Error Correction of Measured Unstructured Road Profiles Based on Accelerometer and Gyroscope Data

This paper describes a noncontact acquisition system composed of several time synchronized laser height sensors, accelerometers, gyroscope, and so forth in order to collect the road profiles of vehicle riding on the unstructured roads. A method of correcting road profiles based on the accelerometer and gyroscope data is proposed to eliminate the adverse impacts of vehicle vibration and attitudes change. Because the power spectral density (PSD) of gyro attitudes concentrates in the low frequency band, a method called frequency division is presented to divide the road profiles into two parts: high frequency part and low frequency part. The vibration error of road profiles is corrected by displacement data obtained through two times integration of measured acceleration data. After building the mathematical model between gyro attitudes and road profiles, the gyro attitudes signals are separated from low frequency road profile by the method of sliding block overlap based on correlation analysis. The accuracy and limitations of the system have been analyzed, and its validity has been verified by implementing the system on wheeled equipment for road profiles' measuring of vehicle testing ground. The paper offers an accurate and practical approach to obtaining unstructured road profiles for road simulation test.