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Continuous Attitude Measurement and Digital Twin Modeling of High-Speed Circular Test Tracks Based on Tightly Coupled RTK-GNSS/IMU

Author(s)

Yu Tang1, Lu Peng1,*, Xiaofan Feng1, Bin Zhou2, Tengchao Huang3, Jianshuang Li4

Affiliation(s)

1Research Institute of Highway Ministry of Transport, Beijing, China 2Zhonggong Gaoyuan Automotive Testing Technology Co, Beijing, China 3Zhejiang University, Hangzhou, Zhejiang, China 4National Institute of Metrology, Beijing, China *Corresponding Author

Abstract

To overcome the difficulty of traditional methods in achieving continuous geometric state inspection of curved and transition sections on high-speed circular test tracks in automotive proving grounds, this paper proposes a vehicle-borne continuous kinematic attitude measurement method based on tightly coupled Real-Time Kinematic Global Navigation Satellite System and Inertial Measurement Unit integration. With four circular test tracks at the Beijing Automotive Reliability Standard Proving Ground as a case study, a mean three-axis attitude digital twin model for each track was constructed via adaptive extended Kalman filtering and 0.2 m spatial resampling. The digital twin accurately records the geometric state of each track and can be automatically updated with each inspection, enabling dynamic monitoring of track geometry. Results show that the roll angle amplitudes of the four tracks follow a power-law relationship with the median design speeds, consistent with superelevation design principles. The pitch angle standard deviation increases from 0.057° on the innermost track to 0.394° on the outermost, indicating stronger longitudinal profile excitation at higher speeds. Complementary International Roughness Index and Riding Quality Index measurements, independently acquired by a laser profilometer, characterize pavement conditions from dimensions beyond the digital twin’s attitude output. Over a total driving time of approximately 15 minutes across the four tracks, the proposed method captured over 72000 valid spatial attitude measurement points, providing a feasible solution for rapid periodic inspection of test track geometric states.

Keywords

Digital Twin; Continuous Kinematic Attitude Measurement; Adaptive Extended Kalman Filter; Circular Test Track, International Roughness Index

References

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