Time Synchronization and Temporal Ordering of Asynchronous Sensor Measurements of a Multi-sensor Navigation System

• In this article we propose a filter based method to solve the time synchronization and minimum delay temporal ordering problem of asynchronous sensor measurements. A problem which inevitably arise in the sensor fusion of a multi-sensor navigation system implemented in realtime on a general purpose operation system (OS) without using functionality dedicated to realtime applications. The time synchronization is done up to a constant error by linear filtering of time stamps given to each measurement. The filtered time stamps together with predicted future time stamps are then used in a measurement temporal ordering algorithm to achieve a minimal delay temporal ordering subject to a user specified jitter tolerance. Finally, experimental time synchronization and temporal ordering results from the system implemented with a typical set of navigation sensors are presented.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

Nyckelord

Synchronization

temporal ordering

asynchronous sensors

sensor fusion

Information technology

Informationsteknik

Publikations- och innehållstyp

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