Improvements in road geometry measurement using inertial measurement systems in datalog vehicles

The development of ever more accurate and detailed digital maps is one of the requirements being imposed by new driver assistance systems being fitted in vehicles. Datalog vehicles are one of the options to develop these maps. Of the instruments available for measuring road geometry, we must distinguish inertial systems from those of absolute satellite positioning. Although the usual thing is to combine both systems, their limitations must be examined in order to define the scope of each system. Inertial systems give a cumulative error as the distance travelled increases, and this must be evaluated. This paper proposes a way of estimating the error committed in horizontal alignment through the law of uncertainty propagation. Furthermore, these systems enable road grade and superelevation to be measured, but these measurements are conditioned by vehicle dynamics. The proposal put forward is based on a correction algorithm through simulation with a vehicle mathematical model.