Robotics Sensor Time Translation for GPS-Denied Synchronization
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Solution Overview
Problem
Existing robotics systems face challenges in synchronizing sensor data across different clock sources, particularly in environments where GPS and network access are limited, leading to inconsistencies in timekeeping and impaired environmental perception and control operations.
Innovation Solution
The system uses sets of correlated samples from clock sources to compute translation data, such as offsets and rates of change, to translate timestamps to a common time domain without relying on network time, utilizing frequency-locked clock sources and a running average of offsets for accurate time synchronization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS or NTP-based clock synchronization is used, then clock synchronization accuracy is improved, but system reliability deteriorates in GPS-denied or network-limited environments
Solution Approach 1:
The patent introduces an intermediary time translation mechanism that mediates between multiple independent clock sources. Instead of relying on external GPS/NTP synchronization, the system translates timestamps from different clock sources to a common reference time domain using computed translation data (offsets and rates of change), enabling reliable operation in GPS-denied environments while maintaining synchronization accuracy
Solution Approach 2:
The system performs self-service by autonomously computing translation data between clock sources using correlated timestamp samples. The time translation service determines offsets and rates of change between clock sources and automatically translates timestamps without requiring external GPS or network time infrastructure, making the system self-sufficient in isolated environments
2Adaptability or versatility
If multiple independent clock sources are used for sensor data, then system adaptability is improved, but timekeeping consistency deteriorates
Solution Approach 1:
The time translation service provides a universal interface that works with multiple different clock sources (sensor clock, system clock, external clock) by translating their timestamps to a common reference time domain. This multi-functional approach allows the system to adapt to various clock sources while maintaining consistent timekeeping through the unified translation mechanism
Data Source
AI summary
In various examples, sets of correlated timestamps are sampled from clock sources. The sets of correlated timestamps are used to compute translation data, such as offsets and/or rates of change of the clock sources. The offsets and/or rates of change may be used to translate a timestamp to a reference time domain. The sampled clock sources may be frequency locked and the translation may be performed without using the rates of change. For example, a running average of the offsets may be used to perform the translation. The translated timestamps and corresponding sensor measurements may be provided to one or more applications for use in performing one or more operations for a machine, such as perception and/or control operations.