IMU/GPS/OD integrated system for motion compensation of laser profiler

Laser profiler is widely used to measure road pavements; its accuracy depends on the compensation of the profiler vertical vibration and attitude change on tires and suspension. An IMU/GPS/OD integrated system for motion compensation of laser profiler is designed and realized in this paper. In this system, a low cost IMU combined with strapdown inertial algorithm is used to measure the position and attitude of the vehicle, which are corrected with GPS and OD through optimal filter; and a special algorithm based on IMU/GPS/OD is proposed to calculate the vertical vibration distance of the vehicle. Room experiment was carried out to verify the proposed method, and experiment results indicate that the proposed IMU/GPS/OD integrated system can satisfy the requirements of laser profiler.