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针对道路高程人工测量中效率较低、误差不易控制等问题,提出了基于GPS和惯性原理的快速车载式路面高程测量方法。以GPS、姿态传感器和增量式旋转编码器等传感器为基础,在车辆高速行驶时,同步采集传感器测量的经纬度、海拔、行驶速度以及车辆的俯仰角,分别解算出俯仰角度积分高程和GPS高程,并对二者采用数据融合的方法计算出道路的高程,最后进行了实例验证和测量误差分析。研究结果表明:给出的车载式路面高程测量方法,在20~50km/h的测量速度下,高程测量的平均误差为15cm,测量相关性优于99.9%;该测量方法简单、高效,具有较强的实用性,可用于车载式道路高程的快速准确测量。
Aiming at the problems of low efficiency and difficult to control error in the manual elevation measurement of road elevation, a fast vehicleborne road surface elevation measurement method based on GPS and inertia principle is proposed. Based on sensors such as GPS, attitude sensor and incremental rotary encoder, the latitude and longitude, altitude, driving speed and pitch angle of the vehicle are collected synchronously when the vehicle is traveling at high speed to calculate the elevation elevation of the pitch angle and the GPS elevation , And calculate the height of the road by using data fusion method. Finally, an example verification and measurement error analysis are carried out. The results show that the average error of elevation measurement is 15cm and the measurement correlation is better than 99.9% at the speed of 20 ~ 50km / h. The measurement method is simple and efficient, Strong practicality, can be used for rapid and accurate measurement of vehicle-mounted road elevation.