CN105066959A - Pavement vertical section elevation information acquisition method - Google Patents

Abstract

The present invention provides a pavement vertical section elevation information acquisition method, which comprises: acquiring vehicle real-time vertical vibration acceleration and coarse elevation information, carrying out two-integrating on the vertical vibration acceleration signal to obtain a vertical displacement signal, and subtracting the vertical displacement signal from the elevation information so as to obtain the precise pavement vertical section elevation information, wherein the vertical displacement signal is obtained through the method for integrating the acceleration value sequence into the displacement value sequence, and the method comprises: 1, carrying out specific value removing, filter smoothing, filter low-pass and zero point removing on the acceleration value sequence, 2, using the acceleration calculation method of uniformly accelerated rectilinear motion to perform one-time integrating on the acceleration value sequence to obtain the speed value sequence, fitting the integrating result through Least squares, and removing the trend, and 3, using the speed calculation displacement method of uniformly accelerated rectilinear motion to perform one-time integrating on the speed value sequence to obtain the displace value sequence, fitting the integrating result through Least squares, and removing the trend.

Description

The elevation information acquisition methods of vertical section of road surface

Technical field

The present invention relates to the technology that acceleration quadratic integral is displacement, particularly utilize the elevation information of this type of commercial measurement vertical section of road surface.

Background technology

Along with the develop rapidly of modern industrial technology, the increasing field of measurement in to(for) vibration displacement signal has urgent demand, in the evaluation of the evaluation of dynamic vibration characteristics during as run equipment, earthquake engineering research, bridge vibration characteristic research and running car comfort level, often to use the measurement of vibration displacement signal.

Although in theory had equipment and the method for multiple measurement displacement, but in actual measurement process, these methods can run into a lot of difficulty, such as be difficult to find suitable position to carry out installation position displacement sensor because structural space constraint causes, even if inside configuration has enough spaces to carry out the layout of displacement transducer, the relative displacement also just between installation site and tested point that displacement sensor obtains, under many circumstances, relative displacement is difficult to the demand meeting research, and the real absolute displacement signal needed of research is difficult to Measurement accuracy.

Comparatively speaking, the measurement of acceleration is compared comparatively easily, and the measurement of acceleration does not need the installation site static relative to structure to be measured on the one hand, and directly degree of will speed up sensor is connected with structural rigidity to be measured; Acceleration transducer relative displacement transducer, its small volume of speed pickup, do not need very large arrangement space on the other hand; Above 2 making the mounting arrangements of acceleration analysis in engineer applied be very easy to, therefore when measuring displacement, often replacing with acceleration measurement, and degree of will speed up signal is the displacement needed by the method migration of quadratic integral.

Summary of the invention

The object of the present invention is to provide a kind of elevation information acquisition methods of vertical section of road surface, comprise: obtain vehicle real-time vertical vibration acceleration and thick elevation information, be perpendicular displacement signal by vertical vibration acceleration signal quadratic integral, elevation information deducts the elevation information that perpendicular displacement signal obtains accurate vertical section of road surface; The integration method that described perpendicular displacement signal is integrated into shift value sequence by acceleration value sequence obtains, and the method comprises: go special datum, smothing filtering, low-pass filtering to acceleration value sequence, zero-suppress a little; Adopt the method for the acceleration calculation speed of uniformly accelrated rectilinear motion to will speed up number of degrees value sequence be once integrated into speed values sequence and to integral result by least square fitting, remove trend term; Adopt the method for the speed displacement calculating of uniformly accelrated rectilinear motion that speed values sequence is once integrated into shift value sequence, and to integral result by least square fitting, remove trend term.

The present invention compared with prior art, has the following advantages: use highway roughness index IRI to weigh surface evenness in the world, widely use vehicular laser inertia smoothness measuring equipment at present in the world to detect highway roughness index IRI.The key using the method to measure surface evenness is that acceleration signal obtains vertical vibration signal.Method of the present invention can obtain vertical vibration signal accurately and meet testing requirement.

Below in conjunction with Figure of description, the present invention is described further.

Accompanying drawing explanation

Fig. 1 is method flow diagram of the present invention.

Embodiment

Composition graphs 1, a kind of elevation information acquisition methods of vertical section of road surface, comprises the following steps.

S101, obtains vehicle real-time vertical vibration acceleration and thick elevation information.

S102, is perpendicular displacement signal by vertical vibration acceleration signal quadratic integral, comprises:

Step S1021, goes special datum, smothing filtering, low-pass filtering to acceleration value sequence, zero-suppresses a little;

Step S1022, adopts the method for the acceleration calculation speed of uniformly accelrated rectilinear motion to will speed up number of degrees value sequence and is once integrated into speed values sequence and to integral result by least square fitting, removes trend term;

Step S1023, adopts the method for the speed displacement calculating of uniformly accelrated rectilinear motion that speed values sequence is once integrated into shift value sequence, and to integral result by least square fitting, removes trend term.

S103, elevation information deducts the elevation information that perpendicular displacement signal obtains accurate vertical section of road surface.

Special datum is gone to comprise to acceleration value sequence in step S1021:

Scan each numerical value in acceleration value sequence successively, when numerical value meets following two kinds of situations simultaneously, replace this numerical value by the average of these former and later two numerical value of numerical value:

(1) this numerical value is outside acceleration range-2g to+2g;

(2) variable quantity of this numerical value and previous numerical value exceedes 10 times that set threshold value 0.2g.

Adopt formula (1) to acceleration value sequence smothing filtering in step S1021

001"/>

Wherein a _ifor the numerical value of i-th in acceleration value sequence, i=3,4 ..., n-3, n-2, n are the quantity of numerical value in acceleration value sequence.

Formula 2 pairs of acceleration value sequences are adopted to zero-suppress a little in step S1021

002"/>

Wherein a _i'for the individual numerical value of the i-th ' in acceleration value sequence, n is the quantity of numerical value in acceleration value sequence.

The process of step S1022 comprises:

Make initial velocity v ₀=0;

Adopt formula (3) to will speed up number of degrees value and be once integrated into speed values,

v _i”＝v _i”-1*t+(a _i”-1+a _i”)/2*t(3)

Wherein, i "=2,3 ..., n-1, n;

Formula (4) is adopted to remove speed zero point,

003"/>

Speed values sequence is become cubic curve by least square fitting;

Deduct cubic curve numerical value with speed values and remove trend term, obtain the speed values sequence after an integration.

The process of step S1023 comprises:

Make initial displacement s ₀=0;

Adopt formula (5) that speed values sequence is once integrated into shift value,

s _i”＝s _i”-1+v _i”-1*t+0.5*(a _i”-1+a _i”)/2*t*t；(5)

Formula 7 is adopted to remove speed zero point,

004"/>

Shift value sequence is become cubic curve by least square fitting;

Deduct cubic curve numerical value with shift value and remove trend term, obtain the shift value sequence after an integration.

The device completing said method comprises vehicular laser inertia smoothness measuring equipment, this together in laser displacement sensor and acceleration transducer are set.Vehicular laser inertia smoothness measuring equipment is arranged on by tester to measure on car, and in vehicle travel process, measure the elevation information of mileage and vertical section of road surface, elevation information is then utilize laser displacement sensor to record.The elevation information recording mileage information and vertical section of road surface is inputted computer, through the analyzing and processing to data, exports IRI value (international roughness index).When calculating elevation information, as only measured with laser displacement sensor, then the measurement of elevation information can be caused inaccurate due to vehicle shake of jolting in the process of moving.Therefore when measuring elevation information, the mode often using laser displacement sensor and acceleration transducer to combine is measured, by the vertical vibration acceleration of the real-time measuring vehicle of acceleration transducer, then be perpendicular displacement signal by vertical acceleration signal quadratic integral, finally the elevation information that laser displacement sensor detects is deducted the vertical vibration signal obtained by acceleration transducer quadratic integral, finally obtain the elevation information of more accurate vertical section of road surface, thus more accurately must calculate IRI value.

Claims (6)

1. an elevation information acquisition methods for vertical section of road surface, comprises

Obtain vehicle real-time vertical vibration acceleration and thick elevation information,

Be perpendicular displacement signal by vertical vibration acceleration signal quadratic integral,

Elevation information deducts the elevation information that perpendicular displacement signal obtains accurate vertical section of road surface;

It is characterized in that, the integration method that described perpendicular displacement signal is integrated into shift value sequence by acceleration value sequence obtains, and the method comprises:

Step 1, goes special datum, smothing filtering, low-pass filtering to acceleration value sequence, zero-suppresses a little;

Step 2, adopts the method for the acceleration calculation speed of uniformly accelrated rectilinear motion to will speed up number of degrees value sequence and is once integrated into speed values sequence and to integral result by least square fitting, removes trend term;

Step 3, adopts the method for the speed displacement calculating of uniformly accelrated rectilinear motion that speed values sequence is once integrated into shift value sequence, and to integral result by least square fitting, removes trend term.

2. the elevation information acquisition methods of vertical section of road surface according to claim 1, is characterized in that, goes special datum to comprise in step 1 to acceleration value sequence

Scan each numerical value in acceleration value sequence successively, when numerical value meets following two kinds of situations simultaneously, replace this numerical value by the average of these former and later two numerical value of numerical value:

(1) this numerical value is outside acceleration range-2g to+2g;

(2) variable quantity of this numerical value and previous numerical value exceedes 10 times that set threshold value 0.2g.

3. the elevation information acquisition methods of vertical section of road surface according to claim 2, is characterized in that, adopts formula (1) to acceleration value sequence smothing filtering in step 1

$a_i=\underset{j=i-2}{\overset{i+2}{\Σ}}{a}_j/5---\left(1\right)$

Wherein a _ifor the numerical value of i-th in acceleration value sequence, i=3,4 ..., n-3, n-2, n are the quantity of numerical value in acceleration value sequence.

4. the elevation information acquisition methods of vertical section of road surface according to claim 3, is characterized in that, adopts formula 2 pairs of acceleration value sequences to zero-suppress a little in step 1

$a_{i^{\′}}=a_{i^{\′}}-(\underset{i^{\′}=1}{\overset{n}{\Σ}}{a}_{i^{\′}}/n)---\left(2\right)$

Wherein a _i'for the individual numerical value of the i-th ' in acceleration value sequence, n is the quantity of numerical value in acceleration value sequence.

5. the elevation information acquisition methods of vertical section of road surface according to claim 4, is characterized in that, the detailed process of step 2 is:

Make initial velocity v ₀=0;

Adopt formula (3) to will speed up number of degrees value and be once integrated into speed values,

v _i”＝v _i”-1*t+(a _i”-1+a _i”)/2*t（3）

Wherein, i "=2,3 ..., n-1, n;

Formula (4) is adopted to remove speed zero point,

$v_{i^{\′}}=v_{i^{\′}}-(\underset{i^{\′}}{\overset{n}{\Σ}}{v}_{i^{\′}}/n);---\left(4\right)$

Speed values sequence is become cubic curve by least square fitting;

Deduct cubic curve numerical value with speed values and remove trend term, obtain the speed values sequence after an integration.

6. the elevation information acquisition methods of vertical section of road surface according to claim 5, is characterized in that, the detailed process of step 3 is:

Make initial displacement s ₀=0;

Adopt formula (5) that speed values sequence is once integrated into shift value,

s _i”＝s _i”-1+v _i”-1*t+0.5*(a _i”-1+a _i”)/2*t*t；（5）

Formula 7 is adopted to remove speed zero point,

$s_{i^{\′}}=s_{i^{\′}}-(\underset{i^{\′}=1}{\overset{n}{\Σ}}{s}_{i^{\′}}/n);---\left(7\right)$

Shift value sequence is become cubic curve by least square fitting;

Deduct cubic curve numerical value with shift value and remove trend term, obtain the shift value sequence after an integration.