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Multi-sensor clock synchronization method and device and computing equipment

A clock synchronization and multi-sensor technology, applied in the field of sensor calibration, can solve the problems of perception result influence, sensor time deviation, etc.

Pending Publication Date: 2020-06-30
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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Problems solved by technology

[0003] However, when multiple sensors are fused, there will be a time deviation between each sensor, which will have a great impact on the perception results

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  • Multi-sensor clock synchronization method and device and computing equipment
  • Multi-sensor clock synchronization method and device and computing equipment
  • Multi-sensor clock synchronization method and device and computing equipment

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Embodiment Construction

[0025] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0026] Inertial Measurement Unit (IMU) is a commonly used sensor, which can quickly measure its own motion at high frequency, but as time goes on, the error of IMU will gradually accumulate, and it needs to be corrected by the observation of other sensors. error. External sensors (such as radar, camera, etc.) can measure information such as the outline and color of the real environment, and cooperate with the IMU to complete tasks such as robot...

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Abstract

The embodiment of the invention relates to the technical field of sensor calibration, and discloses a multi-sensor clock synchronization method and device and computing equipment. The method comprisesthe following steps: acquiring a first angular velocity of a first sensor in a first sensor coordinate system; obtaining a second angular velocity of a second sensor in a second sensor coordinate system and a transformation relationship between the first sensor coordinate system and the second sensor coordinate system; calculating a third angular velocity of the second sensor in the first sensorcoordinate system according to the second angular velocity and the transformation relationship; calculating the angular velocity residual sum of the first sensor and the second sensor at each preset deviation time according to the first angular velocity and the third angular velocity; determining the minimum angular velocity residual error and the corresponding preset deviation time as the time deviation of the first sensor and the second sensor; and performing clock synchronization according to the time deviation. Through the above mode, the embodiment of the invention can calculate the timedeviation among a plurality of sensors, thereby improving the accuracy of a sensing result.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of sensor calibration, and in particular to a multi-sensor clock synchronization method, device and computing equipment. Background technique [0002] In the field of unmanned driving and robot navigation, environmental perception technology is one of the most critical technologies. Environmental perception perceives environmental information through various sensory sensors, but various sensors have their disadvantages. For example, inertial measurement instruments can measure their own motion quickly and at high frequencies, but errors will accumulate rapidly over time; although lidar cannot measure its own motion , but can provide stable time information. Therefore, the fusion of multiple sensors can learn from each other and improve the perception ability of the system. [0003] However, when multiple sensors are fused, there will be a time deviation between each sensor, which will...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/20G01C21/165
Inventor 侍世腾
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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