CN103017874B - Vehicle weight measuring method based on GPS (Global Position System) and inertial sensor - Google Patents
Vehicle weight measuring method based on GPS (Global Position System) and inertial sensor Download PDFInfo
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- CN103017874B CN103017874B CN201210321004.0A CN201210321004A CN103017874B CN 103017874 B CN103017874 B CN 103017874B CN 201210321004 A CN201210321004 A CN 201210321004A CN 103017874 B CN103017874 B CN 103017874B
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Abstract
Aiming at the problems and through application experience of a practical monitoring system, the invention provides a vehicle weight measuring system based on a GPS (Global Position System) and an inertial sensor, which is low in measuring device cost, is convenient to install behind and achieves supervision and administration effects on overload illegal behaviors, so as to realize a using effect of a full monitoring system. The vehicle weight measuring system comprises an ARM (Automatic Route Management) embedded system and a data acquisition module, wherein the data acquisition module is connected with an acceleration sensor and an angular velocity sensor; and the data acquisition module is integrated with a GPS module.
Description
Technical field
The present invention is applicable to road transport monitoring field, particularly to overweight monitoring technology.
Background technology
Along with the development of national economy, transportation industry fast development, scale also constantly expands.Meanwhile, the overload problems in highway in China transport is also serious all the more, becomes and jeopardizes people's life's safety, affect the outstanding social concern that social economy coordinates, develops in a healthy way.But due to the backwardness of vehicle weighing technology, the supervision effect that causing overloads breaks rules and regulations is not remarkable.Therefore, improve vehicle weighing technology and become key issue.
Vehicle weighing method conventional at present is mainly divided into externally measured and internal measurement two kinds of modes:
1) in externally measured mode, a kind of is the weighbridge of monitoring station, can obtain car weight more accurately and measure, but be unfavorable for supervision department's implementing monitoring; Another kind lays pressure transducer or photoelectric sensor etc. to detect in fixed location, road surface, and the contruction and maintenance of this mode all needs road pavement to construct, and can not meet long-term overload monitoring on a large scale;
2), in internal measurement mode, multiple monitoring method is proposed both at home and abroad.Mainly install pressure transducer etc. additional at the elastomeric element of monitoring vehicle, inconvenience is installed, is unfavorable for satisfied a large amount of vehicle monitoring needs, and easily by error effect, robustness is poor.
Summary of the invention
For above-mentioned produced problem and actual monitored systematic difference experience, in order to realize the result of use of overall monitoring system, the invention provides a kind of measuring equipment cost low, and be convenient to the car weight measuring system based on GPS and inertial sensor of rear dress, meet the needs of the supervision and management to overload illegal activities.
For solving the problems of the technologies described above, the technical solution used in the present invention is: provide a kind of car weight measuring system based on GPS and inertial sensor, comprise ARM embedded system and data acquisition module, it is characterized in that, data acquisition module connects acceleration transducer and angular-rate sensor, the integrated GPS module of data acquisition module.
Further, described acceleration transducer and angular-rate sensor carry out digitized sampling by AD conversion chip.
Further, described data acquisition module carries out initial synchronisation by single-chip microcomputer and gps data.
Further, described data acquisition module transmits chip with the mode transmission information of USB format frame to ARM embedded system by USB.
The present invention discloses a kind of car weight measuring method based on GPS and inertial sensor simultaneously, comprises the following steps:
Step 1, ARM embedded system carries out pre-service to acceleration and angular velocity: noise reduction-down-sampled-zero shift rectifying.Utilize mean filter method, squelch is carried out to original lateral acceleration signal and angular velocity signal.Periodically to make even steady acceleration and angular velocity signal 5 seconds, average as respective drift respectively, real time correction acceleration information and angular velocity data;
Step 2, ARM embedded system carries out pre-service to gps data: first, carries out difference processing obtain yaw velocity to the course angle in GPS message; Then, difference result and angular velocity are matched, obtain the delay estimation of GPS by the method for correlativity; Finally, gps data is synchronous with acceleration information;
Step 3, tries to achieve side acceleration by the speed of a motor vehicle in GPS message and yaw velocity, and in real time carries out statistical fit to acceleration and obtain rolling gain.
Wherein,
for the side acceleration of motor turning,
for GPS exports the speed of a motor vehicle,
for automobile yaw velocity, the course angle difference exported by GPS obtains.
When
when being greater than 0.1g, the acceleration transducer data obtained will be processed
with
store, and according to following formula, carry out recurrence least square matching:
Wherein,
for the inclination gain of automotive suspension;
Step 4, carry out driving experiment with two groups of load-carryings and obtain different inclination gains, come matching parameter a, b according to following formula:
, wherein K is for rolling gain, and m is car weight, is the gross weight after loading, and a, b are undetermined parameter;
Step 5, brings K into, the value of a and b, can estimate car weight.
Compared with prior art, beneficial effect is:
1) measuring system in the present invention, based on embedded system, integrates GPS, acceleration transducer and angular-rate sensor, can detect vehicle load in real-time online ground.
2) measuring system in the present invention only need be installed fixing in automobile bodies, need not get involved the system of automobile self, install additional easy.
3) the employing GPS course angle data in the present invention and angular-rate sensor data carry out process coupling, can in real time to the estimation of GPS delay, and for real time correction.
4), under the present invention utilizes the different load-carrying of vehicle, there is the different characteristic rolled, carry out car weight estimation.The recurrence least square matching of Corpus--based Method data is estimated to roll yield value, then according to rolling the linear equation of gain and car weight, estimating car weight, having good reliability and robustness.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is measuring system installation site schematic diagram;
Fig. 3 is the process flow diagram of GPS delay estimation algorithm;
Fig. 4 is the process flow diagram of vehicle roll gain algorithm for estimating.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Position near above the rear axle measuring system integrating GPS, 3-axis acceleration sensor and angular-rate sensor and embedded platform being fixed on monitored vehicle.GPS sampling rate is 1Hz, acceleration range ± more than 1g, and angular velocity ± 300 °/s, sampling rate is 1000Hz.
After starting up, monitoring facilities can run automatically.
1. parameter calibration pattern:
For certain specific vehicle, first need to carry out parameter calibration.
After installation fixes monitoring system, on urban road, travel 20 minutes with empty wagons, should include in driving process and repeatedly turn.Program completes sensor self-calibration and GPS postpones, and demarcates as shown in Fig. 3 algorithm, and statistics empty wagons rolls gain K
1, (as shown in Fig. 4 algorithm) and the current car weight m of input
1preserve.
Load mass m
2load, travel 20 minutes at urban road, should include in driving process and repeatedly turn.Program algorithmically (shown in Fig. 4) statistics rolls gain K
2, and input current car weight m
2preserve.
After completing twice calibration experiment, complete parameter according to following inclination gain-car weight equation
,
demarcation.
2. detecting pattern:
After completing the demarcation to certain vehicle, system can be installed and be fixed in the compartment of the type car, as shown in Fig. 2 position.
Perform and roll gain estimation routine, as shown in Figure 4.Inclination gain K value real-time statistics obtained, substitutes into inclination gain-car weight equation and calculates current automobile oeverall quality.
The foregoing is only an example of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (1)
1., based on a vehicle measurement method for the car weight measuring system of GPS and inertial sensor, wherein car weight measuring system comprises ARM embedded system and acceleration transducer, angular-rate sensor, and integrated GPS module, it is characterized in that, comprise the following steps:
Step 1, ARM embedded system carries out pre-service to acceleration and angular velocity: noise reduction-down-sampled-zero shift rectifying;
Step 2, ARM embedded system carries out pre-service to gps data: first, carries out difference processing obtain yaw velocity to the course angle in GPS message; Then, difference result and angular velocity are matched, obtain the delay estimation of GPS by the method for correlativity; Finally, gps data is synchronous with acceleration information;
Step 3, tries to achieve centripetal acceleration a by the speed of a motor vehicle in GPS message and yaw velocity
y, with the output valve a of lateral acceleration sensor
y_m, according to a
y_m=a
y(1+K) carry out recurrence least square matching, obtain rolling gain K;
Step 4, carry out driving experiment with two groups of load-carryings and obtain different inclination gains, come matching parameter a, b according to following formula:
wherein K is for rolling gain, and m is car weight, is the gross weight after loading, and a, b are undetermined parameter;
Step 5, during use, substitutes into the value of a and b, can estimate car weight according to the K value that step 3 records.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210321004.0A CN103017874B (en) | 2012-09-03 | 2012-09-03 | Vehicle weight measuring method based on GPS (Global Position System) and inertial sensor |
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| CN201210321004.0A CN103017874B (en) | 2012-09-03 | 2012-09-03 | Vehicle weight measuring method based on GPS (Global Position System) and inertial sensor |
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| CN103017874B true CN103017874B (en) | 2015-01-07 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105865607B (en) * | 2016-04-28 | 2018-12-28 | 宁波柯力传感科技股份有限公司 | The dynamic weighing modification method of vehicle-mounted Weighing module |
| CN106248179B (en) * | 2016-08-29 | 2020-06-12 | 上海交通大学 | Centrifugal mass meter and use method thereof |
| CN107680375B (en) * | 2017-09-29 | 2020-07-17 | 深圳市易成自动驾驶技术有限公司 | Vehicle load calculation method and device and storage medium |
| CN109767520B (en) * | 2019-01-11 | 2021-06-04 | 清华四川能源互联网研究院 | Vehicle load processing method and device |
| CN110118985B (en) * | 2019-05-31 | 2021-09-03 | 卡斯柯信号有限公司 | SIL4 safety level multi-sensor information fusion positioning system and method |
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|---|---|---|---|---|
| US5987397A (en) * | 1998-03-13 | 1999-11-16 | The United States Of America As Represented By The Secretary Of The Navy | Neural network system for estimation of helicopter gross weight and center of gravity location |
| CN1869630A (en) * | 2006-04-19 | 2006-11-29 | 吉林大学 | Testing system for integral vehicle running station |
| CN102592331A (en) * | 2012-02-14 | 2012-07-18 | 广州市方纬交通科技有限公司 | Vehicle inertia motion data acquisition unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0719939A (en) * | 1993-06-30 | 1995-01-20 | Toshiba Corp | Navigation device with self-weight meter function |
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2012
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Patent Citations (3)
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|---|---|---|---|---|
| US5987397A (en) * | 1998-03-13 | 1999-11-16 | The United States Of America As Represented By The Secretary Of The Navy | Neural network system for estimation of helicopter gross weight and center of gravity location |
| CN1869630A (en) * | 2006-04-19 | 2006-11-29 | 吉林大学 | Testing system for integral vehicle running station |
| CN102592331A (en) * | 2012-02-14 | 2012-07-18 | 广州市方纬交通科技有限公司 | Vehicle inertia motion data acquisition unit |
Non-Patent Citations (2)
| Title |
|---|
| GPS/INS组合导航数据同步时标的计算方法研究_;曾桓涛等;《传感器技术学报》;20120430;第25卷(第4期);515－518 * |
| JP特开平7-19939A 1995.01.20 * |
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Address after: 510275 No. 135 West Xingang Road, Guangzhou, Guangdong, Haizhuqu District Patentee after: SUN YAT-SEN University Patentee after: GUANGDONG FUNDWAY TECHNOLOGY Co.,Ltd. Address before: 510275 No. 135 West Xingang Road, Guangdong, Guangzhou Patentee before: SUN YAT-SEN University Patentee before: GUANGZHOU FUNDWAY TRAFFIC TECHNOLOGY Co.,Ltd. |