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Road roughness detection by analyzing IMU data
KTH, School of Architecture and the Built Environment (ABE), Urban Planning and Environment, Geodesy and Satellite Positioning.
2008 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Nowadays, people are resorting to many advanced measuring systems and methods to

detect road roughness, among which, this paper is proposed to find out road roughness

information from a popular mobile measuring/mapping system GPS/INS. Investigation of

the IMU signal of the INS is focused for purpose of mining its ability of expressing road

roughness. The bumps on road and road texture are used as two indicators for describing

road roughness. Both time domain analysis and frequency domain analysis of IMU data

are performed for detecting the bumps and road texture. Based on the idea that road

bumps generate signal bumps from sensor, the location and magnitude of bumps are

figured out by removing noisy signal bumps and extracting signal bumps caused by road

bumps. The detection of road texture is basically based on frequency analysis, and the

result is then used as the input for roughness classification. Three different types of

classifiers such as fussy logic classification, distance based classification, and maximum

likelihood classification are tested in this research. The results from fuzzy logic and

distance based classification prove to be very good, but the maximum likelihood

classification is considered as an unsuitable method in this case. Lastly, road roughness

detected from IMU data is visualized on map. The results of this paper demonstrate that

IMU data has a great potential for revealing the road roughness.

Place, publisher, year, edition, pages
2008.
Series
TRITA-GIT EX ; 08-01
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-199681OAI: oai:DiVA.org:kth-199681DiVA, id: diva2:1064977
Supervisors
Available from: 2017-01-19 Created: 2017-01-13 Last updated: 2017-01-19Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • de-DE
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