Robotics Sensor Timestamp Translation for GPS-Denied Operation
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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 or network time protocols are unavailable, leading to inconsistencies in timekeeping and impaired environmental perception.
Innovation Solution
Utilizes sets of correlated samples from clock sources to compute translation data, translating timestamps to a common time domain without relying on network time, using frequency-locked clock sources and running averages of offsets to ensure accurate time synchronization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS or network time protocols are used to synchronize clocks, then time synchronization accuracy is improved, but the system becomes dependent on external signals that may be unavailable in certain environments
Solution Approach 1:
The patent introduces an intermediary time reference mechanism that mediates between multiple independent clock sources. Instead of relying on external GPS or network signals, the system uses a virtual time reference that is constructed from correlated samples of local clock sources, enabling synchronization without external dependencies
Solution Approach 2:
The system performs self-synchronization by using its own multiple clock sources to establish a common time reference. The method correlates timestamps from different clock sources and computes translation data internally, making the system self-sufficient and independent of external time signal providers
2Adaptability or versatility
If multiple independent clock sources are used in sensors, then sensor diversity and functionality are improved, but timekeeping consistency deteriorates due to variations in timekeeping
Solution Approach 1:
The patent segments the timekeeping function across multiple independent clock sources while maintaining their individual characteristics. Each sensor retains its own clock source for operational independence, while the system-level time correlation mechanism integrates them through translation data computation, preserving both diversity and consistency
Solution Approach 2:
The system dynamically changes the parameter of time reference by computing translation data that maps timestamps from different clock sources to a common time domain. This parameter transformation enables consistent time representation across diverse sensor inputs without altering the underlying clock sources
3Measurement precision
If conventional time synchronization methods are used, then time alignment is achieved in environments with GPS or network access, but synchronization fails in GPS-denied or indoor locations
Solution Approach 1:
The system performs preliminary correlation of clock sources and computes translation data in advance, before external time signals are needed. By establishing the time reference relationship between clock sources beforehand through correlated sampling, the system ensures synchronization capability is already in place when operating in GPS-denied environments
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.