Surface profile measuring apparatus and method having no minimum speed requirement
A profiler arranged to be used on a host vehicle. The profiler is capable of (a) receiving data collected by the profiler while traveling over a surface and (b) generating a surface profile using the data collected with no minimum speed requirement. Since there is no minimum speed requirement, the profiler is capable of generating valid, repeatable and reliable road surface profiles in situations not previously possible, such as during a stop, during acceleration of the host vehicle, during deceleration of the host vehicle, or while the host vehicle is traveling at very low speeds below thresholds typically required for prior profilers.
1 . A profiling system configured to be used in cooperation with a vehicle, the profiling system configured to:
generate a vehicle elevation profile using one or more multi-axis dynamic motion sensors, the one or more multi-axis dynamic motion sensors configured to generate information indicative of the dynamics of the vehicle in multiple axes as the vehicle travels a road surface or is stopped on the road surface;
receive data samples from a height sensor on the vehicle as the vehicle travels the road surface or is stopped on the road surface; and
generate a surface profile of the road surface traveled by, or adjacent to, the vehicle by using one or more data processors to process the vehicle elevation profile and the data samples from the height sensor,
the surface profile of the road surface generated during one or more of:
(a) stoppages of the vehicle;
(b) accelerations of the vehicle from a stop or slow speed, or
(c) decelerations of the vehicle to a stop or the slow speed,
wherein the slow speed is designated as 15 mile per hour or less.
2 . The profiling system of claim 1 , wherein the one or more data processors are configured to receive inputs from:
the height sensor that measures relative height of the vehicle to the road surface as the vehicle travels the road surface or is stopped on the road surface;
a vehicle elevation profile processor that generates the vehicle elevation profile; and
a distance measurement instrument (DMI) that measures the travel of the vehicle over the road surface.
3 . The profiling system of claim 1 , wherein at least one of the one or more multi-axis dynamic motion sensors is or includes an Inertial Measurement Unit (IMU).
4 . The profiling system of claim 1 , wherein at least one of the one or more multi-axis dynamic motion sensors is or includes a Global Navigation Satellite System (GNSS).
5 . The profiling system of claim 1 , wherein at least one of the one or more multi-axis dynamic motion sensors is or includes an Inertial Navigation System (INS).
6 . The profiling system of claim 1 , further comprising a vehicle elevation profile processor that generates the vehicle elevation profile from information received from one of the following:
(d) a Global Navigation Satellite System (GNSS) unit;
(e) an Inertial Measurement Unit (IMU);
(f) a Distance Measurement Instrument (DMI),
(g) one or more accelerometer(s),
(h) one or more gyroscope(s); or
(i) any combination of (d) through (h).
7 . The profiling system of claim 1 , wherein the information indicative of the dynamics of the vehicle generated by the one or more multi-axis dynamic motion sensors as the vehicle travels the road surface or is stopped on the road surface is derived from one of the following:
(d) relative position information of the vehicle in any of X, Y and Z directions;
(e) absolute position information of the vehicle in any of the X, Y and Z directions;
(f) acceleration information of the vehicle in any of the X, Y and Z directions;
(g) velocity information of the vehicle in any of the X, Y and Z directions;
(h) any of pitch, yaw, and roll information of the vehicle;
(i) rotational rate of the vehicle about any of the X, Y or Z directions; and
(j) any combination of (d) through (i).
8 . The profiling system of claim 1 , wherein the one or more data processors are configured to generate the valid surface profile using Kalman filtering.
9 . The profiling system of claim 1 , wherein the one or more data processors are configured to generate the vehicle elevation profile using Kalman filtering.
10 . The profiling system of claim 1 , wherein the one or more data processors are configured to generate the surface profile by processing or incorporating the data samples from the height sensor and the vehicle elevation profile using Kalman filtering.
11 . The profiling system of claim 1 , wherein the vehicle elevation profile is generated by an Inertial Navigation System (INS) or a Global Navigation Satellite System (GNSS) that includes or receives information from the one or more multi-axis dynamic motion sensors.
12 . The profiling system of claim 11 , wherein the INS or GNSS is further configured to receive correction information from one or more base stations.
13 . The profiling system of claim 12 , wherein the one or more base stations is/are included in one of the following:
(d) a Differential Global Positioning System (DGPS);
(e) a Differential Global Navigation Satellite Systems (DGNSS);
(f) a Satellite Based Augmentation System (SBAS);
(g) a Wide Area Augmentation System (WAAS); or
(h) any other method of receiving Global Navigation Satellite System (GNSS) correction information.
14 . The profiling system of claim 1 , wherein the one or more data processors are further configured to re-sample the data samples received from the height sensor on a distance basis using distance information received from a Distance Measuring Instrument (DMI).
15 . The profiling system of claim 1 , wherein the one or more data processors is/are further configured to generate the surface profile of the road surface without one of:
(d) a minimum speed requirement for the vehicle,
(e) a lead-in distance at a start of the surface profile,
(f) a lead-out distance at an end of the surface profile;
(g) the vehicle traveling in forward or reverse directions; or
(h) any combination of (d) through (g).
16 . The profiling system of claim 1 , wherein the one or more data processors are configured to generate the vehicle elevation profile using Kalman filtering to combine data from one or more of:
(d) a Global Navigation Satellite System (GNSS);
(e) an Inertial Measurement Unit (IMU);
(f) a Distance Measurement Instrument (DMI);
(g) one or more accelerometer(s);
(h) one or more gyroscope(s); or
(i) any combination of (d) through (h).
17 . The profiling system of claim 1 , wherein the one or more data processors are configured to generate the surface profile using Kalman filtering to combine data from one or more of:
(d) a Global Navigation Satellite System (GNSS);
(e) an Inertial Measurement Unit (IMU);
(f) a Distance Measurement Instrument (DMI);
(g) one or more accelerometer(s);
(h) one or more gyroscope(s);
(i) one or more height sensor(s); or
(j) any combination of (d) through (h).
18 . The profiling system of claim 1 , wherein the one or more data processors are configured to generate the vehicle elevation profile or the surface profile using one of the following:
(d) Kalman filters;
(e) a high-pass filter and a low-pass filter;
(f) complementary low pass and high pass filters;
(g) complementary filters; or
(h) any other filter or filters.
19 . The profiling system of claim 1 , wherein the surface profile of the road surface is also generated when the vehicle is traveling over the slow speed.
20 . The profiling system of claim 1 , wherein at least one of the one or more multi-axis dynamic motion sensors is or includes an accelerometer.
21 . The profiling system of claim 1 , wherein at least one of the one or more multi-axis dynamic motion sensors is or includes a gyroscope.
22 . The profiling system of claim 1 , wherein the vehicle elevation profile is generated relative to the road surface.
23 . The profiling system of claim 1 , wherein the one or more multi-axis dynamic motion sensors are mounted on any of an exterior surface of the vehicle, an interior surface of the vehicle, a body panel of the vehicle, a bumper of the vehicle, one or more wheels of the vehicle, or a frame of the vehicle and the vehicle elevation profile is generated relative to the frame of the vehicle.
24 . The profiling system of claim 1 , wherein the one or more data processors processing the vehicle elevation profile and the data samples from the height sensor to compensate for vehicle dynamics when generating the road surface profile.
25 . The profiling system of claim 1 , wherein the surface profile is valid because it is accurate and repeatable.
26 . The profiling system of claim 25 , wherein the surface profile is valid regardless of the speed of the vehicle, during either accelerations or decelerations of the vehicle, and without any lead-in or lead-out distances.