Multi-sensor time synchronization method, device, equipment and medium

Abstract

The present application discloses a multi-sensor time synchronization method, apparatus, equipment and medium, which are applied to the field of computer technology. The method includes: obtaining output information of multiple sensors and determining the timestamp of the output information based on a high-precision time synchronization protocol; determining the second pulse signal provided by a global satellite navigation system chip as the trigger signal of the sensor, and using the trigger signal to correct the timestamp. In this way, by determining the second pulse signal as the trigger signal of multiple sensors, the problem of cumulative error caused by the internal correction of the high-precision time synchronization protocol and the lack of an external trigger signal is solved. In addition, since the second pulse signal provided by the global satellite navigation system chip is based on the time generated by the vibration frequency of cesium atoms and is very accurate, using the second pulse signal to correct the timestamp can further ensure the time synchronization accuracy between multiple sensors.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of computer technology, and in particular to a multi-sensor time synchronization method, apparatus, device, and medium. Background Art

[0002] During the multi-sensor fusion output process, the actual acquisition time and output time of each sensor differ significantly. The existing technology uses software algorithms to match the output information of multiple sensors to estimate the acquisition time, and determines the loss time based on the acquisition time to complete the time synchronization of multiple sensors. However, the estimated acquisition time differs significantly from the actual acquisition time (in seconds) and is unstable. As the acquisition time increases, cumulative errors will inevitably occur. Cumulative errors are errors in sensor data that cannot be corrected and will accumulate. This error will increase as the data acquisition time increases. In addition, time can be corrected through a high-precision time synchronization protocol, but since it is an internal correction without an external trigger signal, cumulative errors will also occur.

[0003] Therefore, avoiding the cumulative error caused by the lack of external trigger signals during time estimation and multi-sensor time synchronization through software algorithms is an urgent problem to be solved in this field. Summary of the Invention

[0004] In view of this, the purpose of the embodiments of the present application is to provide a multi-sensor time synchronization method, apparatus, device, and medium that can avoid the cumulative error caused by the lack of an external trigger signal during time estimation and multi-sensor time synchronization using software algorithms. The specific solution is as follows:

[0005] In a first aspect, the present application discloses a multi-sensor time synchronization method, comprising:

[0006] Obtaining output information of a plurality of sensors, and determining a timestamp of the output information based on a high-precision time synchronization protocol;

[0007] The pulse per second signal provided by the global satellite navigation system chip is determined as the trigger signal of the sensor, and the time stamp is corrected using the trigger signal to achieve time synchronization of multiple sensors.

[0008] Optionally, acquiring output information of a plurality of sensors and determining a timestamp of the output information based on a high-precision time synchronization protocol includes:

[0009] Obtain output information of multiple sensors through the switch network port in the preset core device board, and transmit the output information to the target network card;

[0010] The timestamp of the output information is determined based on the target network card and a high-precision time synchronization protocol.

[0011] Optionally, after obtaining output information of multiple sensors through a switch network port in a preset core device board, the method further includes:

[0012] The output information is transmitted to a preset information center board, so that the high-precision time synchronization protocol is distributed for the output information through the preset information center board.

[0013] Optionally, determining the timestamp of the output information based on the target network card and a high-precision time synchronization protocol includes:

[0014] The output information after distributing the high-precision time synchronization protocol is transmitted to a target network card, and the target network card is used to add the high-precision time synchronization protocol to the output information to obtain a timestamp of the output information.

[0015] Optionally, after obtaining the output information of the multiple sensors, the method further includes:

[0016] determining a timestamp of the output information based on the taming circuit;

[0017] Or the timestamp of the output information is determined based on an atomic clock.

[0018] Optionally, acquiring output information of a plurality of sensors and determining a timestamp of the output information based on a high-precision time synchronization protocol includes:

[0019] Output information of a plurality of sensors is acquired, and timestamps of the output information are determined based on PTP.

[0020] Optionally, the multi-sensor time synchronization method further includes:

[0021] The information center board provides a regulated DC power supply to the multiple sensors.

[0022] In a second aspect, the present application discloses a multi-sensor time synchronization device, comprising:

[0023] A timestamp determination module, configured to obtain output information of a plurality of sensors and determine a timestamp of the output information based on a high-precision time synchronization protocol;

[0024] The timestamp correction module is used to determine the pulse per second signal provided by the global satellite navigation system chip as the trigger signal of the sensor, and use the trigger signal to correct the timestamp to achieve time synchronization of multiple sensors.

[0025] In a third aspect, the present application discloses an electronic device, comprising:

[0026] Memory, used to store computer programs;

[0027] The processor is configured to execute the computer program to implement the multi-sensor time synchronization method disclosed above.

[0028] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the multi-sensor time synchronization method disclosed above is implemented.

[0029] It can be seen that the present application proposes a multi-sensor time synchronization method, including: obtaining the output information of multiple sensors, and determining the timestamp of the output information based on a high-precision time synchronization protocol; determining the pulse-per-second signal provided by the global satellite navigation system chip as the trigger signal of the sensor, and using the trigger signal to correct the timestamp to achieve time synchronization of multiple sensors. In this way, by determining the pulse-per-second signal as the trigger signal of multiple sensors, the problem of cumulative error caused by the internal correction of the high-precision time synchronization protocol and the lack of an external trigger signal is solved. In addition, since the pulse-per-second signal provided by the global satellite navigation system chip is based on the time generated by the cesium atomic vibration frequency and is very accurate, correcting the timestamp using the pulse-per-second signal can further ensure the time synchronization accuracy between multiple sensors. That is, the present application can achieve multi-sensor time synchronization and ensure accuracy while avoiding the cumulative error caused by the lack of an external trigger signal during time estimation and multi-sensor time synchronization through software algorithms. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0031] Figure 1 This is a flow chart of a multi-sensor time synchronization method disclosed in this application;

[0032] Figure 2 This is a flowchart of a specific multi-sensor time synchronization method disclosed in this application;

[0033] Figure 3 This is a front view of a combination of a preset core device board and a preset information center board disclosed in this application;

[0034] Figure 4 This is a rear view of a combination of a preset core device board and a preset information center board disclosed in this application;

[0035] Figure 5 This is a top view of a combination of a preset core device board and a preset information center board disclosed in this application;

[0036] Figure 6 This is a bottom view of a combination of a preset core device board and a preset information center board disclosed in this application;

[0037] Figure 7 This is a left view of a combination of a preset core device board and a preset information center board disclosed in this application;

[0038] Figure 8 This is a right view of a combination of a preset core device board and a preset information center board disclosed in this application;

[0039] Figure 9 This is a schematic structural diagram of a multi-sensor time synchronization device disclosed in this application;

[0040] Figure 10 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the embodiments of this application.

[0042] The system architecture involved in the embodiments of the present application includes but is not limited to multiple sensors, a preset core component board, a preset information center board, and a network card. Based on the system architecture, the present application obtains the output information of multiple sensors and determines the timestamp of the output information based on a high-precision time synchronization protocol; determines the second pulse signal provided by the global satellite navigation system chip as the trigger signal of the sensor, and uses the trigger signal to correct the timestamp, which can achieve multi-sensor time synchronization and ensure accuracy while avoiding the cumulative error caused by the lack of external trigger signal during time estimation and multi-sensor time synchronization through software algorithms.

[0043] Existing technologies use software algorithms to match the output information of multiple sensors to estimate the acquisition time. Based on this acquisition time, they determine the loss time to achieve multi-sensor time synchronization. However, as the acquisition time increases, cumulative errors inevitably occur and cannot be corrected automatically. Furthermore, high-precision time synchronization protocols can correct time, but because they are internally corrected without an external trigger signal, they also result in cumulative errors.

[0044] To this end, an embodiment of the present application proposes a multi-sensor time synchronization solution, which can avoid the cumulative error caused by the lack of an external trigger signal during time estimation and multi-sensor time synchronization through software algorithms.

[0045] The present application discloses a multi-sensor time synchronization method. Figure 1 As shown, the method includes:

[0046] Step S11: Acquire output information of multiple sensors, and determine the timestamp of the output information based on a high-precision time synchronization protocol.

[0047] The high-precision time synchronization protocol in this embodiment includes but is not limited to PTP (Precision Time Protocol). PTP is a protocol used to synchronize clocks in an entire computer network and is used to provide time information for data transmission.

[0048] It should be pointed out that the specific method of determining the timestamp of the output information is not specifically limited here. In a specific embodiment, after obtaining the output information of multiple sensors, the timestamp of the output information can be determined based on the taming circuit. In another specific embodiment, after obtaining the output information of multiple sensors, the timestamp of the output information can be determined based on an atomic clock.

[0049] Step S12: determining the pulse per second signal provided by the global satellite navigation system chip as the trigger signal of the sensor, and using the trigger signal to correct the timestamp to achieve time synchronization of multiple sensors.

[0050] In this embodiment, after obtaining the output information of multiple sensors and determining the timestamp of the output information based on a high-precision time synchronization protocol, it is necessary to determine the second pulse signal provided by the global satellite navigation system chip as the trigger signal of the sensor, and use the trigger signal to correct the timestamp to achieve time synchronization of multiple sensors.

[0051] Since the pulse per second (PPS) signal provided by the Global Navigation Satellite System (GNSS) chip is based on the time generated by the vibration frequency of cesium atoms, the error is 10 -23, with an accuracy of nanoseconds, the second pulse signal provided by the global satellite navigation system chip is determined as the trigger signal of the sensor. Specifically, this embodiment can determine the second pulse signal as the trigger signal of at least one sensor among the multiple sensors, and use the trigger signal to correct the timestamp, so as to accurately achieve time synchronization of multiple sensors.

[0052] It should be pointed out that since the second pulse signal can verify the timestamp within the range of satellite coverage, and the high-precision time synchronization protocol can determine the timestamps of multiple sensors in the range without satellite coverage, the combination of the two can achieve multi-sensor time synchronization under full coverage.

[0053] It can be seen that the present application proposes a multi-sensor time synchronization method, including: obtaining the output information of multiple sensors, and determining the timestamp of the output information based on a high-precision time synchronization protocol; determining the pulse-per-second signal provided by the global satellite navigation system chip as the trigger signal of the sensor, and using the trigger signal to correct the timestamp to achieve time synchronization of multiple sensors. In this way, by determining the pulse-per-second signal as the trigger signal of multiple sensors, the problem of cumulative error caused by the internal correction of the high-precision time synchronization protocol and the lack of an external trigger signal is solved. In addition, since the pulse-per-second signal provided by the global satellite navigation system chip is based on the time generated by the cesium atomic vibration frequency and is very accurate, correcting the timestamp using the pulse-per-second signal can further ensure the time synchronization accuracy between multiple sensors. That is, the present application can achieve multi-sensor time synchronization and ensure accuracy while avoiding the cumulative error caused by the lack of an external trigger signal during time estimation and multi-sensor time synchronization through software algorithms.

[0054] The embodiment of this application discloses a specific multi-sensor time synchronization method. Compared with the previous embodiment, this embodiment further explains and optimizes the technical solution. Figure 2 As shown, specifically including:

[0055] Step S21: obtaining output information of multiple sensors through a switch network port in a preset core device board, and transmitting the output information to a target network card.

[0056] In this embodiment, in the process of obtaining the output information of multiple sensors through the switch network port in the preset core component board and transmitting the output information to the target network card, it is necessary to first transmit the output information in the preset core component board to the preset information center board, and then distribute the high-precision time synchronization protocol for the output information through the preset information center board and transmit it to the target network card, and the target network card includes but is not limited to a computer network card.

[0057] In this embodiment, the preset information center board can not only distribute the high-precision time synchronization protocol for the output information, but also provide a regulated DC power supply for the multiple sensors. It should be noted that by combining the preset core device board, the preset information center board, and the switch, full network port output is achieved.

[0058] Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 as well as Figure 8 They are respectively the front view, rear view, top view, bottom view, left view and right view after the preset core device board in this embodiment is combined with the preset information center board. The combined structure specifically includes a heat dissipation structure, camera wire holes, antenna holes, equipment main body area, global navigation satellite system holes, real-time differential positioning wire holes, radar adapter plate holes, camera lens holes, power supply holes, etc.

[0059] Step S22: determining the timestamp of the output information based on the target network card and the high-precision time synchronization protocol.

[0060] In this embodiment, after obtaining the output information of multiple sensors through the switch network port in the preset core component board and transmitting the output information to the target network card, it is necessary to determine the timestamp of the output information based on the target network card and the high-precision time synchronization protocol, wherein the method of determining the timestamp of the output information based on the target network card and the high-precision time synchronization protocol specifically includes: transmitting the output information after distributing the high-precision time synchronization protocol to the target network card, and using the target network card to add the high-precision time synchronization protocol to the output information to obtain the timestamp of the output information.

[0061] Step S23: determining the pulse per second signal provided by the global satellite navigation system chip as the trigger signal of the sensor, and using the trigger signal to correct the timestamp to achieve time synchronization of multiple sensors.

[0062] In this embodiment, after determining the timestamp of the output information based on the target network card and the high-precision time synchronization protocol, the pulse-per-second signal provided by the global satellite navigation system chip is determined as the trigger signal for the sensor, and the timestamp is corrected using the trigger signal to achieve time synchronization of multiple sensors. It can be understood that since the accuracy of the pulse-per-second signal is at the nanosecond level, determining the pulse-per-second signal provided by the global satellite navigation system chip as the trigger signal for the sensor and correcting the timestamp using the trigger signal can accurately achieve time synchronization of multiple sensors and avoid the cumulative error caused by the lack of external trigger signals during time estimation and multi-sensor time synchronization through software algorithms. In addition, since the pulse-per-second signal can verify the timestamp within the range of satellite coverage, and the high-precision time synchronization protocol can determine the timestamps of multiple sensors in areas without satellite coverage, combining the two can achieve multi-sensor time synchronization under full coverage.

[0063] It can be seen that the present application proposes a multi-sensor time synchronization method, comprising: obtaining output information of multiple sensors through a switch network port in a preset core device board, and transmitting the output information to a target network card; determining a timestamp of the output information based on the target network card and a high-precision time synchronization protocol; determining a pulse-per-second signal provided by a global satellite navigation system chip as a trigger signal for the sensor, and using the trigger signal to correct the timestamp to achieve time synchronization of multiple sensors. In this way, by determining the pulse-per-second signal as the trigger signal for multiple sensors, the problem of cumulative error caused by the lack of an external trigger signal due to the internal correction of the high-precision time synchronization protocol is solved. In addition, since the pulse-per-second signal provided by the global satellite navigation system chip is based on the time generated by the cesium atomic vibration frequency and is very accurate, using the pulse-per-second signal to correct the timestamp can further ensure the time synchronization accuracy between multiple sensors. That is, the present application can achieve multi-sensor time synchronization and ensure accuracy while avoiding the cumulative error caused by the lack of an external trigger signal during time estimation and multi-sensor time synchronization through software algorithms.

[0064] Correspondingly, the embodiment of the present application also discloses a multi-sensor time synchronization device, see Figure 9 As shown, the device includes:

[0065] A timestamp determination module 11 is configured to obtain output information of a plurality of sensors and determine a timestamp of the output information based on a high-precision time synchronization protocol;

[0066] The timestamp correction module 12 is used to determine the pulse per second signal provided by the global satellite navigation system chip as the trigger signal of the sensor, and use the trigger signal to correct the timestamp to achieve time synchronization of multiple sensors.

[0067] Among them, for more specific working processes of the above modules, please refer to the corresponding contents disclosed in the aforementioned embodiments, which will not be repeated here.

[0068] As can be seen, the present application proposes a multi-sensor time synchronization device, the device comprising: a timestamp determination module for obtaining output information of multiple sensors and determining the timestamp of the output information based on a high-precision time synchronization protocol; a timestamp correction module for determining the pulse-per-second signal provided by the global satellite navigation system chip as the trigger signal of the sensor, and using the trigger signal to correct the timestamp to achieve time synchronization of multiple sensors. In this way, by determining the pulse-per-second signal as the trigger signal of multiple sensors, the problem of cumulative error caused by the internal correction of the high-precision time synchronization protocol without an external trigger signal is solved. In addition, since the pulse-per-second signal provided by the global satellite navigation system chip is based on the time generated by the cesium atomic vibration frequency and is very accurate, using the pulse-per-second signal to correct the timestamp can further ensure the time synchronization accuracy between multiple sensors. That is, the present application can achieve multi-sensor time synchronization and ensure accuracy while avoiding the cumulative error caused by the lack of an external trigger signal during time estimation and multi-sensor time synchronization through software algorithms.

[0069] In some specific embodiments, the timestamp determination module 11 may specifically include:

[0070] An output information acquisition unit, configured to acquire output information of multiple sensors through a switch network port in a preset core device board, and transmit the output information to a target network card;

[0071] A timestamp determining unit is configured to determine the timestamp of the output information based on the target network card and a high-precision time synchronization protocol.

[0072] In some specific embodiments, the output information acquisition unit further includes:

[0073] The high-precision time synchronization protocol distribution unit is used to transmit the output information to a preset information center board, so as to distribute the high-precision time synchronization protocol for the output information through the preset information center board.

[0074] In some specific embodiments, the timestamp determination unit may specifically include:

[0075] The high-precision time synchronization protocol adding unit is used to transmit the output information after distributing the high-precision time synchronization protocol to a target network card, and use the target network card to add the high-precision time synchronization protocol to the output information to obtain a timestamp of the output information.

[0076] In some specific embodiments, after the output information acquisition unit, the method further includes:

[0077] a first timestamp determining unit, configured to determine a timestamp of the output information based on a taming circuit;

[0078] The second timestamp determining unit is configured to determine the timestamp of the output information based on an atomic clock.

[0079] In some specific embodiments, the timestamp determination module 11 may specifically include:

[0080] The PTP-based timestamp acquisition unit is configured to acquire output information of a plurality of sensors and determine the timestamp of the output information based on the PTP.

[0081] In some specific embodiments, the multi-sensor time synchronization method further includes:

[0082] The regulated DC power supply unit is used to provide regulated DC power to the multiple sensors through the information center board.

[0083] Furthermore, an embodiment of the present application also provides an electronic device. Figure 10 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram should not be considered as any limitation to the scope of application of the present application.

[0084] Figure 10 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may include: at least one processor 21, at least one memory 22, a display 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the following steps:

[0085] Obtaining output information of a plurality of sensors, and determining a timestamp of the output information based on a high-precision time synchronization protocol;

[0086] The pulse per second signal provided by the global satellite navigation system chip is determined as the trigger signal of the sensor, and the time stamp is corrected using the trigger signal to achieve time synchronization of multiple sensors.

[0087] In some specific implementations, the processor may implement the following steps by executing the computer program stored in the memory:

[0088] Obtain output information of multiple sensors through the switch network port in the preset core device board, and transmit the output information to the target network card;

[0089] The timestamp of the output information is determined based on the target network card and a high-precision time synchronization protocol.

[0090] In some specific embodiments, the processor may further include the following steps by executing the computer program stored in the memory:

[0091] The output information is transmitted to a preset information center board, so that the high-precision time synchronization protocol is distributed for the output information through the preset information center board.

[0092] In some specific implementations, the processor may implement the following steps by executing the computer program stored in the memory:

[0093] The output information after distributing the high-precision time synchronization protocol is transmitted to a target network card, and the target network card is used to add the high-precision time synchronization protocol to the output information to obtain a timestamp of the output information.

[0094] In some specific embodiments, the processor may further include the following steps by executing the computer program stored in the memory:

[0095] determining a timestamp of the output information based on the taming circuit;

[0096] Or the timestamp of the output information is determined based on an atomic clock.

[0097] In some specific implementations, the processor may implement the following steps by executing the computer program stored in the memory:

[0098] Output information of a plurality of sensors is acquired, and timestamps of the output information are determined based on PTP.

[0099] In some specific embodiments, the processor may further include the following steps by executing the computer program stored in the memory:

[0100] The information center board provides a regulated DC power supply to the multiple sensors.

[0101] In this embodiment, the power supply 26 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 25 can create a data transmission channel between the electronic device 20 and the external device. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this application and is not specifically limited here; the input and output interface 24 is used to obtain external input data or output data to the outside world. Its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0102] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, a magnetic disk, or an optical disk, etc. The resources stored thereon can include a computer program 221, which can be stored in a temporary or permanent manner. In addition to including a computer program capable of implementing the multi-sensor time synchronization method performed by the electronic device 20 as disclosed in any of the aforementioned embodiments, the computer program 221 can further include a computer program capable of implementing other specific tasks.

[0103] Furthermore, an embodiment of the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the multi-sensor time synchronization method disclosed above is implemented.

[0104] For the specific steps of this method, please refer to the corresponding contents disclosed in the aforementioned embodiments, which will not be repeated here.

[0105] The various embodiments in this application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part.

[0106] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0107] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0108] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0109] The above is a detailed introduction to the multi-sensor time synchronization method, device, equipment, and storage medium provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A multi-sensor time synchronization method, characterized in that: include: Obtaining output information of a plurality of sensors, and determining a timestamp of the output information based on a high-precision time synchronization protocol; Determining a pulse per second signal provided by a global satellite navigation system chip as a trigger signal for the sensor, and using the trigger signal to correct the timestamp to achieve time synchronization of multiple sensors; The step of obtaining output information of a plurality of sensors and determining a timestamp of the output information based on a high-precision time synchronization protocol includes: Obtain output information of multiple sensors through the switch network port in the preset core device board, and transmit the output information to the target network card; Determining a timestamp of the output information based on the target network card and a high-precision time synchronization protocol; After obtaining the output information of multiple sensors through the switch network port in the preset core device board, the method further includes: The output information is transmitted to a preset information center board, so that the high-precision time synchronization protocol is distributed for the output information through the preset information center board.

2. The multi-sensor time synchronization method according to claim 1, characterized in that: The determining the timestamp of the output information based on the target network card and the high-precision time synchronization protocol includes: The output information after distributing the high-precision time synchronization protocol is transmitted to a target network card, and the target network card is used to add the high-precision time synchronization protocol to the output information to obtain a timestamp of the output information.

3. The multi-sensor time synchronization method according to claim 1, characterized in that: After obtaining the output information of the plurality of sensors, the method further includes: determining a timestamp of the output information based on the taming circuit; Or the timestamp of the output information is determined based on an atomic clock.

4. The multi-sensor time synchronization method according to claim 1, characterized in that: The obtaining of output information of the plurality of sensors and determining the timestamp of the output information based on a high-precision time synchronization protocol includes: Output information of a plurality of sensors is acquired, and timestamps of the output information are determined based on PTP.

5. The multi-sensor time synchronization method according to any one of claims 1 to 4, characterized in that: Also includes: The information center board provides a regulated DC power supply to the multiple sensors.

6. A multi-sensor time synchronization device, characterized in that: include: A timestamp determination module, configured to obtain output information of a plurality of sensors and determine a timestamp of the output information based on a high-precision time synchronization protocol; A timestamp correction module, configured to determine the pulse per second signal provided by the global satellite navigation system chip as a trigger signal for the sensor, and to correct the timestamp using the trigger signal to achieve time synchronization of multiple sensors; The step of obtaining output information of a plurality of sensors and determining a timestamp of the output information based on a high-precision time synchronization protocol includes: Obtain output information of multiple sensors through the switch network port in the preset core device board, and transmit the output information to the target network card; Determining a timestamp of the output information based on the target network card and a high-precision time synchronization protocol; After obtaining the output information of multiple sensors through the switch network port in the preset core device board, the method further includes: The output information is transmitted to a preset information center board, so that the high-precision time synchronization protocol is distributed for the output information through the preset information center board.

7. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the multi-sensor time synchronization method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that Used to store a computer program; wherein, when the computer program is executed by a processor, the multi-sensor time synchronization method according to any one of claims 1 to 5 is implemented.

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