The invention relates to an unmanned vehicle multi-sensor data synchronous acquisition
system which comprises an environment awareness
data acquisition device, an
Ethernet switch 1, an inertial navigation
data acquisition device, a
vehicle control unit, an instruction issuing and vehicle state feedback Nport, an
Ethernet switch 2, a planning industrial
personal computer, a sensing industrial
personal computer, a CAN
data acquisition device, a CAN network, and a CAN
network data acquisition device. The planning industrial
personal computer stores CAN
network data, a corresponding relation between bottom layer time issued by the
vehicle control unit through the CAN network and the time of the
timer of the CAN data acquisition device, and inertial navigation data. The sensing industrial personal computer stores environment awareness data, and achieves synchronous association of the CAN
network data, the environment awareness data, and the inertial navigation data using the bottom layer time issued by the
vehicle control unit as marks. A test shows that the unmanned vehicle multi-sensor data synchronous acquisition
system is stable and reliable, and provides technical guarantee for the synchronous replaying of the unmanned vehicle environmental
information data, the navigation and positioning data, the vehicle attitude information and vehicle bottom state information.