IMU and GNSS data synchronous method based on standard time scale

Abstract

The invention discloses an IMU and GNSS data synchronous method based on a standard time scale. The IMU and GNSS data synchronous method comprises the following steps that T1, a PPS pulse signal is monitored in real time, when the PPS pulse signal arrives, a processor starts a timer and a counter, the timer takes an original parameter as the timing parameter, when the next PPS pulse signal arrives, the counter calculates the interval value of the two PPS pulse signals, the timer takes the interval value as the new timing parameter, and the timer and the counter are restarted; and T2, when it is monitored that the PPS pulse signals arrive, IMU data are read, through the system time T1 when the PPS pulse signals arrive, a time label of the IMU data are marked, and a time label of GNSS data at the UTC1 moment are updated, the system time t is a time value having the time period during starting of a system power supply, and UTC1 is the sum of the round number of the UTC time of the momentwhen the PPS pulse signal arrives and one. The data synchronization timing accuracy of the IMU and GNSS data synchronous method is higher.

Description

technical field [0001] The invention relates to the technical field of data synchronization, in particular to an IMU and GNSS data synchronization method based on a standard time scale. Background technique [0002] With the advent of the intelligent era, high-precision timing technology has gradually transferred from military equipment to civilian equipment, and these devices all contain high-precision positioning modules; the most commonly used positioning method for high-precision positioning is satellite navigation positioning, which relies on receiving satellites Signal calculation, but not suitable for occlusion environments. At this time, it is proposed to use inertial components to calculate raw data, and continuously output high-precision positioning results in occlusion environments, and the combination of satellite navigation and inertial components has a high degree of accuracy. It depends on the timing accuracy of GNSS and IMU data synchronization. How to avoid ...

AI Technical Summary

Problems solved by technology

This method has errors caused by system timing drift. The greater the long-term timing drift error, the lower the overall synchronization accuracy; due to the low update frequency of UTC time, using UTC time for time synchronization matching may cause UTC time matching errors; the timer adopts external Interrupt monitoring and triggering by external interrupt function will introduce interrupt delay error

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