一种激光断面仪运动补偿用IMU/GPS/OD系统

针对车载激光路面断面仪性能受检测车垂直振动及姿态变化影响的问题,设计并实现了一种车载激光断面仪运动补偿用IMU/GPS/OD组合测量系统,采用低成本IMU结合捷联解算算法计算检测车的三维位置、速度和姿态,通过GPS和里程仪结合最优滤波技术抑制低成本IMU在捷联解算过程中形成的累积误差,并提出了一种基于IMU/GPS/OD组合测量系统的检测车垂直振动位移的计算方法。最后进行了室内实验验证,实验结果表明,该IMU/GPS/OD组合测量系统应用于车载激光断面仪是可行的。

IMU/GPS/OD integrated system for motion compensation of laser profiler

Laser profiler is widely used to measure road pavements;its accuracy depends on the compensation of the profiler vertical vibration and attitude change on tires and suspension.An IMU/GPS/OD integrated system for motion compensation of laser profiler is designed and realized in this paper.In this system,a low cost IMU combined with strapdown inertial algorithm is used to measure the position and attitude of the vehicle,which are corrected with GPS and OD through optimal filter;and a special algorithm based on IMU/GPS/OD is proposed to calculate the vertical vibration distance of the vehicle.Room experiment was carried out to verify the proposed method,and experiment results indicate that the proposed IMU/GPS/OD integrated system can satisfy the requirements of laser profiler.