Analysis and Simulation Verification of the Verticality Measurement Model for Single Offshore Pile Based on Binocular Vision

Accurately measuring the verticality of a single pile is of crucial importance for ensuring the safe operation of offshore wind power projects. However, mainstream methods have disadvantages such as high dependence on manual labor, low real-time performance, and susceptibility to construction site conditions and marine environmental impacts. The method of measuring the verticality of a single offshore pile based on binocular vision is one of the emerging measurement methods, but there is currently a lack of research on measurement models. In order to clarify the principle of the method for measuring the verticality of a single pile at sea based on binocular vision, this paper starts from the imaging principle of the camera and studies and derives the measurement model of the verticality of a single pile in the global coordinate system and the error model of the measurement system. To verify the correctness of the model and method, a testing experimental platform was built to simulate the measurement of the ship under static and dynamic conditions, and the measurement results were compared with those of the total station. The experimental results show that in the static simulation experiment, the maximum absolute error of the verticality of a single pile is 0.2°, the maximum absolute error of the roll angle is 0.3°, and the maximum absolute error of the pitch angle is 0.3°. In the dynamic simulation experiment, the maximum absolute error of the verticality of a single pile is 0.4°, the maximum absolute error of the roll angle is 0.3°, and the maximum absolute error of the pitch angle is 0.3°. This paper verified the correctness of the model and provided model support for measuring the verticality of single piles at sea.