This publication is licensed to 170,93.144.3 Maryland Department of Transportation (clo Joseph R. Burke research@mdot maryland.gov), Standard Practice for Certification of Inertial Profiling Systems AASHIO AASHTO Designation: R 56-14 (2022)' Technically Revised: 2014 Reviewed but Not Updated: 2022 Technical Subcommittee: 5a, Pavement Measurement 4. SCOPE 14. ‘This practice describes certification procedure fortes equipment used to measure a longitudinal surface elevation profile of highways based on an inertial reference system that is mounted on a host vehicle, The minimum requirements stipulated herein are intended to focus on the need for accurate and repeatable profile measurements for construction quality control/quality assurance, acceptance and network-level data collection. 12, ‘This practice describes minimum performance requirements for inertial profiling systems to be used on Owner-Agency paving projects where a profile-based smoothness specification is applicable and for network data collection programs. 13, ‘The filtering methods and threshold values recommended in this document were established to ensure adequate determination of the International Roughness Index (IRI) and the profile features, that affect it. An Owner-Agency planning to use an index other than the IRI should filter the profile and set thresholds accordingly. In particular, replace the preprocessor filter in Step 3, Appendix X.1 with a filter that corresponds to the relevant waveband for the alternative index. 14, Ifeny part ofthis practice isin conflict with referenced documents, such as ASTM Standards, this practice takes precedence for its purposes. 15, This practice does not purport to address all ofthe safety concerns, ifany, associated with ls use is the responsibility of the user ofthis practice to establish appropriate safety and health practices and determine the applicability of regulatory limitations related 10 and prior fois use. 2. REFERENCED DOCUMENTS 24 AASHTO Standards: mM328, Inertial Profiler am _ R57, Operating Inertial Profiling Systems 22. ASTM Standard: ‘m £1926, Standard Practice for Computing International Roughness Index of Roads from Longitudinal Profile Measurements 23. (Other Documents: 1m Karamihas, S. M. Development of Cross Correlation for Objective Comparison of Profiles, International Journal of Vehicle Design, Vol. 36, Nos. 2/3 (2004), pp. 173-193. TS5a RoeT AASHTO (© 202 by the Arian Association of State Highway and Transportation Oficial, All igh reserved. Duplication isa vilation of applicable laThis publication is licensed to 170.93.144.3 Maryland Department of Transportation (clo Joseph R. Burke research@mdol:maryland.gov). Karamihas, S. M. Benchmark Test Evaluation Report. Federal Highway Administration Project. “Improving the Quality of Pavement Profile Measurement,” University of Michigan Transportation Research Institute, September 201 1. wrw.pooledfund org/Details/Study/280 Sayers, M. W. “On the Calculation of International Roughness Index from Longitudinal Road Profile.” In Transportation Research Record 1501. Transportation Research Board, National Research Council, Washington, DC, 1995, pp. 1-12. 3 TERMINOLOGY 3 Definitions: 344 high-pass fllering-—reduces the effect of long wavelengths that are associated with gradual elevation changes such as bills. 342. International Roughness Index (IRI)—a statistic used to determine the amount of roughness in a ‘measured longitudinal profile, The IRI is computed from a single longitudinal profile using a 4quarter-car simulation at SO mph (Sayers 1995). Computer programs to calculate the IRI from a longitudinal profile are referenced in ASTM E1926. 343. line laser—a line laser obtains a series of data points along a line, which is typically perpendicular to the travel direction, with the line typically being 4 in. long, A single, bridged elevation value is ‘computed from this data, 344, Longitudinal profile—the vertical deviations ofthe pavement surface taken along a line in the direction of travel referenced to horizontal datum. 345. report interval—the longitudinal distance between the outputs of a profile index value. 3.18. sample intervat—the longitudinal distance between data capture points. The data include location, height, and accelerometer values. These data points are combined to create one profile data point. ‘These points in tum, may be combined to create & final value in the reported profil. 4 SIGNIFICANCE AND USE 44, This practice outlines standard procedures for certifying and verifying the operational accuracy and repeatability of inertial profiling equipment. It also provides guidance for qualifying the ‘equipment operator. 5. EQUIPMENT 5A. Minimum Reguirements—The inertial profiling system must meet all requirements and specifications found in M 328. 82 The profiler software must be able to calculate and report the IRI (in in/mile or appropriate SL units) from the corresponding measured true profile and permit the operator to: 52.4 Automatically trigger the start of data collection atthe designated location; 522 Provide the measured true profiles in electronic text files following the formats prescribed by 57, in addition to any binary data file storage provided. These profile data are necessary t0 evahiate profiler accuracy and repeatability and to verify the height and distance measurements as described herein. TSia R562 ‘AASHTO (©2022 bythe American Associaton of Sate Highvay ané Transportation Officials All igs reserved Duplicaion i a violation of apical awsensed to 170,99.144.3 Maryland Department of Transporation (clo Joseph R. Burke research@mdot maryland gov) This publication is 64 EQUIPMENT CALIBRATION VERIFICATION General—The first step of profiler certification is evaluating the ability of the profiler to pass the block check and the bounce test criteria. The certifying agency may require the operator to provide documentation that the profiler has successfully passed these tests within the past week, or the certifying agency may ask the operator to perform these tests in the presence of the inspector. Perform the block check and bounce test in accordance with the procedure described in Section 5.3.2.3 of R 57. The profiler must pass the block test and bounce test eriteria in order to proceed with the equipment certification procedures outlined in Section 8 of this standard. 1f equipment fails the block check, bounce test, oF both tests, the operator should work with the ‘manufacturer to adjust or repair the equipment such thatthe equipment will be able to pass both of these tests Iti highly recommended that operators perform these procedures and calibrate their distance measurement instrument (DMI) immediately prior to certification using the procedures specified in R57 Calibration Verification Log—Maintain a log that isto be kept with the inertial profiler to provide verification of calibration history. The results of the routine bounce tests and verification runs should also be included in this log. The log should contain a record of any repairs, replacement of ‘components, and changes in naive software versions. If the logis electronic, a backup copy shall bbe kept in a secure location 7A OPERATOR CERTIFICATION Operators of inertial profiles used for pavement ride quality measurements must pass a proficiency test and be certified to operate an inertial profile. Applicants for certification will be tested on the following: 1m Operating inertial profilers, 1m Collection of profile data, and 1m Evaluating the quality ofthe data collected and the IRI value calculated Applicants for certification shall undergo a practical examination and a written examination depending on the Owner-Agency’s practice. Prior to taking the proficiency test, applicants should hhave completed a profile training course such as NHI Course 131100 and must have undergone training on the use ofthe specific inertial profiler they will be operating in the field. Applicants ‘must know how to perform profiler checks and collect profile data with the inertial profiler Applicants must bring the inertial profiler with them atthe time of testing. Upon passing the proficiency test, successful applicants will be given documentation that will verify that they are certified to operate the profiler The documentation shall identify the specific type or brand of inertial profiler the operator i certified to operate. The initial duration ‘and requirements for renewal ofthis certification shall be set by the Owner-Agency. Renewal should be required at least every three years, 82, EQUIPMENT CERTIFICATION Certification frequency shall be a specified by the Owmer-Agency. The inertial profiler must successfully perform and pass certification tests to establish compliance with the minimum requirements for accuracy and repeatability set forth inthis procedure. An inertial profiler shall be revertfied after any major component repairs or replacements as identified in R $7. Dynamic Certification Testing—Certification testing shall be conducted ata site approved by the ‘Owner-Agency, and involves test sections, reference profiles, and devices used to establish reference profiles as described inthe following: TS5a REGS ‘AASHTO (© 202 by he American Association of Sate Highway and Transpertaion mils All igh reserved, Duplication a visatin of apical aw.‘This publication is licensed to 170,98.144.3 Maryland Department of Transportation (olo Joseph R. Burke research@mdot.maryland gov), 824 822. 823. Test Sections-—Perform dynamic certification testing on sections over a range of roughness. The reference profiles on the smooth section shall have an average IRI within the range of 30 to 75 in./mile while the corresponding reference profiles on the medium-smooth section shall have an IRI within the range of 95 to 135 inJmile, An Owner-Agency may elect to perform testing only on the smooth section for a profiler that is used for QCIQA testing. If pavements with considerable distress are to be measured, as in network data collection, a third, medium-rough, site should be selected with roughness up t0 200 in/mile. ‘The surface macrotexture ofthe test sections should reflect common Owner-Ageney specifications for the pavement surfaces to be evaluated, It is recommended that all the surface types on which the profiler will be expected to collect data be included inthis process since single-point (dot) height sensors remain sensitive to some surface features. Note 1—Coarse surface textures, such as those found on open-graded surface mixes, chip-sealed, {ined (transverse or longitudinal), or grooved pavement, for example, are very challenging to inertial profilers with single-point (dot) height sensors. Coarse texture is likely to adversely affect, the repeatability and accuracy of the profile and the calculated index. Adherence to the requirements ofthis standard on smooth-textured surfaces does not guarantee acceptable performance of inertial profilers on coarse-textured surfaces. When profiling pavernents with rough macro texture; a height sensor with a large footprint is needed. A line laser that utilizes @ bridging algorithm is an example ofa sensor with a large footprint. The consequence of not using «large footprint sensor may be an upward bias in the IRI as measured by an IPS with a single- point (dot) conventional point laser. An Inertial Profiling System (IPS) with a single-point laser can also collect inaccurate data on longitudinally tined, longitudinally grooved, or diamond ground pavements, 4 line laser that utilizes a bridging algorithm is recommended for such pavements, Certification testing on surfaces withthe same texture type expected in the final application is recommended. Each test section shal be at least $28 fin length, with proper lead-in distance and a safe stopping distance available. Ifan index other than the IRI is evaluated, the test section length should approach four times the length ofthe longest wavelengths of interest of that index; however, the ‘minimum length of the test section shall be 528 ft Test sections should not include significant grade or grade change. Also, significant horizontal curvature or superelevation should be avoided. If any lateral g forces or vehicle rll are sensed during testing atthe highest speed employed, the course has too much curvature or single whee!- path elevation changes Reference Profiles—It is recommended that a reference profiling device that can meet the repeatability and accuracy criterion for measuring IRI that is specified in the Benchmark Test Evaluation Report (Karamihas, 2011) be used to collect the reference profile data. A reference device that can collect data at I-in. intervals or less is recommended for collecting the reference profiles. Reference profile measurements shall be made on the designated profile trace of each test section In jointed concrete pavements, the profile ofthe pavement ean change because of slab curling due to temperature effecs. Therefore, on jointed concrete pavements, reference profile ‘measurements shall be obtained immediately before measurements are made by the inertial profiler. Note 2—It is recommended a least three repeat runs be performed along each trace with the reference device. After performing the runs, evaluate the repeatability using cross-correlation of the filtered output as deseribed in Section 8.3.1.10. It is recommended thatthe average repeatability value for the three runs should be atleast 0.98 forthe reference data to be acceptable if the index of interest isthe IRI. Any one of the reference runs can be used to evaluate the accuracy ofthe profile using the procedure described in Section 8.3.1.9. Five repeat runs ofthe candidate inertial profiler shall be made at each test speed on the designated profile trace of each test seotion inthe prescribed direction of measurement. Make five runs at the maximum desired certification speed and five runs atthe minimum desired certification speed. Data collection shall be automatically triggered atthe starting location of the section, and TSta Reed “AASHTO (©2022 bythe American Association of Stat Highway and Transporation Officials {Allighs reserved. Duplication i volaton of wpe a83. 834 834A. 8312, 8.3.1.3. 83.1.4. 8345, 8316. 8.3.4.7. 83.18. reported so that a longitudinal postion of zero occurs atthe starting location. An automatically detected mark atthe end of the section may be used to verify the DMI repeatability and accuracy. ‘The profiler should have an adequate lead-in distance as recommended by the manufacturer prior to the stat of the test sections to attain a constant speed and also for the fillers to stabilize. The ‘ypical filter stabilization distance should be at least equal to the upper wavelength filter cutoff value, However, a filter stabilization distance that is twice the length of the upper wavelength filter cutoff value is desirable. Test Data—Profile data shall be reported in a format specified by the Owner-Agency. During the certification tests, the same trace(s) is measured forall runs on a given test section. For clual-path inertial profilers, ensure thatthe sensor spacing matches the spacing between the paths ‘where reference profile measurements were obtained. There will be twice as much data collected and analyzed when dual-path inertial profiles are tested. To facilitate the analysis ofthe data, the following isa suggested practice for naming the data files ‘The first three characters ofthe file name are reserved for identifying the profiler tested. This identification will be established by the testing agency and given tothe operator of the profiler on or before the day of testing TThe fourth character shall be S for runs made on the smooth section or M for runs on the medium- smooth section and R for runs made on the medium-rough section. ‘The fifth character shall be Lor # for low- or high-speed runs. Gis used for governed runs on lightweight profiles. ‘The sixth character shall designate the trace or wheelpath tested. For dual-sensor profilers, the letter shall be used to indicat that both wheelpaths were profiled in the same run. For single~ sensor proflers the designation forthe test trace will be given by the testing agency to the ‘operator ofthe profiler on or before the day of testing ‘The seventh and eighth characters shall designate the run number (01 to 10). ‘The file extension shall be the one appropriate for the data type being transmitted and shall be specified by the agency. ‘The performance ofthe profiler is evaluated by analyzing the test data using eross-correlation as described inthe following sections to establish the repeatability and accuracy for the application of the device. The profiles ar filtered to focus the evaluation on the profile features critical to the index being subsequently applied to the collected data. The available free software ProVAL can perform the calculations specified below. The method employed is described in Karamihas (2004). Note 3—The Profile Viewer and Analysis (ProVL) software program developed forthe Federal Highway Administration, which can be used to import, display, and analyze the characteristics of pavement profiles from many different sources, is available at www.roadprofile.com. Equipment Repeatability—Evaluate repeatability using the cross-correlation of the filtered output ‘as deseribed in Section 8.3.1.10, Calculate the repeatability agreement score of each trace. For single-sensor profilers, one score for each path will be determined: one for the path in the smooth section, one for the medium-smooth section, and one for the medium-rough section as defined in Section 8.2.1. For dual-path profiles, twice as many scores will be determined, two for each test section When the IRI is applied tothe profile, the IRI filter should be used. On each trace, eross-correlate ‘each ofthe ten profiles to each of the remaining nine. (Since all of the profiles have the same ‘reporting interval, 45 comparisons will be needed rather than 90 because the process has reciprocity.) The repeatability agreement score for each trace is the average of all 45 values. For TS5a R565 ‘AASHTO (© 2022 by the American Attosiston of Site Highvay ad Tanspoctation Officials All ight reserved Dulication 3 walation of apical law‘This publication is licensed to 170.99.144.3 Maryland Department of Transportation (ofo Joseph R. Burke research@mdot.maryland. gov), 83.1.9 83.1.10. 8.3.1.10.1. 8.3.1.10.2. 8.3.1.10.3 8.3.1.104. 832. 84, aad IRI, experience has shown that on pavements with IRE values less than 150 in/mi, an agreement score of 0.92 or greater is requited on all traces to provide IRI values within 5 percent with a 95 percent confidence level. A lower agreement score may be acceptable for the medium rough section that has an IRI greater than 150 in/mile, which is not used fo evaluate profilers that collect data for construction quality control and acceptance. fan index other than the IRI is used, a filter appropriate to that index should be applied and suitable thresholds established based on independent analysis. Equipment Accuracy—Evaluate accuracy using the cross-correlation of the appropriate filtered ‘output as deseribed in Section 8.3.1.10. On each trace, cross correlate each ofthe ten profiles to the reference profile. The accuracy agreement score for each trac isthe average ofthe ten individual cross-correlation values. Based on the same rationale as in Section 8.3.1.8, a score of 0.90 or greater is required on all traces to provide IRI values within 5 percent with a 95 percent confidence level. A lower agreement score may be acceptable for the medium rough section that has an IRI greater than 150 in/mi, which is not used to evaluate profilrs that collect data for construction quality control and acceptance. If.an index other than the IRI is used, a filter appropriate to that index should be applied and suitable thresholds established based on an independent analysis. Cross-Correlation—Cross-corelate profiles as described in Appendix X1. When cross-correlating ‘wo profiles, the following processing steps are required: Apply the filter associated withthe application to both traces before cross-correlating them. For profiles used to determine the IRI, the IRI filter should be applied, When comparing a profile from a candidate device to a reference profile, interpolate the candidate profile tothe recording interval ofthe reference profile, (It i important that this step is performed after the filter is applied.) ‘Cross-correlate the two profiles several times by shifting one profil over every possible offset up 10.3 ft in cither direction. When comparing a profile from a candidate device tothe reference device, shift the candidate profile ‘The cross-correlaton of the two profiles is the maximum (best) value found over the 6-ft range. Verification of Computed Ride Statistics (IRI) —The test equipment software must be capable of ‘computing and reporting the IRI of each profile trace tested. The performance ofthe calculation software is verified by comparing the calculated values with the values determined by a program ‘of known accuracy. An example of such a program is ProVAL. Each IRI value should be comparable to the value from the reference program with an error not greater than 2 percent. Other ride indexes may be verified in a similar fashion. Distance Measurement Instrument Test—The Owner- Agency may elect to test the accuracy of the DMI on one section using the procedure specified in this section. I is recommended this test be performed before the profiler obtains data atthe test sections because an error inthe DMI can. cause the profiler to fail the Equipment Accuracy criteria described in Section 8.3.1, Distance Measurement Instrument Test Section—Provide a section for DMI testing. The test section shal be atleast 1000 ft in length, with proper lead-in distance forthe vehicle to attain a constant speed before the start of the section and a safe stopping distance after the end of the section, This test section may incorporate the test sections that are used for accuracy and repeatability testing, Clearly mark the starting and ending points of the test section. Measure the distance between the starting and ending points with a measurement tape, pulled taut but stil following the pavement contour. TSta REGS ‘AASHTO (© 202 by the American Association of State Highway and Transprtation Officials All ighsesered Duplication ia vination of applicable aw.licensed to 170.98.144.3 Maryland Department of Transportation (clo Joseph R. Burke research@mdot maryland.gov}. This publication i Note 4—The same runs may be used for verification of DMI accuracy as are used for testing accuracy and repeatability ofthe collected profil. The ideal test of DMI accuracy would be performed over a known but undisclosed length of pavement. 842, At least three auto-triggered runs atthe lowest and highest test speeds of the candidate inertial profiler shall be made on the designated length of pavement in the prescribed direction of ‘measurement. At the end of each run, record the reading from the profiler’s DMI. For high-speed profilers, this results in at least six values, Collection speed-governed devices should make at least five runs. 843, Distance Measurement Instrument Accuracy—Compute the absolute difference between the DMI readings and the known distance ofthe path tested foreach run, The average ofthe absolute differences for both the high-speed and low-speed runs, if applicable, must be les than (0.15 percent to pass the test 85 Test Results —The results ofthe certification tests shall be documented by the testing agency. The distribution of the results ofthe certification shall be determined by the testing agency. Results of certification shall include the following information: 85.1 Identification ofthe profiler tested ({.e., make, model serial number, software version, owner, etc); 852 Date of last certification; 853. Operator of the profiler; 854. [Name ofthe individual from the testing agency who conducted the test; 855. Date of est; 856. "Number of paths the profiler can measure inthe same run; 85.7. Filter type, name of the filter program, and the applicable program version number used to evaluate the profiler accuracy; 85.8. Overall determination from the test: Pass or Fils 85.9. Known longitudinal distance ofthe DMI test section; and 85.10. ‘Average absolute difference between the DMI readings and the known distance, expressed in distance unit and as a percentage of the known longitudinal distance, 85.11 85.11.41 Overall repeatability score; 85.11. Overall accuracy score; and 85.11.3. ‘The average percent difference of the IRIs computed from the profiles and those from the reference software, 86. ‘The report shall also label each test result with a Pass or Fail depending on whether the given test value meets or fails to meet the prescribed criterion. The profiler must pass all tests to be certified A decal or other approved marking shall be placed on the profiler as evidence of certification. This «decal shall show the expiration date (month and year) ofthe certification. TS5a RECT AASHTO (© 2022by the American Association of Stat ighoay and Tanspctation Oficial . All sight resered, Duplication ia vnlatio of appliceie lawjon (clo Joseph R. Burke research@mdot maryiand.gov), This publication is licensed to 170,93. 144.3 Maryland Department of Transper 9. KEYWORDS 94 Inertial profiler; IRI; International Roughness Index; pavement ride quality; profiler certification 10. REFERENCES 10.4 ASTM Standard E867, Standard Terminology Relating to Vehicle Pavement Systems, ASTM International, West Conshohocken, PA. 102 ASTM Standard £950, Measuring the Longitudinal Profle of Traversed Surfaces, ASTM International, West Conshohocken, PA. 10.3, NHI Training Course 131100, Pavement Smoothness: Use of Inertial Profiler Measurements for Consiruetion Quality Control. March 2002. 104. Sayers, M, W., T.D. Gillespie, and W. D. O. Paterson. “Guidelines for Conducting and Calibrating Road Roughness Measurements.” In The World Bank Technical Paper, Number 46. ‘The World Bank, Washington, DC, 1996, 105. Sayers, M. W., and 8. M. Karamila. The Litle Book of Profiling. University of Michi ‘Transportation Institute, Ann Arbor, MI, 1998. APPENDIX (Nonmandatory Information) x ‘CROSS-CORRELATION X14 CCross-correlate any pair of profiles using the following steps. When cross-correlation is performed for repeatability analysis, either profile may be selected asthe reference. xXtt4 Step 1: Identify a eference profile (q) It will also be considered the location reference. The profile will have a recording interval Ax. x11. Step 2: Identify a segment ofthe correlated (or candidate) profile (p). Using auto-triggering, the profiler should place the section starting point at longitudinal location of zero. | x11. Step 3: Preprocess the reference profile and the candidate profile by epplying the IRI filter to them, This includes the 9.84-in. moving average, the conversion to slope, and the quarter- car simulation ? x14. Step 4: For a section length of Ly, the number of samples within the section of interest for the reference profile is Ny (Le/Ax * 1). Offset the profile to have a mean of zero, Calculate the standard deviation ofthe preprocessed and shifted reference profile (q) and the result is oy. X115. ‘Siep 5: Rewrite the preprocessed candidate profile (p) tothe recording interval ofthe reference profil (g. Calculate the value at each location using linear interpolation of the surrounding points. Offset the resulting profile to have a mean of zero. The preprocessed, interpolated profile (p) will be eross-correlated to the reference profile. S88 ReSS ‘AASHTO 152022 by the American Association of Sate Highony ard Transporation Oficils Allright served, Dilation vilatien of aplicae awised to 170,99.144.3 Maryland Department of Transportation (clo Joseph R. Burke research@mdot maryland.gov). This publication is x1.4.6, X17, x1.1.8, X14.) x1.4.10 Siep 6: Cross-correlate the reference profile (9) to the candidate profile (p) several times, over & range of longitudinal offsets from & lead of 3 ft to a lag of3 ft. For a sample interval of ‘x, cross-correlation will be performed 2+ 1 times, where M™ int(3/Ax), where Ax is, in feet. This produces a correlation function, pm, where m isan integer subscript that ranges from =M to M: 1 ; on erap ent) ach nrement ofthe sbsrp n epresens aunque longi ofe of the candidate Profle of max. Ateach stop (Le ene erent of te sbrpt nthe candate Frale (p)mus contend iy removing the meant produce verily shied profile (j)..Note also that the standard deviation ofthe candidate profile («},) must be recalculated at each step. Step 7: Search the function pm for its maximum cross-correlation value Peat: Siep 8: Calculate the adjustment factor for overall roughness as follows: Fo min(sp oeimax(op, 4) ‘Step 9 Calculate the agreement score forthe two profiles: J Pm Formerly AASHTO Provisional Standard PP 49. First published as a full standard in 2010. 2 Application ofthe IRI filter is described in “On the Calculation of International Roughness Index from Longitudinal Road Profile” (Sayers 1995), Do NOT rectify the signal (i, do not take the absolute value of every point inthe signal), The int() function truncates the argument atthe decimal point. TSia R568 ‘AASHTO © 2022 by the American Assocation of Sate Highway and Tanspertation Of Allg reserved. Duplication ta wielaton of aplicable aw