Vehicles equipped with various types of sensors have the great potentials to effectively evaluate the health conditions of a population of bridges at a low cost. However, existing drive-by structural health monitoring (SHM) methods acquire vehicle vibration responses offline and export them to a computer for postprocessing. Furthermore, the vehicle trajectory information on the bridge is important for scaling up the drive-by SHM for in situ applications, which is not synchronously measured by existing systems. Therefore, a single-board computer-based IoT sensing system for continuous and real-time drive-by bridge health monitoring is developed in this study. The developed IoT sensing system integrates a triaxial microelectromechanical system (MEMS) accelerometer, temperature sensor, GPS and 4G module on Raspberry Pi 4 Model B. The sensor node can be mounted on a moving vehicle to collect the triaxial acceleration responses, temperature and GPS information. A graphical user interface (GUI) is developed based on the Python Tkinter package to remotely control the sensor node and visualise the collected data in real time. The fast Fourier transform of the measured acceleration responses is performed on the sensor node inboard processor. The raw data are sent to both the cloud server and remote terminal computer through a 4G module. The goal is to provide a low-cost, accurate and scalable sensing system for easy implementation of drive-by bridge health monitoring. The system architecture and workflow of the developed IoT sensing system are presented in detail. A series of experimental tests are conducted to validate the accuracy of the measured acceleration responses and feasibility of using the developed IoT sensing system for drive-by SHM applications.
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