod and change in depth, the start and end time of piling is determined, required time is the piling period of a pile.The technology can be used on a variety of piling machineries, realize more of a stake position stake machine or the multiple ram machine constructions of position one, have extensive application and popularizations value.
Description
Technical field
The present invention relates to a kind of three-dimensional guiding pile-driving method, specially a kind of pile-driving methods based on satellite positioning tech.
Background technology
At present during ram machine construction, surveying setting-out needs, by general measuring instrument (including RTK measuring instruments), to need simultaneously
More people is wanted to coordinate to complete.When discharging line by measuring instrument, also can due to night sighting condition deficiency operation it is difficult.And on ground
When being driven piles in the case of looks unit complexity or geological conditions are poor, stake machine can cause the offset of stake position in moving process,
The offset situation of stake position in work progress can not be obtained in real time, and offset error will beyond specification after the completion of be easy to causeing pile driving construction
It asks.And and the drive piles period deep for stake also measures record without special instrument and equipment.
It is measured in existing construction method there are no a kind of exact automatic, the technology of guiding piling.
Invention content
To solve the above problems, the present invention provides a kind of 3 D stereo guiding pile-driving method based on satellite positioning tech,
It realizes and includes pile driving position positioning, three-dimensional guiding piling, pile data acquisition, the automatic piling period for calculating a pile and piling
The a series of automation guiding pile-driving method such as depth.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of 3 D stereo guiding pile-driving method based on satellite positioning tech, includes the following steps：
S1, pile driving position is positioned using global position system；
S2, using the work station on stake machine and the long measurement sensor of stake, become according to the variation of drilling rod plan-position and depth
Change and determine piling start and end time.
In the guiding pile-driving method of the 3 D stereo based on satellite positioning tech of one embodiment,
The global position system includes satellite, reference station and work station；
Include the following steps in step sl：
S01, reference station M is placed in destination item pre-determined distance, work station M1 on stake machine is set and from antenna M2, is surveyed
Measure work station M1, the relative position relation from antenna M2, stake machine injection position；
S02, work station M1 position coordinates are obtained using global position system, from antenna M2 azimuths；
S03, work station M1, the relative position relation from antenna M2, stake machine injection position, calculating pile driving position seat are utilized
Mark.
In the guiding pile-driving method of the 3 D stereo based on satellite positioning tech of one embodiment,
When there are during two pile driving positions, one group of work station M1 of installation, from antenna M2 can realize a stake position on stake machine
Multiple bearing.After measuring pile driving position for the first time, mobile stake machine repeats step S02 and S03, it can be achieved that Single Pile is repeatedly fixed
Position.
In the guiding pile-driving method of the 3 D stereo based on satellite positioning tech of one embodiment,
Using same group of work station M1, from antenna M2, according to the method for claim 2, two stake positions can be positioned simultaneously
More than, form more straight line positioning, triangle positioning, polygon positioning.
In the guiding pile-driving method of the 3 D stereo based on satellite positioning tech of one embodiment,
When place memory is multiple positions, and between multiple positions during regular distribution, according to construction stake position and known point
Coordinate can automatically generate follow-up stake position construction plan, and follow-up stake position is guided to construct.
At least two pile driving positions are determined in construction surface, and then calculating remaining pile driving position by the rule that lays out pile is distributed.
In the guiding pile-driving method of the 3 D stereo based on satellite positioning tech of one embodiment, the rule packet that lays out pile
Include the stake position that the equilateral triangle for meeting specification or other design requirements, isosceles triangle, square or rectangular are distributed.
In the guiding pile-driving method of the 3 D stereo based on satellite positioning tech of one embodiment,
The long measurement sensor of stake and work station on stake machine are installed, drilling rod plan-position and depth are recorded, when drilling rod plane
Position no longer changes and depth represents the piling time started when variation takes place；When drilling rod depth no longer changes and plane
When position varies widely, the piling end time is represented.
In the guiding pile-driving method of the 3 D stereo based on satellite positioning tech of one embodiment,
RFID electronic label is set in stake machine mast, RFID electronic label reader is set in power head, passes through electronics mark
It signs reader and records power head with respect to the variation of mast height, driving depth can be calculated.
In the guiding pile-driving method of the 3 D stereo based on satellite positioning tech of one embodiment,
Laser range sensor is set in stake machine mast and power head, by recording change of the power head with respect to mast position
Change, you can accurately calculate driving depth；Or
Work station is set in stake mechanomotive force head, passes through the variation of work station elevation, you can accurately calculate driving depth.
In the guiding pile-driving method of the 3 D stereo based on satellite positioning tech of one embodiment,
Speed probe is set on stake machine pulley or hoist engine, by recording variation of the power head with respect to mast height,
Driving depth can be calculated.
In the guiding pile-driving method of the 3 D stereo based on satellite positioning tech of one embodiment,
Driving depth, pile driving position, piling period are collected during guiding piling.
In the guiding pile-driving method of the 3 D stereo based on satellite positioning tech of one embodiment,
After piling process is guided, it can be constructed with programming count and non-construction stake number, it can be according to time programming count
Every stake machine and the construction report of entire building site stake position.
Using the beneficial effects of the invention are as follows：
The 3 D stereo guiding pile-driving method based on satellite positioning tech, using global position system, passes through in the present invention
The plan-position variation of drilling rod and change in depth, determine the start and end time of piling, and required time is a pile
It drives piles the period.This piling location bootstrap technique positioning accuracy is high, can automate statistics work progress data, can calculate piling automatically
Period realizes automatically continuously positioning piling, and can be applied on a variety of piling machineries, has extensive application and popularizations value.
Description of the drawings
Fig. 1 is present invention guiding pile-driving method schematic diagram.
Fig. 2 is determines pile driving position schematic diagram in present invention guiding pile-driving method.
Fig. 3 is draws piling position schematic diagram in present invention guiding pile-driving method according to regular automatic measurement.
Fig. 4 is measures pile driving position principle schematic in present invention guiding pile-driving method.
Fig. 5 is measures pile driving position principle schematic in present invention guiding another embodiment of pile-driving method.
Specific embodiment
The present invention is described in detail below in conjunction with attached drawing.It is right below in conjunction with the attached drawing in the embodiment of the present invention
Technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Go out all other embodiments obtained under the premise of creative work, shall fall within the protection scope of the present invention.
Pile-driving method is guided below based on the 3 D stereo of satellite positioning tech, available for whole piling machines or pile driving system
Application, including but not limited to long spire crawler type stake machine, static pile press, indoor low latitude Static pressure pile driver, diesel pile hammer, rotation
Dig the types, including but not limited to pile driving machine, plastic draining sheet pile such as drilling machine, full-rotating drill, punching piling machine, jumbolter
The types such as machine, treatment of soft foundation stake machine, mixing pile machine, CFG plain concrete pile machines.
As shown in Figure 1, the present invention provides a kind of 3 D stereo guiding pile-driving method based on satellite positioning tech, including such as
Lower step：S1, pile driving position is determined using global position system；S2, using the work station on stake machine and the long measurement sensor of stake,
Piling start and end time is determined according to the variation of drilling rod plan-position and change in depth.
This system be based on RTK technologies, including the reference station based on RTK technologies, work station, data processing system, using clothes
Business system, mobile terminal, data handing-over machine, stake machine, reference station, work station, mobile terminal by data switching exchane and data at
Reason system, application service system are connected with each other, and reference station is located in destination item pre-determined distance, and application is equipped on mobile terminal
Service system, mobile terminal are located on a machine, and work station is mounted on stake machine or in the independent point except stake machine.
In one embodiment, reference station is installed on roof, it is defeated by reference to standing at stake machine injection position installment work station
Go out differential data and be uploaded to data processing system, position data is uploaded to data and comes out system by work station, you can realize accurate
Piling location.Specifically, distance of the machine apart from stake machine injection position can be intuitively observed in screen using display equipment, it can be real
When monitor pile position deviation.
It after stake machine is walked to pile driving position, erects pile body and is aligned with pile driving position, start to beat after recording the depth of drilling rod
Stake measures drilling rod change in depth value, piling is calculated relative to the variation of mast height by power head in real time during piling
Depth, in the present embodiment, driving depth can be by being wirelessly uploaded in data switching exchane and data processing system.In some realities
Apply in example, reference station can be it is one or more, satellite location data using single reference station or more reference stations RTK system or after
Processing method handles data.Data processing system and application service system are mounted in internet cloud server or mounted on offices
Domain network server, is also mountable to data switching exchane.Data switching exchane is equipped with data exchange module, communication module, data processing
Module and memory module.Communication module can be ZIGBEE, 2G, 3G, 4G, WIFI, bluetooth communication module or other communication modules.
On the whole, before piling, reference station is set in destination item pre-determined distance, by reference station coordinates, stake bit number
And coordinate input application service system, automatically generate piling foundation plan；During piling, stake machine operating personnel are according to showing in mobile terminal
Stake seat in the plane is put, mobile stake machine, is directed at the stake position of piling foundation plan, true fixed pile；It is monitored in real time in work progress and records injection position,
It is put according to the position deviation prompting adjustment stake seat in the plane on mobile terminal, all construction datas are uploaded to data processing system；Construction
Automatically generating construction original record and pile position deviation figure, work progress after the completion can monitor, can trace, and construction data and achievement can
It is shared.
Embodiment 1
As shown in figure 4, it is applied using in this bootstrap technique to practical application, such as by this bootstrap technique by a work
Make station and one is mounted on from antenna on stake machine, by a work station and one from antenna measurement pile driving position.
In the present embodiment, global position system includes satellite, reference station and work station；
As shown in Fig. 2, S01, the placement reference station M in the range of destination item certain distance, work station is set on stake machine
M1 and from antenna M2, work station M1, from antenna M2, there are following relationships for stake machine injection position；S02, global position system is utilized
Work station M1 coordinate positions are obtained, from antenna M2 azimuths；S03, using work station M1, from antenna M2, stake machine injection position
Relative position relation calculates pile driving position coordinate.
Selection uses one or more reference station first in the application system of mobile terminal, in the case of inciting somebody to action respectively on stake machine
Relativeness between work station and stake position inputs application service system and corrects its accuracy.Reference station coordinates, stake position are compiled
Number and position coordinate input application service system, application service automatic system generation piling foundation plan.Take several known coordinate points more, it will
Work station is taken off from stake machine, is placed on known point, correction system accuracy and calculating parameter.
Embodiment 2
As shown in figure 5, Single Pile position is repeatedly measured and obtains pile driving position：When there are two pile driving positions on stake machine
When, after measuring pile driving position for the first time, mobile stake machine repeats step S02 and S03, it can be achieved that Single Pile multiple bearing；When one
When stake position needs the multiple devices to construct, one group of work station M1 is installed, from antenna M2 on every stake machine, it can be to the more of stake position
More of a stake position ram machine construction is realized in secondary positioning.
Pile driving position is not limited on a direction of work station, and pile driving position can be in stake machine vertical lower, also may be used
To be beside stake machine, second, which measures pile driving position, does not limit a direction for machine walking, it can be achieved that stake machine is freely walked yet, and
It is accurate to measure pile driving position.
Embodiment 3
The present embodiment can be carried out at the same time more position straight lines by piling machine and be beaten by straight line where one-shot measurement pile driving position
Stake.
More straight line positioning：For more location navigations, two piling positions are positioned simultaneously by step S02 and step S03
It puts, that is, determines remaining pile driving position.
Specifically, during by above-mentioned piling, first by stake machine by way of guiding, near walking to stake position, together
Two pile driving positions of Shi Dingwei, the straight line of two pile driving position connections is straight line where multiple pile driving positions.
Embodiment 4
In the prior art, pile driving position draws pile driving position, so first according to design principle in a boundary of works area
It afterwards in construction ground surface markers pile driving position, then drives piles one by one in mark, completes range piling in region.
As shown in figure 3, when place memory is multiple positions, and between multiple positions during regular distribution, according to construction stake
Position or known point coordinates, can automatically generate follow-up stake position construction plan, and follow-up stake position is guided to construct；It determines on construction ground
After at least two pile driving positions, you can calculate remaining pile driving position according to the rule that lays out pile.The rule that lays out pile includes meeting rule
The stake position that model or the equilateral triangle of other design requirements, isosceles triangle, square or rectangular are distributed.
In the present embodiment, two pile driving positions are determined by BEI-DOU position system first, are calculated further according to design rule
Remaining stake position, such as in figure 3, it is first determined two stake position A, stake position specified in the rule of stake position are square stake bit distribution,
Remaining stake position B can be calculated immediately, and be marked in the region, and the bootable stake machine of this guiding system is one by one driven piles.It lays out pile
Rule includes but not limited to the distribution of stake position equilateral triangle, square profile or rectangular profile.The guiding piling in job location
Method does not need to label pile driving position, saves workload, improves pile driving position calculating speed, can accelerate construction progress.
Embodiment 5
In the process for measuring driving depth, the long measurement sensor of stake and work station, note are installed in step s 2, on stake machine
Drilling rod plan-position and depth are recorded, when drilling rod plan-position no longer changes and variation takes place in depth, represents that piling starts
Time；When drilling rod depth no longer changes and plan-position varies widely, the piling end time is represented.
Embodiment 6
In the process for measuring driving depth, RFID electronic label is set in stake machine mast, in power head setting RFID electricity
Subtab reader records variation of the power head with respect to mast position, you can accurately calculate and beat by e-tag reader
Stake depth.
In the process for measuring driving depth, laser reflection plate is set in stake machine mast, laser ranging is set in power head
Sensor by recording variation of the power head with respect to mast height, can calculate driving depth.
In the process for measuring driving depth, speed probe is set on stake machine pulley or hoist engine, it is dynamic by recording
Power head can calculate driving depth with respect to the variation of mast height.
In the process for measuring driving depth, work station on power head is set, passes through the variation of work station elevation, you can
Accurately calculate driving depth.
In the present embodiment, some work the earth's surfaces are uneven, and datum plane, gesture are determined according to building site apparent height
It must influence the driving depth calculated.
Driving depth computational methods in the present embodiment, by the long measurement sensor of stake, the driving depth data calculated
Be accurately, error it is minimum.
This three-dimensional bootstrap technique collects driving depth, pile driving position, piling period during guiding piling.It is guiding
After piling process, record piling regional extent and pile body quantity in the range and pile body data are collected.
During piling, position data is uploaded to data processing system by reference station, work station, and data processing system is by processing
Showing that the relationship with stake position is put in a seat in the plane after calculating, application service system receives the data after processing of data processing system,
Stake machine operating personnel put according to the stake seat in the plane shown in mobile terminal, the stake position in mobile stake machine alignment piling foundation plan, true fixed pile.
Start to construct after true fixed pile, stake machine operating personnel are inclined according to the data of the application service system on mobile terminal in work progress
Difference prompting adjustment stake seat in the plane is put, until the construction of this pile terminates.All construction datas are uploaded to data processing system；Construction is completed
After automatically generate construction original record and pile position deviation figure, work progress can monitor, can trace, construction data and achievement can be total to
It enjoys.
The intermediate link of position fixing process is reduced using this method, improves intuitive, convenience, the accuracy of positioning action.
The piling location auxiliary system of this patent improves ram machine construction efficiency, overcomes carry on construction work at night unwrapping wire hardly possible, the soft change of site condition
Shape deviation, construction location deviation, the problems such as construction statistics are information-based, easy to operate, registration, are protected work progress monitoring
Demonstrate,prove construction quality, shared construction data and achievement.
Present system provides a kind of science, round-the-clock, simple, accurate, information-based piling location auxiliary system, non-
It is often suitably mounted on all types of pile machine equipments, quick and precisely completing positioning in construction for auxiliary pile machine works, and carries
Practicability, efficiency and the accuracy of high equipment.
More than content is only presently preferred embodiments 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 the structure of the present invention
Think, all belong to the scope of protection of the present invention.
Claims (10)
1. a kind of 3 D stereo guiding pile-driving method based on satellite positioning tech, it is characterised in that：Include the following steps：
S1, pile driving position is determined using global position system；
S2, using the work station on stake machine and the long measurement sensor of stake, it is true according to the variation of drilling rod plan-position and change in depth
Surely it drives piles start and end time.
2. the 3 D stereo guiding pile-driving method according to claim 1 based on satellite positioning tech, it is characterised in that：
The global position system includes satellite, reference station and work station；
Include the following steps in step sl：
S01, reference station M is placed in destination item pre-determined distance, the suitable position setting work station M1 and from antenna on stake machine
M2, work station M1, from antenna M2, there are following relationships for stake machine injection position；
S02, work station M1 position coordinates are obtained using global position system, from antenna M2 azimuths；
S03, work station M1, the relative position relation from antenna M2, stake machine injection position, calculating pile driving position coordinate are utilized.
3. the 3 D stereo guiding pile-driving method according to claim 2 based on satellite positioning tech, it is characterised in that：
When on stake machine there are during two pile driving positions, after measuring pile driving position for the first time, mobile stake machine, repeat step S02 and
S03 is, it can be achieved that Single Pile multiple bearing；
When a stake position needs multiple devices to construct, one group of work station M1 is installed, from antenna M2 on every stake machine, it can be to one
The multiple bearing of a position realizes more of a stake position ram machine construction.
4. the 3 D stereo guiding pile-driving method according to claim 2 based on satellite positioning tech, it is characterised in that：
Using same group of work station M1, from antenna M2, more than two stake positions can be positioned simultaneously, form more straight lines positioning, three
Angular positioning, polygon positioning.
5. the 3 D stereo guiding pile-driving method according to claim 2 based on satellite positioning tech, it is characterised in that：
When place memory is multiple positions, and between multiple positions during regular distribution, according to construction stake position or known point coordinates,
Follow-up stake position construction plan can be automatically generated, follow-up stake position is guided to construct；
After determining at least two pile driving positions on construction ground, you can calculate remaining pile driving position according to the rule that lays out pile.It is described
The rule that lays out pile includes meeting equilateral triangle, isosceles triangle, the square or rectangular distribution of specification or other design requirements
Stake position.
6. the 3 D stereo guiding pile-driving method according to claim 1 based on satellite positioning tech, it is characterised in that：
The long measurement sensor of the stake and the work station are installed on stake machine, when drilling rod plan-position no longer changes and depth starts
When changing, the piling time started is represented；When drilling rod depth no longer changes and plan-position varies widely, expression is beaten
The stake end time.
7. the 3 D stereo guiding pile-driving method stake according to claim 6 based on satellite positioning tech is long to measure sensing
Device, it is characterised in that：
RFID electronic label is set in stake machine mast, RFID electronic label reader is set in power head, passes through RFID electricity
Subtab reader records variation of the power head with respect to mast position, you can accurately calculates driving depth.
8. the long measurement sensor of stake according to claim 6, it is characterised in that：
Laser range sensor is set in stake machine mast and power head, by recording variation of the power head with respect to mast position, i.e.,
Driving depth can be accurately calculated；Or
Work station is set in stake mechanomotive force head, passes through the variation of work station elevation, you can accurately calculate driving depth.
9. the long measurement sensor of stake according to claim 6, it is characterised in that：
Speed probe is set in stake machine pulley or hoist engine, by recording variation of the power head with respect to mast position, you can essence
Really calculate driving depth.
10. the 3 D stereo guiding pile-driving method according to claim 1 based on satellite positioning tech, it is characterised in that：
During guiding is driven piles, the construction informations such as driving depth, position, time can be recorded automatically, it can be with programming count
Construction and non-construction stake number, reasonable arrangement construction speed prevent no marking or beat again；Every stake machine and whole can be counted according to the time
The construction report of a building site stake position, convenient for construction supervision.
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| CN109469060A (en) * | 2019-01-15 | 2019-03-15 | 安徽恒坤地基基础工程有限公司 | A kind of pile driving equipment that can accurately drive piles |
| CN109579688A (en) * | 2018-12-06 | 2019-04-05 | 南京天辰礼达电子科技有限公司 | A kind of method of ram machine construction piling superfilled alarm in real time |
| CN109669203A (en) * | 2019-01-22 | 2019-04-23 | 深圳市北斗云信息技术有限公司 | A kind of GNSS 3 d pose positioning piling navigation aid system and method |
| CN110541699A (en) * | 2019-07-08 | 2019-12-06 | 山东四维卓识信息技术有限公司 | Rotary excavating construction method and system for engineering and storage medium |
| CN111832100A (en) * | 2020-06-15 | 2020-10-27 | 中交疏浚技术装备国家工程研究中心有限公司 | Intubation tube positioning system |
| CN111913194A (en) * | 2020-08-07 | 2020-11-10 | 上海联适导航技术有限公司 | Pile position guiding method, device, equipment and computer readable storage medium |
| CN112502204A (en) * | 2020-12-08 | 2021-03-16 | 中铁第五勘察设计院集团有限公司 | Pile foundation construction monitoring devices |
| US20210239849A1 (en) * | 2020-02-05 | 2021-08-05 | Tupaia Ltd. | Providing an accurate location for a gnss device in urban environments |
| CN113513021A (en) * | 2021-08-04 | 2021-10-19 | 山东大学 | Automatic positioning system and method for pile driver |
| CN114703851A (en) * | 2022-03-16 | 2022-07-05 | 中国黄金集团建设有限公司 | Pile foundation positioning system |
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