Road grade quantification based on global positioning system data obtained from real-world vehicle fuel use and emissions measurements

Real-world vehicle fuel use and emission rates depend on engine load, which is quantified in terms of Vehicle Specific Power (VSP). VSP depends on vehicle speed, acceleration, and road grade. There is not a standard method for measuring road grade from a moving vehicle. A method for quantifying grade is evaluated based on statistical analysis of multiple runs using low cost consumer grade Global Positioning System (GPS) receivers with in-built Barometric Altimeter (GPS/BA). The average grade precision is +/- 0.71, +/- 0.46, and +/- 0.31 percentage points, for sample sizes of 9, 18, and 36 GPS/BA runs, respectively, among 2213 individual 0.08 km road segments. In addition, 4 sets of repeated measurements were performed on the same routes using a high cost, high accuracy Differential GPS (DGPS). Both sets of GPS-based grade estimates compared well with those derived from Light Detection And Ranging (LIDAR) data. GPS/BA and DGPS grade estimates were similar, except for high magnitude grades of 8-10 percent for which DGPS estimates are more accurate. DGPS is more sensitive to loss of signal; thus, a hybrid approach for substituting GPS/BA data for missing DGPS data at specific locations along a route is demonstrated. The local and overall effects of road grade on fuel use and emission rates are investigated for an example light duty gasoline vehicle. (C) 2014 Elsevier Ltd. All rights reserved.