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A Compensation Algorithm for Vehicle-mounted Road Surface Detection System Based on Inertial Measurement Unit

An inertial measurement unit and road surface detection technology, which is applied in the field of operation and compensation algorithm of the vehicle-mounted road surface detection system based on the inertial measurement unit, can solve the problems of divergence of measurement results over time, step measurement results, etc., achieve data smoothness, and overcome error mutations , high precision effect

Inactive Publication Date: 2011-11-30
BEIHANG UNIV
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Problems solved by technology

However, when the inertial measurement device is used alone, the measurement results diverge over time, and when used in combination with GPS, the measurement results have a significant step

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  • A Compensation Algorithm for Vehicle-mounted Road Surface Detection System Based on Inertial Measurement Unit
  • A Compensation Algorithm for Vehicle-mounted Road Surface Detection System Based on Inertial Measurement Unit
  • A Compensation Algorithm for Vehicle-mounted Road Surface Detection System Based on Inertial Measurement Unit

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Embodiment Construction

[0029] like figure 1 As shown, the present invention is mainly made up of inertial measurement unit 1, GPS module 2, odometer 3, laser displacement sensor 4, data acquisition board 5 and PC104 computer 6, and inertial measurement unit 1 is made up of three gyroscopes 11, three accelerometers 12 etc., are used to measure the angular velocity and acceleration of the vehicle; the GPS module 2 is made up of a GPS receiver 21 and an antenna 22, and is used to measure the position and speed of the vehicle; the laser displacement sensor 4 measures the distance from the vehicle to the road surface; the odometer 3 measures The driving distance of the vehicle, and generate a pulse signal to trigger the data acquisition board 5 to collect data; the data acquisition board 5 collects the output signals of three gyroscopes 11, three accelerometers 12 and laser displacement sensors 41, and sends them to PC104 computer 6; PC104 computer 6 receives the original information sent by the data acq...

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Abstract

The invention relates to a motion compensation algorithm for a vehicle-mounted road surface detection system based on an inertial measurement unit. Information fusion can obtain real-time and accurate motion information; when measuring the road surface, another set of pure inertial strapdown solution is used to obtain the elevation information and laser sensor information superimposed to obtain the divergence curve containing road surface undulation information; the divergence curve is filtered by high-pass digital filter, Obtain the real road surface undulation information; calculate the real road surface undulation information according to the international roughness IRI standard to obtain the road surface roughness results. The invention has the advantage of high operation and compensation accuracy, and can be used to improve the detection accuracy of the road surface smoothness of the vehicle-mounted road surface detection system.

Description

technical field [0001] The invention relates to a compensation algorithm for a vehicle-mounted road surface detection system based on an inertial measurement unit, which can be used to assist a laser rangefinder to measure the real fluctuation of the road surface and calculate the smoothness of the road surface. Background technique [0002] The roughness of the road surface is the main factor affecting the driving quality of the road surface, one of the most important indicators of the performance of the road surface, and one of the main indicators to test the construction quality of urban roads and expressways. [0003] At present, the domestic methods used to detect this indicator mainly include: 3m ruler measurement method, continuous flatness meter detection method, and vehicle-mounted bump accumulator detection method. These methods are widely used, but have obvious disadvantages. Among them, the 3m ruler has low measurement accuracy, low detection efficiency, poor re...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E01C23/01
Inventor 刘百奇康泰钟房建成李建利
Owner BEIHANG UNIV
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