CN112525149B - Method and device for monitoring pavement settlement and computer readable medium - Google Patents
Method and device for monitoring pavement settlement and computer readable medium Download PDFInfo
- Publication number
- CN112525149B CN112525149B CN202011353645.5A CN202011353645A CN112525149B CN 112525149 B CN112525149 B CN 112525149B CN 202011353645 A CN202011353645 A CN 202011353645A CN 112525149 B CN112525149 B CN 112525149B
- Authority
- CN
- China
- Prior art keywords
- settlement
- data
- pavement
- road surface
- vehicle
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Navigation (AREA)
Abstract
The invention relates to the technical field of monitoring states of roads and the like by using Beidou satellite positioning related data, and mainly discloses a method for monitoring pavement settlement, which comprises the following steps: s1: acquiring inertial attitude data of a vehicle, the inertial attitude data originating from inertial sensors mounted on the vehicle; judging whether the change data of the road surface settlement is within an acceptable range for the first time according to the inertial attitude data; if yes, executing S1; if not, entering S2; s2: acquiring high-precision positioning data of the vehicle, wherein the high-precision positioning data is derived from a GNSS receiver installed on the vehicle; according to the high-precision positioning data, judging whether the variation data of the road surface settlement is within an acceptable range for the second time; if yes, executing S1; and if not, generating the road surface settlement information.
Description
Technical Field
The disclosure relates to the technical field of monitoring states of roads and the like by using Beidou satellite positioning related data, in particular to a monitoring method, a monitoring device and a computer readable medium.
Background
When a high-grade highway is constructed, the highway deformation is inevitable due to the reasons of wide road surface, standard height of flat longitudinal surface, load effect, foundation and the like, particularly, the settlement deformation is taken as the main reason, the stable road surface is the basic guarantee for ensuring the safe driving of the automobile, once the highway has serious settlement deformation, the traffic is interrupted, and the loss of lives and properties is caused. The traditional road settlement utilizes simple and easy surveying and mapping tools and manual hiking detection methods, and is time-consuming, labor-consuming, low in efficiency, dangerous and large in human factor.
Disclosure of Invention
In order to solve the foregoing technical problem, the present disclosure provides, in a first aspect, a method for monitoring pavement settlement, including the following steps: s1: acquiring inertial attitude data of a vehicle, wherein the inertial attitude data is originated from an inertial sensor installed on the vehicle; judging whether the change data of the road surface settlement is within an acceptable range for the first time according to the inertial attitude data; if yes, executing S1; if not, entering S2; s2: acquiring high-precision positioning data of the vehicle, wherein the high-precision positioning data is derived from a GNSS receiver installed on the vehicle; according to the high-precision positioning data, judging whether the variation data of the road surface settlement is within an acceptable range for the second time; if yes, executing S1; and if not, generating the road surface settlement information.
Preferably, S1 comprises: reading and calibrating inertial attitude data of a vehicle, and resolving the inertial attitude data to obtain an attitude angle and a vibration rate; obtaining an approximate range of the unevenness of the road surface settlement according to the change of the attitude angle and the vibration rate; and judging whether the variation data of the road surface settlement is within an acceptable range for the first time according to the approximate range of the unevenness of the road surface settlement.
Preferably, S2 comprises: s21: acquiring and storing an observed value of a historical reference epoch; s22: acquiring an observed value of a current epoch, taking the observed value of a historical reference epoch as a base station and the observed value of the current epoch as a mobile station, and acquiring short baseline vector data consisting of the base station and the mobile station; s23: and judging whether the change data of the road surface settlement is within an acceptable range for the second time according to the change of the short baseline vector data.
Preferably, S23 includes: when the component in the elevation direction of the short baseline vector is suddenly increased, primarily judging that the pavement is settled; calculating the elevation difference variation of two adjacent epochs; and when the elevation difference value variation is larger than a first range, generating pavement settlement information.
Preferably, the method further comprises the following steps: s24: acquiring an observed value of a next epoch, and judging whether the time interval between the next epoch and a previous epoch is out of limit; if the limit is exceeded, the step S21 is entered; if not, the process proceeds to S22.
Preferably, the method further comprises the following steps: s3: and generating restoration strategy information according to the pavement settlement information, wherein the settlement information comprises a pavement settlement horizontal range value, a pavement settlement vertical depth and a pavement unevenness coefficient. S4: acquiring pavement repair tracking information; s5: judging whether the pavement settlement data enters a safety range or not, and if so, generating safety information; if not, alarm information is generated.
Preferably, the inertial attitude data of the vehicle is acquired by the inertial sensor at a high sampling rate, and the high-precision positioning data of the vehicle is acquired by the GNSS receiver at a low sampling rate.
Preferably, S2 further comprises: and obtaining a settlement value according to the pavement settlement information obtained by real-time or later calculation and the auxiliary information obtained from the barometer.
The present disclosure provides in a second aspect a device for monitoring pavement settlement, comprising: the first-time processing module is used for acquiring inertial attitude data of the vehicle, wherein the inertial attitude data is originated from an inertial sensor installed on the vehicle; judging whether the change data of the road surface settlement is within an acceptable range for the first time according to the inertial attitude data; if yes, executing S1; if not, entering S2; the second processing module is used for acquiring high-precision positioning data of the vehicle, and the high-precision positioning data is derived from a GNSS receiver installed on the vehicle; judging whether the change data of the road surface settlement is within an acceptable range for the second time according to the high-precision positioning data; if yes, executing S1; and if not, generating the road surface settlement information.
The present disclosure proposes, in a third aspect, a computer readable medium, in which a computer program is stored, the computer program being loaded and executed by a processing module to implement the steps of the monitoring method described above.
Compared with the prior art: the invention obtains the inertial attitude data of the vehicle, wherein the inertial attitude data is originated from an inertial sensor arranged on the vehicle; judging whether the change data of the road surface settlement is within an acceptable range for the first time according to the inertial attitude data; if yes, executing S1; if not, entering S2; the response speed is fast when utilizing inertial sensor to judge for the first time alone, and the frequency on monitoring road surface is higher, need not received signal etc. moreover, and the degree of accuracy is higher, avoids lou examining the road surface and subsides the situation. Inertia attitude data can be generated independently without depending on the external environment, so that the pavement settlement condition can be monitored and judged with high frequency, the monitoring frequency is high, and any possible settlement point is not missed. Further, when the variation data of the road surface settlement is not within an acceptable range, namely the settlement is judged and monitored for the first time, high-precision positioning data of the vehicle is obtained, wherein the high-precision positioning data is derived from a GNSS receiver arranged on the vehicle; according to the high-precision positioning data, judging whether the variation data of the road surface settlement is within an acceptable range for the second time; if yes, executing S1; and if not, generating the road surface settlement information. The high-precision positioning data obtained by resolving through the Beidou satellite signals obtained by the GNSS receiver are confirmed again, the state of settlement is sent by the road surface, the monitoring accuracy is improved, at the moment, the high-precision positioning data obtained by resolving through the obtained Beidou satellite signals are utilized, the settlement accuracy is improved, and specific settlement values can be obtained. In addition, the satellite data is required to be solved when the settlement is monitored for the first time, so that the frequency of requesting to receive the satellite signal and the data amount of calculation are reduced, and the energy consumption is reduced. The GNSS receiver is used for receiving the satellites, the frequency of receiving the satellites is reduced, and moreover, when the environment surrounding the road surface is seriously shielded, the inertial sensor can be used for continuing high-frequency monitoring, so that monitoring interruption caused by the fact that the satellite signals cannot be received is avoided, and the monitoring accuracy is also prevented from being reduced caused by the fact that the satellite signals cannot be received.
Drawings
For a better understanding of the technical aspects of the present disclosure, reference may be made to the following drawings, which are provided to assist in describing the prior art or embodiments. These drawings selectively illustrate articles or methods related to the prior art or some embodiments of the present disclosure. The basic information for these figures is as follows:
fig. 1 is a flow chart of a method for monitoring pavement settlement in one embodiment.
Detailed Description
The technical means or technical effects referred to by the present disclosure will be further described below, and it is apparent that the examples (or embodiments) provided are only some embodiments intended to be covered by the present disclosure, and not all embodiments. All other embodiments, which can be made by those skilled in the art without any inventive step, will be within the scope of the present disclosure as expressed or implied by the embodiments and text herein.
As shown in fig. 1, the present disclosure provides, in a first aspect, a method for monitoring pavement settlement, including the following steps:
s1: acquiring inertial attitude data of a vehicle, the inertial attitude data originating from inertial sensors mounted on the vehicle; judging whether the change data of the road surface settlement is within an acceptable range for the first time according to the inertial attitude data; if yes, executing S1; if not, entering S2; s2: acquiring high-precision positioning data of the vehicle, wherein the high-precision positioning data is derived from a GNSS receiver installed on the vehicle; judging whether the change data of the road surface settlement is within an acceptable range for the second time according to the high-precision positioning data; if yes, executing S1; and if not, generating the road surface settlement information.
The following is a description of the main objects or relationships involved in the above steps. Where not further understood, reasonable reasoning can be achieved with reference to the relevant art, other relevant descriptions of the prior art, or the intent of the invention.
In one embodiment, it is emphasized that the method for monitoring road surface settlement described herein is generally applicable to monitoring of road surfaces capable of driving automobiles. Specifically, when a certain road surface needs to be monitored, an automobile is driven slowly on the road surface, and an inertial sensor and a GNSS receiver (and a satellite positioning antenna thereof) which is arranged adjacent to the inertial sensor are fixedly arranged on the automobile. Inertial attitude data of the automobile can be acquired through the inertial sensor. According to the inertial attitude data, the attitude angle and the vibration rate of the vehicle in the driving process can be obtained. Thereby determining the unevenness range of the road surface. The GNSS receiver can receive satellite signals through a satellite positioning antenna of the GNSS receiver, so that position information of the GNSS receiver is obtained, and high-precision positioning data of an automobile is determined. Thereby re-determining the extent of the irregularities of the road surface. The unevenness range includes the height of the road surface depression and the road surface length in the traveling direction.
S1: acquiring inertial attitude data of a vehicle, wherein the inertial attitude data is originated from an inertial sensor installed on the vehicle; judging whether the change data of the road surface settlement is within an acceptable range for the first time according to the inertial attitude data; if yes, executing S1; if not, entering S2;
s1 comprises the following steps: reading and calibrating inertial attitude data of a vehicle, and resolving the inertial attitude data to obtain an attitude angle and a vibration rate;
obtaining an approximate range of the unevenness of the road surface settlement according to the change of the attitude angle and the vibration rate;
and judging whether the variation data of the road surface settlement is within an acceptable range for the first time according to the approximate range of the unevenness of the road surface settlement.
In this embodiment, the inertial sensor is an MEMS inertial sensor. And continuously acquiring inertial attitude data through the MEMS inertial sensor in the process that the automobile slowly runs on the road surface to be monitored. And then processing and resolving the inertial attitude data to obtain an attitude angle and a vibration rate.
Inertial attitude data can be obtained from the inertial sensor, the inertial attitude data comprises triaxial acceleration data and triaxial angular velocity data, and an attitude angle and a vibration rate can be obtained by resolving the obtained triaxial acceleration and triaxial angular velocity. And correcting the attitude angle and the vibration rate by magnetometer data obtained from the magnetometer, and obtaining the height of the road surface settlement by barometer data obtained from the barometer. The angular velocity is obtained by a gyroscope.
For the obtained three-axis acceleration and three-axis angular velocity, the attitude angle can be obtained by resolving, and in this embodiment, a quaternion expression is used to represent the change of the attitude angle. I.e. the change in quaternion represents the change in attitude angle. Specifically, a quaternion differential equation is established using a triangular representation of a quaternion. The values of the quaternions are solved by solving the differential equations.
The solution equation is as follows:
wherein q0, q1, q2, q3 are quaternions, ω x, ω y, ω z are gyroscope angular velocity outputs.
The attitude solution equation is as follows:
the obtained triaxial acceleration and triaxial angular velocity can be resolved to obtain the vibration rate, in the embodiment, acceleration data is obtained through an accelerometer, and the acceleration data is resolved to obtain the vibration rate of the automobile in the road surface driving process. And determining the unevenness range of the road surface by judging the change of the vibration rate. Specifically, the three-axis acceleration of the acceleration represents the change of the three-axis instantaneous acceleration, and the vibration rate caused by uneven road surface when the automobile runs is obtained by resolving the acceleration.
Obtaining an approximate range of the unevenness of the road surface settlement according to the change of the attitude angle and the vibration rate; and judging whether the variation data of the road surface settlement is within an acceptable range for the first time according to the approximate range of the unevenness of the road surface settlement. If the unevenness of the road surface settlement is extremely small, i.e., within an acceptable range, no settlement occurs. If the unevenness of the road surface settlement exceeds the specified range, namely is not in the acceptable range, the settlement of the road surface to be judged occurs. The inertial attitude data of the vehicle is acquired by the inertial sensor at a high sampling rate.
S2: acquiring high-precision positioning data of the vehicle, wherein the high-precision positioning data is derived from a GNSS receiver installed on the vehicle; judging whether the change data of the road surface settlement is within an acceptable range for the second time according to the high-precision positioning data; if yes, executing S1; and if not, generating the road surface settlement information.
If the change data of the road surface settlement is judged to be out of the acceptable range for the first time in the step S1, that is, the road surface is judged to be likely to be settled, the high-precision positioning data of the vehicle is obtained, the high-precision positioning data is derived from a GNSS receiver installed on the vehicle, and the high-precision positioning data of the vehicle is derived from the GNSS receiver by adopting a low sampling rate. According to the high-precision positioning data, whether the change data of the road surface settlement is within an acceptable range or not is judged for the second time more accurately; if yes, executing S1, and judging that no sedimentation occurs at the moment. If not, namely, the road surface is judged to be settled, and at the moment, the information of the settlement of the road surface is generated.
Specifically, S2 includes: s21: acquiring and storing an observed value of a historical reference epoch; s22: acquiring an observation value of a current epoch, and acquiring short baseline vector data consisting of a reference station and a mobile station by taking the observation value of a historical reference epoch as the reference station and taking the observation value of the current epoch as the mobile station; s23: and judging whether the change data of the road surface settlement is within an acceptable range for the second time according to the change of the short baseline vector data. S24: acquiring an observed value of a next epoch, and judging whether the time interval between the next epoch and a previous epoch is out of limit; if the limit is exceeded, the step S21 is entered; if not, the process proceeds to S22. The time interval between the current epoch and the historical reference epoch in S21 and S22 is short, so a short baseline can only be formed between the base station and the rover in S22.
S23 comprises the following steps: when the component in the elevation direction of the short baseline vector is suddenly increased, primarily judging that the pavement is settled; calculating the elevation difference value variable quantity of two adjacent epochs; and when the elevation difference value variation is larger than a first range, generating pavement settlement information.
In one embodiment, the observation is a carrier phase observation, a history epoch with a short interval is used as a reference station, a current observation epoch is used as a rover station, and the difference between the survey station and the satellite in the frequency range is obtained by the above equation, so as to obtain a double-difference observation equation as follows:
wherein, the first and the second end of the pipe are connected with each other,
double difference operators, representing the inter-satellite single difference and the station simple difference, can eliminate the clock error and hardware delay of the receiver and the satellite through double difference. The running speed of a detected vehicle on a highway is not very fast generally, and the distance between adjacent epochs is short, so that a baseline formed by the current epoch and the historical epoch can be considered as a short baseline, troposphere delay errors and ionosphere delay errors are basically eliminated, double-difference ambiguity has an integer characteristic, and the double-difference ambiguity can be resolved by adopting integer least squares.
Selecting successive times t 1 And t 2 The epoch interval of the observed data (2) is 1s. The double-difference observation equation can be used for calculating the baseline vector of each epoch time relative to the historical reference epoch time, and for the expressway, the method is mainly related toNote the elevation U direction change. Generally speaking, highways are mostly flat or have a slow slope, so the relative change of the base line U direction is stable, and two adjacent epochs t are calculated 1 And t 2 The height difference of (a): Δ z = z 2 -z 1 . If the expressway is not settled, the variation amount delta z of the elevation is small; when the delta z is larger than a certain range, the settlement of the section of the expressway is proved.
In one embodiment, the monitoring method further includes: s3: and generating restoration strategy information according to the pavement settlement information, wherein the settlement information comprises a pavement settlement horizontal range value, a pavement settlement vertical depth and a pavement unevenness coefficient. S4: acquiring pavement repairing tracking information; s5: judging whether the pavement settlement data enters a safety range or not, and if so, generating safety information; if not, alarm information is generated.
In one embodiment, S2 further comprises: and obtaining a settlement value according to the pavement settlement information obtained by real-time or later calculation and the auxiliary information obtained from the barometer. Thereby further determining whether to carry out work such as later repair.
The present disclosure provides in a second aspect a device for monitoring pavement settlement, comprising:
the first-time processing module is used for acquiring inertial attitude data of the vehicle, wherein the inertial attitude data is originated from an inertial sensor installed on the vehicle; judging whether the change data of the road surface settlement is within an acceptable range for the first time according to the inertial attitude data; if yes, executing S1; if not, entering S2;
the second processing module is used for acquiring high-precision positioning data of the vehicle, and the high-precision positioning data is derived from a GNSS receiver installed on the vehicle; judging whether the change data of the road surface settlement is within an acceptable range for the second time according to the high-precision positioning data; if yes, executing S1; and if not, generating the road surface settlement information.
The present disclosure proposes in a third aspect a computer readable medium having stored thereon a computer program to be loaded and executed by a processing module to implement the steps of the monitoring method. It will be understood by those skilled in the art that all or part of the steps in the embodiments may be implemented by hardware instructions of a computer program, and the program may be stored in a computer readable medium, which may include various media capable of storing program codes, such as a flash memory, a removable hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict and within the knowledge and capabilities of persons skilled in the art, who are not listed above and who have an understanding or inference of the drawings and above, that a limited number of alternative embodiments formed from a limited number of combinations of features still fall within the scope of the disclosure.
Moreover, the descriptions of the embodiments are expanded upon with varying emphasis, as appropriate, with reference to the relevant prior art, other relevant descriptions herein, or the intent of the invention, where it is not further understood that such descriptions are presented herein.
It is emphasized that the above-described embodiments, which are typical and preferred embodiments of this disclosure, are merely used to explain and explain the technical solutions of the disclosure in detail for the reader's understanding, and do not limit the scope or application of the disclosure as claimed. Any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be construed as being included in the scope of the present disclosure.
Claims (8)
1. A method for monitoring pavement settlement is characterized by comprising the following steps:
s1: acquiring inertial attitude data of a vehicle, wherein the inertial attitude data is originated from an inertial sensor installed on the vehicle; the inertial attitude data comprises an attitude angle and a vibration rate, and whether the change data of the road surface settlement is within an acceptable range is judged for the first time according to the attitude angle and the vibration rate; if yes, executing S1; if not, entering S2;
s2: acquiring high-precision positioning data of the vehicle, wherein the high-precision positioning data is obtained from a GNSS receiver installed on the vehicle; according to the high-precision positioning data, judging whether the variation data of the road surface settlement is within an acceptable range for the second time; if yes, executing S1; if not, generating pavement settlement information;
the S2 comprises the following steps: s21: acquiring and storing an observed value of a historical reference epoch;
s22: acquiring an observation value of a current epoch, and acquiring short baseline vector data consisting of a reference station and a mobile station by taking the observation value of a historical reference epoch as the reference station and taking the observation value of the current epoch as the mobile station;
s23: and judging whether the change data of the road surface settlement is within an acceptable range for the second time according to the change of the short baseline vector data.
2. The method for monitoring the settlement of the pavement according to claim 1, wherein: s23 comprises the following steps:
when the component in the elevation direction of the short baseline vector is suddenly increased, preliminarily judging that the pavement is settled;
calculating the elevation difference variation of two adjacent epochs;
and when the elevation difference value variation is larger than a first range, generating pavement settlement information.
3. The method for monitoring the settlement of the pavement according to claim 1, further comprising:
s24: acquiring an observed value of a next epoch, and judging whether the time interval between the next epoch and a previous epoch is out of limit;
if the limit is exceeded, the step S21 is entered;
if not, the process proceeds to S22.
4. The method for monitoring the settlement of the pavement according to claim 1, wherein: further comprising:
s3: generating restoration strategy information according to the pavement settlement information, wherein the pavement settlement information comprises a pavement settlement horizontal range value, a pavement settlement vertical depth and a pavement unevenness coefficient;
s4: acquiring pavement repair tracking information;
s5: judging whether the pavement settlement data enters a safety range or not, and if so, generating safety information; if not, alarm information is generated.
5. The method for monitoring the settlement of the pavement according to claim 1, wherein:
the inertial attitude data of the vehicle is acquired by the inertial sensor at a high sampling rate;
the high-precision positioning data of the vehicle is obtained by the GNSS receiver with a low sampling rate.
6. The method for monitoring the settlement of the pavement according to claim 1, wherein: s2 further comprises:
and obtaining a settlement value according to the pavement settlement information obtained by real-time or later calculation and the auxiliary information obtained from the barometer.
7. The utility model provides a device that settlement takes place for monitoring road surface which characterized in that includes:
the first-time processing module is used for acquiring inertial attitude data of the vehicle, wherein the inertial attitude data is originated from an inertial sensor installed on the vehicle; the inertial attitude data comprises an attitude angle and a vibration rate, and whether the change data of the road surface settlement is within an acceptable range is judged for the first time according to the attitude angle and the vibration rate; if yes, executing a first processing module; if not, entering a second processing module;
the second processing module is used for acquiring high-precision positioning data of the vehicle, and the high-precision positioning data is derived from a GNSS receiver installed on the vehicle; judging whether the change data of the road surface settlement is within an acceptable range for the second time according to the high-precision positioning data; if yes, executing a first processing module processing step; if not, generating pavement settlement information; the second secondary processing module further comprises: acquiring and storing an observed value of a historical reference epoch; acquiring an observed value of a current epoch, taking the observed value of a historical reference epoch as a base station and the observed value of the current epoch as a mobile station, and acquiring short baseline vector data consisting of the base station and the mobile station; and judging whether the variation data of the road surface settlement is within an acceptable range for the second time according to the variation of the short baseline vector data.
8. A computer-readable medium characterized by:
the computer readable medium has stored therein a computer program which is loaded and executed by a processing module to implement the steps of the method for monitoring the occurrence of settlement of a road surface according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011353645.5A CN112525149B (en) | 2020-11-26 | 2020-11-26 | Method and device for monitoring pavement settlement and computer readable medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011353645.5A CN112525149B (en) | 2020-11-26 | 2020-11-26 | Method and device for monitoring pavement settlement and computer readable medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112525149A CN112525149A (en) | 2021-03-19 |
| CN112525149B true CN112525149B (en) | 2023-02-10 |
Family
ID=74994084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011353645.5A Active CN112525149B (en) | 2020-11-26 | 2020-11-26 | Method and device for monitoring pavement settlement and computer readable medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112525149B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114279311A (en) * | 2021-12-27 | 2022-04-05 | 深圳供电局有限公司 | GNSS deformation monitoring method and system based on inertia |
| CN117109527B (en) * | 2023-09-04 | 2024-03-22 | 中国公路工程咨询集团有限公司 | Satellite positioning and remote sensing fusion positioning method and pavement settlement monitoring method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015178746A (en) * | 2014-03-19 | 2015-10-08 | 国土交通省北陸地方整備局長 | Road snowplow support device |
| AU2019101263A4 (en) * | 2018-10-19 | 2019-11-28 | Mthing Pty Ltd | Device, System and Method for Monitoring Settlement and Structural Health |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101487220A (en) * | 2008-01-18 | 2009-07-22 | 南京理工大学 | Fast automatic measurement method for road structural parameter and its implementing apparatus |
| US20120086598A1 (en) * | 2010-10-08 | 2012-04-12 | Canadian Space Agency | Apparatus and methods for driftless attitude determination and reliable localization of vehicles |
| CN102444079B (en) * | 2011-09-16 | 2014-03-19 | 武汉武大卓越科技有限责任公司 | Pavement deflection measuring system and measuring method |
| CN202658486U (en) * | 2012-04-10 | 2013-01-09 | 喾巃科技有限公司 | Railway and road settlement measurement device |
| CN203284718U (en) * | 2013-04-27 | 2013-11-13 | 天津亿联机电工程有限公司 | Radar flaw detection car for highway pavements |
| CN103778681B (en) * | 2014-01-24 | 2016-03-30 | 青岛秀山移动测量有限公司 | A kind of vehicle-mounted highway cruising inspection system and data acquisition and disposal route |
| CN105005019A (en) * | 2015-07-09 | 2015-10-28 | 厦门精图信息技术股份有限公司 | Underground pipeline measuring method based BDS/GPS RTK |
| CN105200900B (en) * | 2015-10-16 | 2018-01-05 | 北京恒华伟业科技股份有限公司 | A kind of pavement detection method and apparatus |
| CN109059751B (en) * | 2018-09-10 | 2020-08-07 | 中国科学院国家授时中心 | Deformation data monitoring method and system |
| CN109540095A (en) * | 2018-12-29 | 2019-03-29 | 北方信息控制研究院集团有限公司 | Roadbed settlement monitoring method based on satellite navigation and least square |
| CN111305019B (en) * | 2020-02-14 | 2021-11-16 | 北京小马慧行科技有限公司 | Method, device, storage medium and processor for detecting road quality |
| CN111985494B (en) * | 2020-07-07 | 2023-12-22 | 深圳大学 | Road disease detection and classification method based on lightweight vehicle-mounted terminal |
-
2020
- 2020-11-26 CN CN202011353645.5A patent/CN112525149B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015178746A (en) * | 2014-03-19 | 2015-10-08 | 国土交通省北陸地方整備局長 | Road snowplow support device |
| AU2019101263A4 (en) * | 2018-10-19 | 2019-11-28 | Mthing Pty Ltd | Device, System and Method for Monitoring Settlement and Structural Health |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112525149A (en) | 2021-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104198765B (en) | The coordinate system conversion method of vehicle acceleration of motion detection | |
| CN112525149B (en) | Method and device for monitoring pavement settlement and computer readable medium | |
| US7162367B2 (en) | Self-contained/interruption-free positioning method and system thereof | |
| US6658354B2 (en) | Interruption free navigator | |
| US6671622B2 (en) | Vehicle self-carried positioning method and system thereof | |
| CN105509738B (en) | Vehicle positioning orientation method based on inertial navigation/Doppler radar combination | |
| CN103270543B (en) | Driving assist device | |
| US11441905B2 (en) | Inertial navigation device and inertial navigation method | |
| Bevly et al. | GNSS for vehicle control | |
| JP6409346B2 (en) | Moving distance estimation device | |
| CN105824039A (en) | Odometer-based GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) vehicle-mounted combined positioning and orientation algorithm for overcoming satellite locking loss | |
| CN102621570B (en) | Automobile dynamic parameter measuring method based on double global positioning and inertia measurement | |
| CN104535063A (en) | Geographic coordinate compensation method for seabed oil-gas pipeline detection positioning system | |
| WO2016203744A1 (en) | Positioning device | |
| CN104880189A (en) | Low-cost tracking anti-jamming method of antenna for satellite communication in motion | |
| WO2015104757A1 (en) | Speed estimation device | |
| CN110133695B (en) | Dual-antenna GNSS (Global navigation satellite System) position delay time dynamic estimation system and method | |
| CN104515527A (en) | Anti-rough error integrated navigation method under non-GPS signal environment | |
| CN104864874A (en) | Low-cost single-gyroscope dead reckoning navigation method and system | |
| CN110346824A (en) | A kind of automobile navigation method, system, device and readable storage medium storing program for executing | |
| CN115060257B (en) | Vehicle lane change detection method based on civil-grade inertia measurement unit | |
| Tsurushiro et al. | Vehicle localization using its vibration caused by road surface roughness | |
| RU2012149512A (en) | METHOD FOR DETERMINING THE LOCATION OF A MOBILE OBJECT FOR NAVIGATION MEASUREMENTS | |
| Kalach et al. | Loosely coupled navigation system based on expert system using fuzzy logic | |
| Yokota | Vehicle localization based on MEMS sensor data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |