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The exhaust gas pollutants of the non-road vehicles are harmful to the environment. Many non-road vehicles meet the requirements of the regulations in the laboratory. However, the real-road emissions of such vehicles are sometimes higher. Measuring the real-road emissions of non-road vehicles is very important. The real-road emissions are measured by on-Board Diagnostics (OBD), but there are some problems in the data stability of OBD. The NOx emissions of a bulldozer (a type of China IV non-road vehicle) based on both portable emission measurement system (PEMS) and OBD are studied in this article. Experiments contained three working processes: idle, driving, and operating. The nitrogen oxide (NOx) emissions during operating were highest. The NOx emission characteristics of the bulldozer from PEMS and OBD have the similar variation trends. But there are still some differences, including the NOx emission value and response time. The measurement principles and different sampling points between PEMS and OBD are the main factors. An effective data processing method is introduced to reduce the differences of between the data from PEMS and OBD. Briefly, the NOx emissions of the OBD and PEMS were highly consistent. The OBD is reliable and can be widely used in non-road vehicles.

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