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 PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
gps
step
acceleration
weight measuring
car weight
Prior art date
Application number
CN201210321004.0A
Other languages
Chinese (zh)
Other versions
CN103017874A (en
Inventor
余志�
曾桓涛
张辉
陈锐祥
伍成柏
Original Assignee
中山大学
广州市方纬交通科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中山大学, 广州市方纬交通科技有限公司 filed Critical 中山大学
Priority to CN201210321004.0A priority Critical patent/CN103017874B/en
Publication of CN103017874A publication Critical patent/CN103017874A/en
Application granted granted Critical
Publication of CN103017874B publication Critical patent/CN103017874B/en

Links

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

Based on the car weight measuring method of GPS and inertial sensor

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.
CN201210321004.0A 2012-09-03 2012-09-03 Vehicle weight measuring method based on GPS (Global Position System) and inertial sensor CN103017874B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210321004.0A CN103017874B (en) 2012-09-03 2012-09-03 Vehicle weight measuring method based on GPS (Global Position System) and inertial sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210321004.0A CN103017874B (en) 2012-09-03 2012-09-03 Vehicle weight measuring method based on GPS (Global Position System) and inertial sensor

Publications (2)

Publication Number Publication Date
CN103017874A CN103017874A (en) 2013-04-03
CN103017874B true CN103017874B (en) 2015-01-07

Family

ID=47966738

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210321004.0A CN103017874B (en) 2012-09-03 2012-09-03 Vehicle weight measuring method based on GPS (Global Position System) and inertial sensor

Country Status (1)

Country Link
CN (1) CN103017874B (en)

Families Citing this family (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

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Family Cites Families (1)

* Cited by examiner, † Cited by third party
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

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
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 *

Also Published As

Publication number Publication date
CN103017874A (en) 2013-04-03

Similar Documents

Publication Publication Date Title
US9799219B2 (en) Vehicle data system and method
AU2015331883B2 (en) Systems and methods for predicting weather performance for a vehicle
CN101334294B (en) Gps-based in-vehicle sensor calibration algorithm
US20020056398A1 (en) Method and device for monitoring bogies of multi-axle vehicles
EP2065688B1 (en) Technique for detecting shifted cargo
WO2009059168A2 (en) Vehicle energy measurement system
CN103700160B (en) Carried on vehicle terminal and driving behavior determination methods based on microsensor
JP2010167865A (en) Vehicle load capacity detecting device
US10102689B2 (en) Systems and methods for location reporting of detected events in vehicle operation
CN103930312A (en) Sensor system comprising a fusion filter for common signal processing
US9355319B2 (en) System and method for detecting road surface conditions
Boroujeni et al. Road grade quantification based on global positioning system data obtained from real-world vehicle fuel use and emissions measurements
US20100007550A1 (en) Positioning apparatus for a mobile object
DE102012212740A1 (en) System and method for updating a digital map of a driver assistance system
CN102168977B (en) Use the wheel alignment diagnosis of GPS
Eboli et al. Combining speed and acceleration to define car users’ safe or unsafe driving behaviour
WO2013060749A1 (en) Sensor system for independently evaluating the accuracy of the data of the sensor system
CN103217157A (en) Inertial navigation/mileometer autonomous integrated navigation method
CN102700551B (en) Method for estimating gradient of road surface in real time in vehicle running process
US20110029281A1 (en) Link travel time calculation device and method for calculating link travel time interval
AU2012312501B2 (en) Object evaluation accounting for motion-related dynamic forces
FI122084B (en) Terminal Based Road Mapping Method and System
FR2902909A1 (en) Method for determining the running limits of a vehicle
US9628958B1 (en) User-controlled, smart device-based location and transit data gathering and sharing
CA2122684C (en) Sensor array system for determining axle spacing

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant