Time Synchronization and Temporal Ordering of Asynchronous Sensor Measurements of a Multi-sensor Navigation System
2010 (English)In: 2010 IEEE-ION POSITION LOCATION AND NAVIGATION SYMPOSIUM PLANS, New York: IEEE conference proceedings, 2010, 241-246 p.Conference paper (Refereed)
In this article we propose a filter based method to solve the time synchronization and minimum delay temporal ordering problem of asynchronous sensor measurements. A problem which inevitably arise in the sensor fusion of a multi-sensor navigation system implemented in realtime on a general purpose operation system (OS) without using functionality dedicated to realtime applications. The time synchronization is done up to a constant error by linear filtering of time stamps given to each measurement. The filtered time stamps together with predicted future time stamps are then used in a measurement temporal ordering algorithm to achieve a minimal delay temporal ordering subject to a user specified jitter tolerance. Finally, experimental time synchronization and temporal ordering results from the system implemented with a typical set of navigation sensors are presented.
Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2010. 241-246 p.
, IEEE-ION Position Location and Navigation Symposium, ISSN 2153-358X
Synchronization, temporal ordering, asynchronous sensors, sensor fusion
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-32134DOI: 10.1109/PLANS.2010.5507193ISI: 000287515800031ScopusID: 2-s2.0-77955027021ISBN: 978-1-4244-5037-4OAI: oai:DiVA.org:kth-32134DiVA: diva2:409310
Position Location and Navigation Symposium (PLANS) Palm Springs, CA, MAY 04-06, 2010
QC 20110407 QC 201111152013-04-222011-04-072013-04-22Bibliographically approved