This content is not included in your SAE MOBILUS subscription, or you are not logged in.
An Improved Design of a Vehicle Based Off-Road Terrain Profile Measurement System
ISSN: 0148-7191, e-ISSN: 2688-3627
Published October 07, 2008 by SAE International in United States
Annotation ability available
This paper discusses an improved design of a vehicle-based mobile off-road terrain profile measurement system. The proposed system includes an apparatus of sensors and on-board data acquisition hardware, equipped on a platform vehicle used to measure and record the relevant data while the vehicle travels through the off-road or terrain surface to be surveyed. A unique post-processing algorithm is then used to derive the elevation profile based on the collected data. The derived elevation profile data could be used to characterize the roughness of an off-road testing course or perform a general geographical survey or mapping. The major technical issue addressed in this system is to eliminate the effect of platform vehicle vibration on sensor measurement which if left unaddressed will result in large measurement error due to high amplitude pitch and roll movements of the platform vehicle. A Kalman Filter based sensor-fusion methodology is implemented in the system to accurately solve for the vehicle dynamic position in order to compensate for vehicle induced measurement errors, and in turn could provide a high-fidelity reconstructed profile data result. A prototype system instrumented on a GM Hummer H2 vehicle has been implemented based on the proposed design. The field validation test results are also reported in the paper.
- Feilong Liu - Center for Automotive Research, Ohio State University
- Nicholas Dembski - Center for Automotive Research, Ohio State University
- Giorgio Rizzoni - Center for Automotive Research, Ohio State University
- Ahmed Soliman - University of North Carolina at Charlotte
- Brian Thompson - Army Yuma Proving Ground
- Bowie Vaughn - Army Yuma Proving Ground
CitationLiu, F., Dembski, N., Rizzoni, G., Soliman, A. et al., "An Improved Design of a Vehicle Based Off-Road Terrain Profile Measurement System," SAE Technical Paper 2008-01-2655, 2008, https://doi.org/10.4271/2008-01-2655.
- Lemmon, T. and Wetherbee, L., “White Paper: Trimble Integrated Surveying Techniques”, Trimble Navigation Limited, 2005
- Spangler, E. and Kelly, W., “Servo-Seismic Method of Measuring Road Profiles”, Highway Research Board Bulletin 328, Highway Research Board, National Academy Press, Washington, D.C., 33-51 (1962)
- http://www.internationalcybernetics.com/profiling.htm, International Cybernetics Corporation, 2006
- Kern, J. and Ferris, J., “Development of a 3-D Vehicle-Terrain Measurement System Part I: Equipment Setup”, Proceedings of the Joint North America Asia-Pacific ISTVS Conference and Annual Meeting of Japanese Society for Terramechanics, Fairbanks, AK, 2007-51-0232 (2007)
- Wagner, S., Kern, J., Israel, W., Ferris, J., “Development of a 3-D Vehicle-Terrain Measurement System Part II: Signal Processing and Validation”, Proceedings of the Joint North America Asia-Pacific ISTVS Conference and Annual Meeting of Japanese Society for Terramechanics, Fairbanks, AK, 2007-51-0333 (2007)
- Dembski, N., Soliman. A, Rizzoni, G., Liu, F., Malmedahl, G., “The Development and Validation of a Terrain Severity Measurement System”, Proceedings of the Joint North America Asia-Pacific ISTVS Conference and Annual Meeting of Japanese Society for Terramechanics, Fairbanks, AK, 2007-51-0131 (2007)
- Liu, F., Dembski, N., Soliman, A., Rizzoni, G., Thompson, B., Vaughn, B., “A Kalman-filter Based Multisensor Terrain Profile Measurement System: Principles, Implementation, and Validation”, SPIE Defense & Security Symposium Paper No. 6965-19, Orlando, FL, March 2008.
- Novatel Inc, “Application Note: GPS Position Accuracy Measures”, APN-029 Rev 1, (2003)
- Simon, Don, Optimal state estimation: Kalman, H[infinity], and nonlinear approaches, Hoboken, N.J. : Wiley-Interscience, 2006
- Kuipers, Jack, Quaternions And Rotation Sequence, Princeton University Press, NJ, 1998