Rearch On Vehicle Attitude Measurement Devices And Data Processing Algorithm

Our nation’s economy is developing rapidly, as one of the support of economicdevelopment, the development of highway construction is also growing fast. A largenumber of highways, especially high-grade highway, greatly promoted the developmentof society, to ease the bottleneck of our nation’s transport development. However, due tothe highway’s growing use of time, especially in the early construction of high-gradehighway. We need to constantly repair, which takes more and more energy in the roaddetection. The development of automatic pavement testing equipment has become amain issue in the pavement detection research.Surrounding the development of automatic road surface inspection system, thisresearch aims at using the GPS/SINS integrated navigation system to achieve vehicleattitude measurement device’s task without affecting the normal traffic.The main works of this paper are as follows:Firstly, based on the summary of the current development condition of road surfacedetection system at home and abroad, the attitude measurement device has beendesigned. The overall system design includes hardware architecture and softwareprogramming. The hardware architecture includes the entire hardware circuit system:the peripheral circuits of the chip of the core’s minimum system, and the hardwarecircuit of the accelerometers, the gyroscopes, the orthogonal rotary encoders, and theGPS. The software system includes the mode of the whole system, accelerometer dataacquisition module, gyroscope data acquisition module and GPS data acquisitionmodule, as well as the data communication protocol between the host computer and theGPS, gyroscope and accelerometer.Secondly, the initial alignment of inertial navigation systems in static state hasbeen studied, including static initial coarse alignment, precise alignment and theapplication of Kalman filter in precise alignment. We did a simulation experiment toverify the correctness of the algorithm.Thirdly, based on the analysis of strapdown inertial navigation system navigationinformation solver, we did a simulation experiment. Experiments show that since theoutput of the error term impact of inertial device itself, the use of inertial navigationsolution alone, can not reach the system requirements.Finally, the Kalman filter algorithm has been applied to GPS/SINS integratednavigation system. Using the Kalman filter algorithm, we will take GPS and inertialnavigation system’ output as observables. The combined Kalman filter estimates SINSattitude errors, corrected for inertial navigation system. Through the simulation andactual experimental data acquisition verify the validity of the algorithm.