JP2002004261A - Management system for compacting embankment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To derive a travel focus of a vibrating roller in a high accuracy even in a state lacking for GPS by adding a three-axes gyrosystem to the GPS. SOLUTION: The management system for compacting an embankment provided with a GPS stationary station 11 installed in an execution area of a civil engineering construction, a GPS transferable station 7 and a three-axes gyreosystem 9 mounted on a compacting machine body 1 for a compacting yard, positional coordinates of a GPS antenna 6 computed from GPS data of the GPS stationary station and the GPS transferable station, and an operation means operating the central coordinates of a vibration roller on the basis of a posture angle and a transferred distance detected by the three-axes gyrosystem, operates the central coordinates of the vibration roller on the basis of only data of the gyrosystem in the case of ineffective GPS measurement.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of an embankment compaction management system for compacting an embankment with a vibrating roller in a road or land preparation work.

[0002]

2. Description of the Related Art In road and land reclamation work, the type of compactor and the number of times of compaction are set by conducting a compaction test in advance before actual construction. At the time of actual construction,
It is important to control the number of times of compaction so as to be in accordance with the specified value in order to improve the quality of the embankment.

In FIG. 1, an embankment compacting machine is connected to a compacting machine main body 1, a driving wheel 2 mounted on the compacting machine main body 1, and to the compacting machine main body 1 via a hinge 3 so as to be steerable. This device includes a vibrating roller 4, runs on the embankment 5 by the driving wheel 2, and applies vibration pressure to the embankment 5 by the vibrating roller 4 to compact the embankment. When compacting an embankment using this embankment compaction machine, it is important to grasp the number of times of compaction of the embankment by the vibrating roller 4, and conventionally, GPS (Global-P
A method is known in which the running locus of the vibrating roller 4 is determined by ositioning-system, and the number of times of compaction of the embankment is checked over the entire compaction yard.

[0004] However, the conventional system is (1) G
It is assumed that the satellite will operate under satellite conditions that guarantee PS positioning accuracy. If the GPS data can only be received in pieces due to obstacles such as the movement of deep trees or other heavy construction equipment, or if GPS In the event of an accidental loss of GPS radio waves, such as when the signal is received as a reflected wave instead of a direct wave, the accuracy of the running trajectory of the vibrating roller decreases and the reliability of compaction management of the embankment becomes low. . Also, this system cannot be applied to places where GPS cannot be received at all in narrow mountainous areas or the like due to topographical restrictions.

[0005] Also, (2) when the compaction management of the embankment is performed,
What is required as the position coordinates of the compacting machine body is the position where the center of the vibrating roller and the compacted ground contact. However, since it is impossible to install an antenna which is a GPS position measurement point there, as shown in FIG.
Is installed on the main body 1 which is easy to receive the vibration roller, and the center position R of the vibrating roller is estimated from the measured position.
In this case, as shown in FIG. 2, unless the attitude angles of the three axes of the yaw angle, the roll angle, and the pitch angle of the vibration roller are obtained,
An accurate attitude angle cannot be determined by GPS. Although the traveling direction vector can be obtained from the difference over time of the position coordinates of the GPS antenna, an accurate traveling direction vector cannot be obtained due to a GPS measurement error, so that the error is large and is not practical.

In order to solve the above problem (1), the GPS
It is conceivable to mount a three-axis gyro system on the body of the compacting machine as a means for obtaining the running locus of the vibrating roller when a defect occurs. The three-axis gyro system includes three optical fiber gyros and two inclinometers or three accelerometers for measuring the attitude angles of the vibrating roller in three axes of yaw angle, roll angle, and pitch angle.
The rotary encoder is configured to measure the travel distance of the vibrating roller, and the traveling locus and the attitude angle of the vibrating roller can be obtained, and the problem (2) can be solved at the same time. A technique of correcting a traveling locus simply by obtaining an attitude angle is known from Japanese Patent Application Laid-Open No. 2000-8363.

However, in the three-axis gyro system, the optical fiber gyro has a problem that a time drift, which is an error proportional to time, occurs, and a rotary encoder generates an error that is proportional to a moving distance. There is a problem that an accumulation error occurs because the value is obtained by accumulating the values, and there is a time constraint at the time of the construction by the embankment compacting machine in order to obtain the traveling locus accurately with the three-axis gyro system alone.

The vibration roller 4 has a hinge 3 on the main body 1.
As shown in FIG. 3, when the vibration roller 4 moves backward on a slope inclined at a right angle to the vibration roller 4, as shown in FIG. The steering must be directed upwards on the slope. As a result, the vibration roller 4
Being able to straighten backwards while maintaining the equilibrium in the state of being bent in a jiggle. On the other hand, the three-axis gyro system installed on the side of the compacting machine body 1 detects the yaw angle in the shape of a dogleg, and the travel locus of the compacting machine body 1 is actually traveled due to the deviation of the yaw angle. In contrast, when the vehicle moves backward, the vehicle moves upward on the slope, and this is accumulated each time the linear reciprocation is repeated on the slope (see FIG. 4), which is an error factor that departs from the accurate traveling locus. Note that this error factor is not seen at the time of forward movement in which the vibration roller 4 is pushed.

Further, when the compacting machine body 1 moves forward, as shown in FIG. 5 (A), the inclination angle of the running surface coincides with the inclination angle (detection pitch angle) of the compacting machine body 1. When the compacting machine body 1 moves backward, as shown in FIG. 5B, the compacting machine body 1 pulls the heavy vibration roller 4, so that the compacting machine body 1 on which the three-axis gyro is installed is moved. Go backwards with a slight inclination. For this reason, even though the running surface is horizontal, the three-axis gyro detects the inclined state (angle β ') of the compacting machine main body 1 and does not match the actual inclination of the ground. As a result, every time the vehicle moves backward, errors are accumulated, and the altitude cannot be obtained accurately.

The present invention has been made to solve the above-mentioned conventional problem.
An object of the present invention is to provide an embankment compaction management system that can obtain a traveling trajectory of a vibrating roller with high accuracy even in a GPS deficient state by adding a three-axis gyro system in addition to S.

[0011]

In order to achieve the above object, an embankment compaction management system according to a first aspect of the present invention includes a GPS fixed station installed in an earth construction work area,
A GPS mobile station and a three-axis gyro system mounted on the compactor body of the embankment compaction yard, GPS antenna position coordinates calculated from GPS data of the GPS fixed station and the mobile station, and detected by the three-axis gyro system Calculating means for calculating the coordinates of the center of the vibrating roller based on the data of the attitude angle and the moving distance, wherein the coordinates of the center of the vibrating roller are calculated only from the data of the three-axis gyro system when GPS positioning is impossible. According to a second aspect of the present invention, in the first aspect, when GPS positioning is impossible, a coordinate error between an end point of a traveling trajectory obtained by a three-axis gyro system starting from a known start point and a known end point is determined. Wherein the three-axis gyro system measurement value between the start point and the end point is corrected, and a travel locus is obtained from the correction data; Embankment compaction management system of claim 3, wherein the invention, GPS installed in the construction area of earthworks
A fixed station, a GPS mobile station and a three-axis gyro system mounted on a compactor body of the embankment compaction yard;
Calculating means for calculating the coordinates of the center of the vibrating roller based on the GPS antenna position coordinates calculated from the GPS data of the PS fixed station and the mobile station, and the attitude angle and moving distance data detected by the three-axis gyro system;
The invention according to claim 4, further comprising a correction means for correcting the antenna position coordinates, the attitude angle of the three-axis gyro system, and the moving distance.
In the case of RTK-GPS having a good positioning state, the attitude angle and the moving distance, which are the measurement values of the three-axis gyro system, are corrected by a Kalman filter. In the case of DGPS in which the GPS positioning state is slightly worse, the antenna position by GPS is used. According to a fifth aspect of the present invention, the body of the embankment compaction machine according to any one of the first to fourth aspects is characterized in that both the coordinates and the attitude angle and the moving distance by the three-axis gyro system are corrected by a Kalman filter. In this case, the yaw angle error is corrected in accordance with the roll angle of the attitude angle.
Wherein the error in the pitch angle of the attitude angle is corrected when the embankment compactor body moves backward.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 6 is a system configuration diagram showing one embodiment of the embankment compaction management system according to the present invention.

The embankment compaction management system of the present invention includes a GPS mobile station 7 mounted on the compactor body 1, a three-axis gyro system 9 mounted on the compactor body 1, and an earthwork construction area. It comprises an installed management station 10 and a GPS fixed station (base station) 11.

The GPS mobile station 7 has an RTK-GPS antenna 6 for receiving radio waves from GPS satellites. Positioning data is sent to a personal computer 14 via a receiver 12 and a communication interface 13. Further, the GPS fixed station 11
An RTK-GPS antenna 15 for receiving a radio wave from a PS satellite is provided. Positioning data passes through a receiver 16, a transmitter 17, and a transmission antenna 19, and passes through a reception antenna 20, a receiver 21, and a communication interface 13 of the GPS mobile station 7. It is sent to the personal computer 14 via the PC.

The three-axis gyro system includes a compacting machine body 1
And a rotary encoder 23 for measuring a moving distance of the vibrating roller 4 provided in the apparatus. The attitude angle detecting device 22 includes an optical fiber gyro 22a for detecting a yaw angle, an optical fiber gyro 22b for detecting a pitch angle, and an optical fiber gyro inclinometer 22c for detecting a roll angle. Each sensor signal is sent to an arithmetic device 22d. The attitude angle is calculated, and the attitude angle data is transmitted / received to / from the personal computer 25 via the communication interface 24, and data is exchanged with the personal computer 14 via the communication interfaces 26 and 13. The operation panel 27 is used to start, end, and input a known point of the system. Further, in the present embodiment, an inclinometer for detecting a reference plane (for example, a horizontal plane) is used for the optical fiber gyros 22b and 22c for the purpose of improving the angle detection accuracy of the optical fiber gyros. However, the optical fiber gyros 22a and 22b are used instead. , 22c may use an accelerometer.

In the personal computer 14 of the GPS mobile station 7, positioning data from GPS satellites and GP
Reference positioning data by GPS satellites at S fixed station 11,
The running locus is determined based on the data of the attitude angle detecting device 22 and the rotary encoder 23, the number of times of rolling pressure on the running locus is calculated, and the rolling state is displayed on a display. Further, the data of the compaction state is stored in the communication interface 13,
The signal is sent to the personal computer 33 via the transmitter 29 and the transmitting antenna 30, and then to the receiving antenna 31 and the receiver 32 of the management station 10.

In the present invention, a GPS fixed station 11 on known coordinates transmits GPS error correction information to a GPS mobile station 7 by communication, and a DGPS (differential GPS) positioning method having a position accuracy of 1 to 10 m; The RTK-GPS (real-time kinematic GPS) positioning method that transmits the phase data from the GPS satellites to the GPS mobile station 7 from the GPS fixed station 11 using the principle of interference positioning and realizes a position accuracy of 10 cm or less in real time is adopted. I have.

FIG. 7 is a flowchart showing a processing flow of the embankment compaction management system of FIG. First, step S1
, The RTK-GPS or DGPS data is acquired as the position coordinates of the antenna 6 of the GPS mobile station 7 (compactor main body 1), and the attitude angle (yaw angle) of the compactor main body 1 from the three-axis gyro system 9. α, pitch angle β, roll angle γ) and moving distance data. Next, in step S2, as shown in FIG.
(Smoothing) processing of.

Next, in step S3, it is determined whether or not the vibration roller 4 is moving backward. If the vibration roller 4 is moving forward, the process proceeds to step S6.
In the case of reverse travel, a yaw angle correction process is first performed in step S4. Regarding the behavior of the compacting machine body 1 when moving backward,
As described with reference to FIG. 4, as shown in FIG. 9, when the compacting machine main body 1 moves backward, the yaw angle α detected by the three-axis gyro becomes the bending behavior of the vehicle body in the actual traveling direction angle. (Hereinafter, referred to as a correction angle α ′). Accordingly, the actual traveling direction angle is obtained by subtracting the correction angle α ′ from the gyro detected yaw angle α. This correction angle α ′ is correlated with the inclination angle of the compaction yard (ie, the roll angle γ of the gyro).
As shown in (1), a correction map for the roll angle γ is stored. FIG. 11 shows a running locus based on the reverse correction, and the gradient 8.
It is shown that the error caused by running on a sloping ground becomes significantly smaller in the case of reciprocating 7% and a straight distance of 15 m compared to the case of FIG.

After the correction of the yaw angle is completed, the pitch angle is corrected in step S5. As described with reference to FIG. 5B, when the compacting machine main body 1 moves backward, the compacting machine main body 1 pulls the heavy vibration roller 4, so that the compacting machine main body 1 provided with the three-axis gyro is installed. Moves backward with a slight inclination. For this reason, even though the running surface is horizontal, the three-axis gyro detects the inclined state (angle β ') of the compacting machine main body 1 and does not match the actual inclination of the ground. As a result, every time the vehicle moves backward, errors are accumulated, and the altitude cannot be obtained accurately. Therefore,
A process of adding a correction angle β ′ to the detected pitch angle β is performed.

The pitch angle can be corrected by detecting the difference between the inclination angle of the compacting machine main body 1 and the inclination angle of the ground. However, since this difference cannot be detected, it is experimentally necessary. The difference (correction angle β ') is obtained in advance. The method of experimentally obtaining the correction angle is to use the difference between the forward and backward pitch detection angles when the vibrating roller 4 is linearly reciprocated with respect to the running surface as flat as possible as the correction angle. The correction angle is considered to be related to the state of the running surface and the speed of the vibrating roller 4, but since the correction angle itself is a very small value (1 ° or less), a fixed value experimentally obtained is applied. There is no problem.

FIG. 12 shows data measured by RKT-GPS, pitch angle detection data (no correction), and data obtained by correcting the pitch angle for the altitude of the running surface of the vibrating roller 4. According to this figure, the altitude when the pitch angle is corrected is
It almost coincides with the altitude measured by GPS, and the effect of correcting the pitch angle is remarkably exhibited.

Next, in step S6 of FIG.
It is determined whether or not there is S data. If not, the process proceeds to step S8. If there is, the process of Kalman filter correction is performed in step S7. Next, in step S7, it is determined whether or not the rolling is completed.
The process of S8 is repeated in real time, for example, every 0.2 seconds.

FIG. 13 is a flowchart showing Kalman filter correction processing. A GPS signal contains many error factors, and a Kalman filter is known as a technique for estimating a detection position by statistical processing (for example, JP-A-2000-28380). In the present invention, unique processing is performed using this Kalman filter. That is, first, in step S11, the GPS data, the corrected attitude angle and the moving distance are read, and in step S12, the GPS data is stored in the RTK-GPS or DG.
It is determined whether it is a PS or not. If neither is the case, the state quantity is reset in step S16 and the observation is not updated. In step S17, the center coordinates of the vibrating roller are calculated only by the attitude angle and the moving distance by the three-axis gyro system. .

In step S13, it is determined whether or not the GPS data is DGPS. If NO, that is, if the GPS positioning state is a good RTK-GPS, step S14
In the case of DGPS in which the GPS positioning state is slightly deteriorated by correcting only the attitude angle and the movement distance by the three-axis gyro and the GPS positioning state is slightly deteriorated, the GPS data which is the antenna position coordinates and the attitude angle and the movement distance which are 3 in step S15. Both the shaft gyro data are corrected by the Kalman filter, and the center coordinates of the vibrating roller 4 are calculated and output in step S17. The correction by the Kalman filter considers the GPS coordinate error, the angular error and the moving distance error of the three-axis gyro system as state quantities, and sequentially estimates the state quantities from the observed values of the GPS position coordinates. At this time, by performing the Kalman filter correction, it is possible to improve the positioning accuracy of the DGPS, which is inferior to the RTK-GPS, and to correct the time drift of the gyro, thereby improving the accuracy of the attitude angle.

If the rolling is completed in step S8 in FIG. 7, it is next determined in step S9 whether or not there is a time during which positioning by GPS data is not possible.
After proceeding to step S10 to perform the interpolation and interpolation correction process,
finish.

FIG. 14 is a diagram for explaining the interpolation processing of FIG. Interpolation and interpolation correction occurs when the GPS cannot measure the position and the traveling locus is determined only by the three-axis gyro system. In this case, the known coordinate values of the start point and the end point are given, the known coordinate value of the end point is made to match the coordinate value obtained by the three-axis gyro system, and the internal error between the start point and the end point is determined based on the coordinate error. The coordinates are corrected using the least squares method. In FIG. 14, at each measurement point, the moving distances S ₁ , S ₂ ,... Are measured by the rotary encoder, and the yaw angles α ₁ , α _2, ..., And the pitch angles β ₁ , β ₂ ,. This shows the result of calculating the trajectory of the vibrating roller.

GPS antenna coordinates (correction value by Kalman filter) A and G immediately before GPS reception becomes impossible
The GPS antenna coordinates (correction value by the Kalman filter) B when the PS radio wave returns are assumed to be known points, and the known point A
Starting from the above, the coordinate error between the end point coordinate 4 and the known point B obtained only by the three-axis gyro system is set to 0, and the sum of squares of the error of the attitude angle and the moving distance of the three-axis gyro system between each internal point is minimized. The adjustment calculation is performed in such a manner as to perform the adjustment. Here, the measurement position in the gyro system is matched with the antenna position measured in the GPS system. Since these systems use different coordinate systems for measurement, the public coordinate system of the GPS system is converted to a gyro system coordinate system.

A specific example will be described.
It is assumed that the reception of the PS is interrupted and the points 1 to 4 are measured only by the gyro system. The GPS antenna coordinates given as known points are converted into a gyro system coordinate system, and are converted to a point A (x _gps0 , y _gps0 , z _gps0 ) and a point B (x _gps4 , y _gps4 , z _gps4 ).
And On the other hand, the coordinates of the end point coordinates 4 measured by the three-axis gyro system are:

[0030]

(Equation 1) Becomes Then, the coordinate of the measurement end point 4 of the 3-axis gyro system
Coordinates (x _gy4 , y _gy4 , z _gy4 ) of the known point B (x _gps4 , y
_gps4 , z _gps4 ), the measured values S, α, and β of the three-axis gyro system are corrected by applying the least squares method. Then, the travel locus is calculated by obtaining the position coordinates using the correction value.

FIG. 15 is a flowchart showing a detailed procedure before and after the interpolation correction processing. When the rolling is completed in step S8, in step S9, it is determined whether there is data for correcting the traveling trajectory of only the gyro during the rolling operation (specifically, whether or not the gyro has been operated for more than the correction target time). ) Is determined, and in the case of NO, the operation is terminated. Y
In the case of ES, it is determined in step S21 whether or not the RTK-GPS can be obtained.
The trajectory correction of 0 (interpolation interpolation correction) is performed. If RTK-GPS cannot be obtained (in the case of a grade lower than DGPS), in step S22, "GPS cannot be obtained.
Please move to a place where GPS can be obtained or a known point. ", And moves to the RTK-GPS acquisition point to acquire the RTK-GPS, and performs a locus correction process in step S9. If the GPS cannot be acquired, it moves to a known point, inputs a known point in step S25 (input from the operation panel 27 in FIG. 6), and then proceeds to step S25.
At 10, a locus correction process is performed. When the trajectory correction is completed,
A process for redrawing the rolling pressure determination based on the traveling locus corrected in step S27 is performed.

FIG. 16 is a flowchart for performing the interpolation correction. If the GPS positioning disable time t is less than or equal to a predetermined time tv (for example, 5 minutes), the interpolation correction is not performed assuming that the position accuracy is satisfactory, and the interpolation interpolation correction is not performed.
When the time exceeds the predetermined time th (for example, 15 minutes) or less, only the z coordinate is corrected, and when the predetermined time th is exceeded, the z coordinate and the xy coordinate are corrected.

FIG. 17 is a diagram in which the processing of the embankment compaction management system of the present invention described above is arranged. Where R
The multipath that is the reason for TK-GPS loss is GPS
When a radio wave is received not as a direct wave but as a plurality of reflected waves, the received radio wave information is different from the true value, so the position calculation cannot be performed with high accuracy. A state in which GPS data can be received only in a fragmentary manner due to obstacles such as terrain conditions, deep trees, and the positional relationship of other heavy equipment.

The term "correctable time" refers to a time limit in which measurement data can be corrected with relatively high accuracy using a DGPS and a three-axis gyro when RKT-GPS becomes impossible. If the GPS positioning cannot be performed for more than 60 minutes, the correction effect is reduced even if the interpolation is performed. Therefore, the gyro is reset to a known point.

[0035]

As is apparent from the above description, according to the present invention, when determining the traveling locus of the vibrating roller, the GP
By adding a three-axis gyro system in addition to S, the traveling trajectory of the vibrating roller can be obtained with high accuracy even in a GPS deficient state. As a result, the embankment compaction management system using GPS becomes general-purpose, and can be applied to places where GPS cannot be received at all, such as in narrow mountainous areas due to topographical restrictions.

Further, since the posture angle of the vibrating roller can be detected by the three-axis gyro system, the estimation from the GPS antenna coordinates to the vibrating roller center coordinates can be calculated with high accuracy.

[Brief description of the drawings]

FIG. 1 is a schematic view showing a side and a plane of a compacting machine according to the present invention.

FIG. 2 is a view for explaining a posture angle according to the present invention.

FIG. 3 is a diagram for explaining a problem of the present invention.

FIG. 4 is a diagram for explaining a cumulative error during reverse movement in FIG. 3;

FIG. 5 is a diagram for explaining an object of the present invention.

FIG. 6 is a system configuration diagram showing one embodiment of an embankment compaction management system according to the present invention.

FIG. 7 is a flowchart showing a processing flow of the embankment compaction management system of FIG. 6;

FIG. 8 is a diagram for explaining the γ smoothing process of FIG. 7;

FIG. 9 is a diagram for explaining a yaw angle correction process in FIG. 7;

FIG. 10 is a diagram for explaining a correction calculation method of FIG. 9;

FIG. 11 is a diagram showing a traveling locus by correcting a yaw angle.

FIG. 12 is a diagram showing a traveling locus by correcting a pitch angle.

FIG. 13 is a flowchart showing a Kalman filter correction process of FIG. 7;

FIG. 14 is a diagram for explaining the interpolation processing of FIG. 7;

FIG. 15 is a flowchart showing a detailed procedure before and after the interpolation correction processing of FIG. 7;

FIG. 16 is a flowchart for performing interpolation correction;

FIG. 17 is a diagram in which the processing of the embankment compaction management system of the present invention is arranged.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroshi Himeno 219-11 Anharacho, Shimizu-shi, Shizuoka Japan Inside the Japan Highway Public Corporation (72) Inventor Shigeru Nakamura 219-11 Anharacho, Shimizu-shi, Shizuoka Pref. 72) Inventor Akio Sarami 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Corporation (72) Inventor Hiroki Kawasaki 1-2-3 Shibaura, Minato-ku, Tokyo Shimizu Corporation (72) Invention Person Yoshihiro Takekawa 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd. (72) Inventor Makoto Suzuki 2-3-2 Shibaura, Minato-ku, Tokyo Shimizu Corporation (72) Inventor Masaaki Nagasawa Tokyo 1-2-3 Shibaura, Minato-ku, Shimizu Construction Co., Ltd. (72) Inventor Hiroshi Morishita 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Corporation F-term (reference) 2D043 CA15 CA20 5 J062 BB01 BB08 CC07 EE04 FF04

Claims (6)

[Claims] 1. A GPS fixed station installed in a construction area for earth work, a GPS mobile station and a three-axis gyro system mounted on a compacting machine body of an embankment compaction yard, and the GP
S G calculated from GPS data of fixed and mobile stations
Calculating means for calculating the coordinates of the center of the vibrating roller based on the PS antenna position coordinates and the data of the attitude angle and the movement distance detected by the three-axis gyro system;
An embankment compaction management system characterized in that the center coordinates of a vibrating roller are calculated only from data of a three-axis gyro system when PS positioning is impossible. 2. In a case where GPS positioning is impossible, based on a coordinate error between an end point of a traveling trajectory obtained by a three-axis gyro system starting from a known start point and a known end point, three points between the start point and the end point are determined. 2. The embankment compaction management system according to claim 1, wherein the measured value of the shaft gyro system is corrected, and a travel locus is obtained from the corrected data. 3. A GPS fixed station installed in an earthwork construction area, a GPS mobile station and a three-axis gyro system mounted on a compacting machine body of an embankment compaction yard, and the GP
S G calculated from GPS data of fixed and mobile stations
Calculating means for calculating the vibration roller center coordinates based on the PS antenna position coordinates and the data of the attitude angle and the movement distance detected by the three-axis gyro system; and the GPS antenna position coordinates and the attitude angle and the movement of the three-axis gyro system An embankment compaction management system, comprising: a correcting means for correcting a distance. 4. In the case of an RTK-GPS having a good GPS positioning state, a posture angle and a moving distance, which are measured values of a three-axis gyro system, are corrected by a Kalman filter to obtain a GP.
4. The embankment compaction management according to claim 3, wherein in the case of DGPS in which the S positioning state is slightly deteriorated, both the antenna position coordinates by GPS and the attitude angle and the moving distance by the three-axis gyro system are corrected by a Kalman filter. system. 5. The embankment according to claim 1, wherein an error of the yaw angle is corrected in accordance with the roll angle of the attitude angle when the embankment compaction machine body moves backward. Consolidation management system. 6. The embankment compaction management system according to claim 1, wherein the error of the pitch angle of the attitude angle is corrected when the embankment compactor body moves backward.