基于多传感器数据融合的路面平整度检测系统

发布时间：2018-01-25 06:56

本文关键词： 路面检测路面平整度激光位移传感器 GPS 陀螺仪数据融合　出处：《长安大学》2015年硕士论文　论文类型：学位论文

【摘要】：进入21世纪以来,我国基础设施建设迅猛发展。在公路交通方面,随着大量的高速公路、国道、省道、县道以及城市和乡镇道路的里程不断增加,公路验收和养护管理的工作量也日益繁重。在公路建成验收和养护维修前,必须对道路状况进行客观、准确、快速地检测与评价,为质量管理和养护部门提供检测数据和评价结果。在公路众多评价指标中,道路路面平整度占总评价指标评分的20%左右,从而可见平整度是一项最重要的道路评价指标。因此快速准确地获取不同环境、不同路况的道路路面平整度就显得尤为重要。本文介绍了国内外平整度检测技术的发展现状,针对目前存在的问题,提出了一种可同时满足检测不同波长、可慢速、变速、快速、检测系统结构尺寸小型化的道路路面平整度的检测系统。在使用路面纵断面分析平整度时,为了实现纵断面的全波段检测,本文将路面波长划分为大波长和小波长,通过信息融合处理技术,实现了路面纵断面的全波段检测。同时分析了国际平整度的波长响应,通过响应曲线可知国际平整度对检测设备的检测波长的要求。为了能慢速、变速和快速检测道路路面平整度,本文运用基于小步长的基准传递原理的非惯性纵断面检测理论检测路面纵断面小波长,在道路路面纵断面大波长检测中采用GPS高程数据和陀螺仪高程数据融合的方法,实现了大波长的精确检测。在路面纵断面小波长和大波长融合之前,首先,对路面纵断面小波长进行了去除路面趋势项处理以及对多数据段拼接问题提出了信号局部基准调整的自适应方法,利用此方法得到平滑和精确的路面纵断面小波长曲线。其次,对GPS差分测量系统以及陀螺仪测量系统采用卡尔曼滤波算法,发挥各自的优点,利用此方法得到精确的路面纵断面大波长曲线。最后,将路面纵断面小波长曲线和大波长曲线进行叠加,得到路面纵断面曲线,以此来分析计算路面平整度。运用以上检测技术,搭建了软件和硬件实验平台,在室外道路上进行了低速下的平整度检测系统的重复性实验,以及与水准仪的相关性分析实验。实验结果表明.检测系统性能稳定、可靠，且具有很好的实用价值。
[Abstract]:Since 21th century, the infrastructure construction of our country has developed rapidly. In the aspect of highway traffic, with a large number of highways, national highways, provincial roads, county roads, as well as urban and township roads mileage continues to increase. The workload of highway acceptance and maintenance management is also increasingly heavy. Before the completion, acceptance and maintenance of highway, the road condition must be detected and evaluated objectively, accurately and quickly. For quality management and maintenance departments to provide testing data and evaluation results. Among the many evaluation indicators, road pavement smoothness accounts for about 20% of the total evaluation index score. Thus visible smoothness is one of the most important road evaluation indicators. Therefore, different environments can be obtained quickly and accurately. Different road conditions of road surface smoothness is particularly important. This paper introduces the development of domestic and foreign flatness detection technology, aiming at the existing problems, a new method can meet the different wavelengths of detection at the same time. Low speed, variable speed, fast, detection system structure size miniaturization of road pavement smoothness detection system. In the use of pavement longitudinal section analysis of smoothness, in order to achieve longitudinal section of the full band detection. In this paper, the road surface wavelength is divided into large wavelength and small wavelength. Through the technology of information fusion, the full-band detection of pavement longitudinal section is realized. At the same time, the wavelength response of international smoothness is analyzed. Through the response curve to know the international smoothness of the detection equipment detection wavelength requirements. In order to be able to slow speed and rapid detection of road surface smoothness. In this paper, the theory of non-inertial longitudinal section detection based on the principle of reference transfer with small step size is used to detect the small wavelength of road profile. The GPS height data and gyroscope height data fusion method are used to realize the accurate detection of large wavelength in road surface profile detection. Before road profile profile small wavelength and large wavelength fusion, first of all. In this paper, the small wavelength of longitudinal section of road surface is removed and the adaptive method of signal local reference adjustment is proposed for multi-data segment splicing. Using this method to obtain smooth and accurate road profile small wavelength curve. Secondly, the GPS differential measurement system and gyroscope measurement system using Kalman filter algorithm to play their advantages. Finally, the small wavelength curve and the large wavelength curve are superposed to get the profile curve. To analyze and calculate the smoothness of the road surface. Using the above detection technology, the software and hardware experimental platform is built, and the repeatability experiment of the low speed roughness detection system is carried out on the outdoor road. The experimental results show that the performance of the system is stable, reliable and has good practical value.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U416.06;TP274

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