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Improving the Quality of Inertial Profiler Measurements at Low Speed, During Braking, and Through Stops
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2020-04-01
[PDF-7.54 MB]
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Abstract:Inertial profilers can produce valid measurements of longitudinal road profile when they are operated under favorable conditions. However, their performance deteriorates when the host vehicle travels at low speed, decelerates, or comes to a stop. These limitations have hindered the application of inertial profilers for measurement of roughness on low-speed roadways and within urban road networks. This research developed and tested short-term and long-term solutions for addressing errors in profile measurement caused by adverse operational conditions. The proposed short-term solution combines custom numerical procedures with standard filtering techniques to reduce errors in profile measured during stops using only the nominal set of sensors found on a production inertial profiler. The long-term solution augments the nominal inertial profiler design with additional sensors to eliminate errors caused by accelerometer misalignment and bias. The augmented system includes body-fixed measurement of profiler acceleration and rotation rate in three dimensions. The system also includes GPS measurement of profiler host vehicle height, vertical velocity, pitch inclination, and roll inclination. A multi-rate extended Kalman filter with smoothing combines the inertial sensors with the GPS outputs to eliminate drift and alignment errors.
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