基于多传感器信息融合的里程桩定位技术研究
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摘要
公路里程桩是一种有效的路面信息定位标志,目前普遍存在定位不准、累积误差较大的问题。分析了里程桩定位产生误差的主要原因,提出了基于GPS、视频、文本文档、陀螺仪和光电编码器等多传感器信息融合的里程桩定位技术。通过GPS结合道路环境视频及文本文档的方法实现对公里桩的精确定位,确保每公里外误差不累积,定位误差不超过1 m;在GPS缺失的情况下,采用陀螺仪辅助定位的方法确保GPS信号的连续性;每公里内采用光电编码器和陀螺仪距离修正的方法通过插值得到百米桩位置。试验结果表明,采用该技术,在确定公里桩时,最大误差不超过1 m;在确定百米桩时最大误差不超过2.5 m。
Mileage pile is an effective flag for pavement information positioning,However,the problems of positioning inaccuracies,error accumulation remain exist. By analyzing the primary reasons of errors in traditional mileage positioning,a positioning technology of mileage piles based on multi-sensor information fusion such as GPS,video,text documents,gyroscope and photoelectric encoder is proposed. Kilometer pile can be positioned accurately by the method of GPS with the road environment video and text documents,it makes no errors accumulate in every kilometer,and the positioning error is less than 1 m. Under the circumstance of missing GPS signal,the gyroscope aided positioning is adopted to ensure the continuity of GPS signal. The position of hectometer stake is obtained by interpolating using the method of photoelectric encoder and gyroscope distance correction per kilometer. The experiment shows that( 1) the maximum mileage pile positioning error does not over 1 m.( 2) the maximum hectometer mileage pile positioning error does not over 2. 5 m using the proposed positioning technology.
Mileage pile is an effective flag for pavement information positioning,However,the problems of positioning inaccuracies,error accumulation remain exist. By analyzing the primary reasons of errors in traditional mileage positioning,a positioning technology of mileage piles based on multi-sensor information fusion such as GPS,video,text documents,gyroscope and photoelectric encoder is proposed. Kilometer pile can be positioned accurately by the method of GPS with the road environment video and text documents,it makes no errors accumulate in every kilometer,and the positioning error is less than 1 m. Under the circumstance of missing GPS signal,the gyroscope aided positioning is adopted to ensure the continuity of GPS signal. The position of hectometer stake is obtained by interpolating using the method of photoelectric encoder and gyroscope distance correction per kilometer. The experiment shows that( 1) the maximum mileage pile positioning error does not over 1 m.( 2) the maximum hectometer mileage pile positioning error does not over 2. 5 m using the proposed positioning technology.
引文
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[3]徐琨,贺昱曜,孙朝云,等.基于GPS的公路路面裂缝定位方法[J].长安大学学报:自然科学版,2008,28(5):27-30,44.XU Kun,HE Yu-yao,SUN Chao-yun,et al.Pavement Crack Positioning Based on GPS[J].Journal of Chang'an University:Natural Science Edition,2008,28(5):27-30,44.
[4]孙莹,万秋华,佘容红.小型光电编码器细分误差补偿法[J].电子测量与仪器学报,2011,25(7):605-611.SUN Ying,WAN Qiu-hua,SHE Rong-hong.Interpolation Error Compensation of the Minitype Photoelectrical Encoder[J].Journal of Electronic Measurement and Instrument,2011,25(7):605-611.
[5]隋国栋,李海锋,许玉德.轨道几何状态检测数据里程校正算法研究[J].交通信息与安全,2009,27(6):18-21.SUI Guo-dong,LI Hai-feng,XU Yu-de.Mileage Calibration Algorithm of Track Geometry Data[J].Journal of Transport Information and Safety,2009,27(6):18-21.
[6]龙达峰,刘俊,张晓明,等.基于椭球拟合的三轴陀螺仪快速标定方法[J].仪器仪表学报,2013,(6):100-106.LONG Da-feng,LIU Jun,ZHANG Xiao-ming,et al.Triaxial Gyroscope FAST Calibration Method Based on Ellipsoid Fitting[J].Chinese Journal of Scientific Instrument,2013,(6):100-106.
[7]徐丽霞.路产影像管理系统中里程校正方法的研究[J].常州工学院学报,2011,24(5):31-33.XU Li-xia.A Study of Mileage Calibration in the Road Asset Image Management System[J].Journal of Changzhou Institute of Technology,2011,24(5):31-33.
[8]黄波.基于多传感器数据融合的三维路面重构[D].西安:长安大学,2010.HUANG Bo.Study on Road Three Dimensional Reconstruction Based on Multi-sensor Data Fusion[D].Xi'an:Chang'an University,2010.
[9]NARANJO J E,JIMENEZ F,APARICIO F,et al.GPS and Inertial Systems for High Precision Positioning on Motorways[J].Journal of Navigation,2009,62(2):351-363.
[10]米哈达提切肯.GPS定位技术在公路工程项目的应用实践[J].硅谷,2013,6(12):79-82.MIHADATI.Application of GPS Technology in Highway Engineering Project[J].Silicon Valley,2013,6(12):79-82.
[11]赵祥模,李娜,王国强,等.基于GPS的公路视频影像信息系统[J].中国公路学报,2006,19(3):87-91,105.ZHAO Xiang-mo,LI Na,WANG Guo-qiang,et al.Highway Video Image Information System Based on GPS[J].China Journal of Highway and Transport,2006,19(3):87-91,105.
[12]于德新,杨兆升,刘雪杰.基于卡尔曼滤波的GPS/DR导航信息融合方法[J].交通运输工程学报,2006,6(2):65-69.YU De-xin,YANG Zhao-sheng,LIU Xue-jie.GPS/DR Navigation Data Fusion Method Based on Kalman Filter[J].Journal of Traffic and Transportation Engineering,2006,6(2):65-69.