CN103017874A - Vehicle weight measuring system based on GPS (Global Position System) and inertial sensor - Google Patents

Vehicle weight measuring system based on GPS (Global Position System) and inertial sensor Download PDF

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Publication number
CN103017874A
CN103017874A CN2012103210040A CN201210321004A CN103017874A CN 103017874 A CN103017874 A CN 103017874A CN 2012103210040 A CN2012103210040 A CN 2012103210040A CN 201210321004 A CN201210321004 A CN 201210321004A CN 103017874 A CN103017874 A CN 103017874A
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China
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gps
weight measuring
car weight
acquisition module
data acquisition
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CN2012103210040A
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Chinese (zh)
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CN103017874B (en
Inventor
余志�
曾桓涛
张辉
陈锐祥
伍成柏
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中山大学
广州市方纬交通科技有限公司
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Priority to CN201210321004.0A priority Critical patent/CN103017874B/en
Publication of CN103017874A publication Critical patent/CN103017874A/en
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Publication of CN103017874B publication Critical patent/CN103017874B/en

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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

Car weight measuring system based on GPS and inertial sensor

Technical field

The present invention is applicable to road transport monitoring field, relates to especially overweight monitoring technology.

Background technology

Along with the development of national economy, the transportation industry fast development, scale also constantly enlarges.Simultaneously, the overload problems in the highway in China transportation is also serious all the more, becomes and jeopardizes people's life security, affects the outstanding social concern that social economy coordinates, develops in a healthy way.Yet because the backwardness of vehicle weighing technology, the supervision effect is not remarkable to cause overloading violating the regulations.Therefore, improve the vehicle weighing technology and become key issue.

Vehicle weighing method commonly used mainly is divided into externally measured and the internal measurement dual mode at present:

1) in the externally measured mode, a kind of is the weighbridge of monitoring station, can obtain more accurately car weight measurement, but be unfavorable for supervision department's implementing monitoring; Another kind is to lay pressure transducer or photoelectric sensor etc. to detect in the fixed location, road surface, and the construction of this mode and maintenance all need road pavement to construct, and can not satisfy long-term on a large scale overload monitoring;

2) in the internal measurement mode, multiple monitoring method has been proposed both at home and abroad.Mainly be that elastomeric element at monitoring vehicle installs pressure transducer etc. additional, inconvenience is installed, be unfavorable for satisfying a large amount of vehicle monitoring needs, and easily be subjected to error effect, robustness is relatively poor.

Summary of the invention

For the problem of above-mentioned appearance and the application experience of actual monitored system, 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, satisfied the needs to the supervision and management of overload illegal activities.

For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of car weight measuring system based on GPS and inertial sensor is provided, 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 the AD conversion chip.

Further, described data acquisition module carries out initial synchronisation by single-chip microcomputer and gps data.

Further, described data acquisition module by USB transmission chip with the mode transmission information of USB format frame to the ARM embedded system.

The present invention discloses a kind of car weight measuring method based on GPS and inertial sensor simultaneously, may further comprise the steps:

Step 1, the ARM embedded system is carried out pre-service to acceleration and angular velocity: noise reduction-down-sampled-drift is proofreaied and correct.Utilize the mean filter method, original lateral acceleration signal and angular velocity signal are carried out squelch.Periodically make even steady acceleration and angular velocity signal 5 seconds, averaging respectively is separately drift, real time correction acceleration information and angular velocity data;

Step 2, the ARM embedded system is carried out pre-service to gps data: at first, the course angle in the GPS message is carried out difference processing obtain yaw velocity; Then, difference result and angular velocity are complementary, obtain the delay estimation of GPS with the method for correlativity; At last, gps data and acceleration information are synchronous;

Step 3 is tried to achieve side acceleration with the speed of a motor vehicle in the GPS message and yaw velocity, and in real time acceleration is carried out statistical fit and obtain rolling gain.

Wherein, Be the side acceleration of motor turning, Be the GPS output speed of a motor vehicle, Be the automobile yaw velocity, the course angle difference of being exported by GPS obtains.

When During greater than 0.1g, the acceleration transducer data that processing is obtained With Storage, and according to following formula, carry out the recurrence least square match:

Wherein, Inclination gain for automotive suspension;

Step 4 obtains different inclination gain with two groups of load-carryings experiment of driving a vehicle, and comes matching parameter a, b according to following formula: , wherein K is for rolling gain, and m is car weight, is the gross weight after the loading, and a, b are undetermined parameter;

Step 5 is brought K into, and the value of a and b can be estimated car weight.

Compared with prior art, beneficial effect is:

1) measuring system among the present invention is integrated GPS, acceleration transducer and angular-rate sensor based on embedded system, can detect vehicle load in real-time online ground.

2) measuring system among the present invention only needs to install in automobile bodies and fixes, and need not get involved the system of automobile self, installs additional easy.

3) employing GPS course angle data and the angular-rate sensor data among the present invention are processed coupling, the estimation that can postpone GPS in real time, and be used for real time correction.

4) the present invention utilizes under the different load-carryings of vehicle, has the different characteristics that roll, and carries out car weight and estimates.Estimate to roll yield value based on the recurrence least square match of statistics, again according to the linear equation that rolls gain and car weight, estimate car weight, have preferably reliability and robustness.

 

Description of drawings

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.

The measuring system of integrating GPS, 3-axis acceleration sensor and angular-rate sensor and embedded platform is fixed near the position, rear axle top of monitored vehicle.The GPS sampling rate is 1Hz, more than acceleration range ± 1g, and angular velocity ± 300 °/s, sampling rate is 1000Hz.

Behind the starting up, monitoring facilities can move automatically.

1. parameter calibration pattern:

For certain specific vehicle, at first need to carry out parameter calibration.

After installation fixes monitoring system, travelled 20 minutes at urban road with empty wagons, should include in the driving process repeatedly and turn.Program is finished sensor from demarcating and the GPS delay, demarcates shown in Fig. 3 algorithm, and the statistics empty wagons rolls gain K 1, (shown in Fig. 4 algorithm) and the current car weight m of input 1Preserve.

Load mass m 2Load, travelled 20 minutes at urban road, should include in the driving process repeatedly and to turn.Program is pressed algorithm (shown in Figure 4) statistics and is rolled gain K 2, and input current car weight m 2Preserve.

After finishing twice calibration experiment, finish parameter according to following inclination gain-car weight equation , Demarcation.

2. detecting pattern:

After finishing the demarcation to certain vehicle, system's installation can be fixed in the compartment of the type car, shown in Fig. 2 position.

Carry out rolling the gain estimation routine, as shown in Figure 4.With the inclination gain K value that real-time statistics obtains, substitution rolls gain-car weight equation and calculates current automobile oeverall quality.

The above only is an example of the present invention; be not so limit claim of the present invention; every equivalent structure or flow process conversion that utilizes instructions of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.

Claims (5)

1. the car weight measuring system based on GPS and inertial sensor comprises 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.
2. car weight measuring system according to claim 1 is characterized in that, described acceleration transducer and angular-rate sensor carry out digitized sampling by the AD conversion chip.
3. car weight measuring system according to claim 1 is characterized in that, described data acquisition module carries out initial synchronisation by single-chip microcomputer and gps data.
4. car weight measuring system according to claim 1 is characterized in that, described data acquisition module by USB transmission chip with the mode transmission information of USB format frame to the ARM embedded system.
5. a kind of car weight measuring method based on GPS and inertial sensor of each described car weight measuring system is characterized in that according to claim 1-4, may further comprise the steps:
Step 1, the ARM embedded system is carried out pre-service to acceleration and angular velocity: noise reduction-down-sampled-drift is proofreaied and correct;
Step 2, the ARM embedded system is carried out pre-service to gps data: at first, the course angle in the GPS message is carried out difference processing obtain yaw velocity; Then, difference result and angular velocity are complementary, obtain the delay estimation of GPS with the method for correlativity; At last, gps data and acceleration information are synchronous;
Step 3 is tried to achieve centripetal acceleration with the speed of a motor vehicle in the GPS message and yaw velocity , with the output valve of side acceleration sensor , according to Carry out statistical fit, obtain rolling gain K;
Step 4 obtains different inclination gain with two groups of load-carryings experiment of driving a vehicle, and comes matching parameter a, b according to following formula: , wherein K is for rolling gain, and m is car weight, is the gross weight after the loading, and a, b are undetermined parameter;
Step 5, substitution K, the value of a and b can be estimated car weight.
CN201210321004.0A 2012-09-03 2012-09-03 Vehicle weight measuring method based on GPS (Global Position System) and inertial sensor CN103017874B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106248179A (en) * 2016-08-29 2016-12-21 上海交通大学 Centrifugal quality meters and using method thereof
CN107680375A (en) * 2017-09-29 2018-02-09 深圳市易成自动驾驶技术有限公司 A kind of vehicle load computational methods, device and storage medium
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

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JPH0719939A (en) * 1993-06-30 1995-01-20 Toshiba Corp Navigation device with self-weight meter function
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
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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
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 中山大学 Vehicle inertia motion data acquisition unit

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Title
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Cited By (3)

* Cited by examiner, † Cited by third party
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
CN106248179A (en) * 2016-08-29 2016-12-21 上海交通大学 Centrifugal quality meters and using method thereof
CN107680375A (en) * 2017-09-29 2018-02-09 深圳市易成自动驾驶技术有限公司 A kind of vehicle load computational methods, device and storage medium

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