Integración de IMU y GNSS. Estimación del estado del firme
- Díaz-Cacho Medina, Miguel 1
- Chaves, André 2
- García Rivera, Matías 1
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1
Universidade de Vigo
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2
Instituto Politécnico de Bragança
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- Cruz Martín, Ana María (coord.)
- Arévalo Espejo, V. (coord.)
- Fernández Lozano, Juan Jesús (coord.)
ISSN: 3045-4093
Datum der Publikation: 2024
Nummer: 45
Art: Artikel
Zusammenfassung
This work presents a sensor integration system provided by a mobile device for vehicular environments. The integrated sensors are an IMU and a GNSS receiver, which allow the creation of a road surface condition estimation system based on the variation of the vertical acceleration detected by the IMU and associated with geodetic coordinates. To provide the technical system with a theoretical framework, specific roughness units are defined based on the samples of the measured acceleration and inspired by traditional surface roughness measurement techniques. The system uses a traditional ITS topology, where the mobile device is the OBU with the capacity to transmit data to the C-ITS server in the cloud to be processed and determine the resulting parameters. Tests of the system were carried out in a real road environment with satisfactory results, where differences in the types of road surface and indentations in the road were detected.
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