CN114047688A - Multi-sensor synchronous signal generation method based on high-precision timer - Google Patents
Multi-sensor synchronous signal generation method based on high-precision timer Download PDFInfo
- Publication number
- CN114047688A CN114047688A CN202111388780.8A CN202111388780A CN114047688A CN 114047688 A CN114047688 A CN 114047688A CN 202111388780 A CN202111388780 A CN 202111388780A CN 114047688 A CN114047688 A CN 114047688A
- Authority
- CN
- China
- Prior art keywords
- pps
- timer
- time
- function
- interrupt processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
-
- G—PHYSICS
- G04—HOROLOGY
- G04G—ELECTRONIC TIME-PIECES
- G04G7/00—Synchronisation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/4401—Bootstrapping
- G06F9/4411—Configuring for operating with peripheral devices; Loading of device drivers
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Software Systems (AREA)
- Theoretical Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Security & Cryptography (AREA)
- General Engineering & Computer Science (AREA)
- Measurement Of Unknown Time Intervals (AREA)
Abstract
The invention provides a multi-sensor synchronous signal generating method based on a high-precision timer, which is characterized IN that an initialization function of the high-precision timer is added IN a driving program of a PPS IN, and an interrupt processing function of the timer is set IN the initialization function; setting a starting function of a timer in the interrupt processing function; setting two global variables of PPS _ OUT _ HZ and HIGH _ TIME; when a signal of the PPS IN arrives, the interrupt processing function realizes the timing of high level duration and low level duration through the starting function and the high-precision timer, and high and low levels are switched to finish the level change IN one period; circulating PPS _ OUT _ HZ-1 times, performing step S5, restarting the high-precision timer by the interrupt processing function when the time is advanced to the next second, and circulating high and low levels again; or when the signal of the PPS IN arrives again, the interrupt processing function restarts a new high-precision timer. The invention starts a high-precision timer IN the interrupt processing function of the PPS IN, and prevents the time error between signals of the PPS IN and the PPS OUT.
Description
Technical Field
The invention belongs to the field of information synchronization of linux equipment, and particularly relates to a multi-sensor synchronous signal generation method based on a high-precision timer.
Background
PPS is an abbreviation for pulse per second, called pulse per second. The signal output by the GPS module is used for accurate time service of the linux equipment.
The PPS IN signal refers to the input of the PPS signal on the linux equipment, and when the equipment is accurately timed through the GPRMC positioning information of the external GPS module and the PPS signal, the PPS IN signal is accurately matched with the time of the current linux equipment.
The PPS OUT signal is generated by the linux device and is used to synchronize external sensors of the trigger device or synchronize other device times as a PPS signal.
IN general, the linux device generates the PPS OUT signal through a high-precision timer, and has the disadvantages that the generated PPS OUT signal has uncertain starting time and the PPS IN signal has errors, and when the system time of the linux device changes, the errors also change. If the device is used for synchronously triggering the external sensors, the data information generated by the sensors can generate errors in time, and the device can be greatly influenced. Another disadvantage is that, because the high-precision timer also has a slight error, when the linux device runs for a long time, the error of the high-precision timer is accumulated continuously, and when the linux device runs for a period of time, external sensor data synchronously triggered by the PPS OUT signal has a large error.
In the field of unmanned driving, cameras, lidar, millimeter wave radar, ultrasonic radar, infrared, IMU, navigation, and the like may be collectively referred to as sensors.
Disclosure of Invention
IN view of the above, the present invention is directed to a method for generating a multi-sensor synchronization signal based on a high-precision timer, so as to solve the problem that the PPS IN signal has an error due to an uncertain start time of the PPS OUT signal, and the high-precision timer also has a slight error, which is accumulated continuously over time, so that the external sensor data has an increased error.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the application provides a multisensor synchronizing signal generation method based on high accuracy timer, and PPS OUT further triggers external sensor equipment, and the concrete steps are as follows:
s1, adding an initialization function of the timer IN the driving program of the PPS IN, setting an interrupt processing function of the timer IN the initialization function and setting a change mode of system time;
s2, setting a starting function of a timer in the interrupt processing function, wherein the starting function is used for immediately timing and setting timing time;
s3, adding two global variables for specifying the frequency PPS _ OUT _ HZ of PPS OUT and for specifying the HIGH level duration HIGH _ TIME IN the driver of PPS IN;
s4, modifying two variables of PPS _ OUT _ HZ and HIGH _ TIME according to the parameters of the external sensor equipment;
s5, when a signal of PPS IN arrives, the interrupt processing function realizes the timing of high level duration and low level duration through the matching of the starting function and the timer, and switches high and low levels to finish the level change of one period;
s6, circulating PPS _ OUT _ HZ-1 times, and performing step S5;
s7, when the time goes to the next second, the interrupt processing function restarts the timer, and the high and low level switching cycle is carried out again;
or when the signal of the PPS IN comes again, the interrupt processing function restarts a new timer.
Further, the change pattern of the system time is set to a change pattern of the relative system time.
Further, in step S4, two variable methods of PPS _ OUT _ HZ and HIGH _ TIME are modified:
s41, generating a device node/dev/PPS 0 by a driver of the PPS IN;
s42, the application program opens the equipment node/dev/pps 0 through an open function to obtain a file descriptor tone fd;
s43, calling the ioctl function to transfer the PPS _ OUT _ HZ and HIGH _ TIME global variables through the file descriptor fd.
Further, in step S43, the method for calling the ioctl function to transfer the PPS _ OUT _ HZ and HIGH _ TIME global variables through the file descriptor fd includes:
s431, setting parameters of the ioctl function to comprise a file descriptor fd, an identifier cmd and a modification \ acquisition variable arg;
s432, setting an identifier cmd, wherein the identifier cmd comprises a PPSGEN _ GPIO _ SET _ HZ and a PPSGEN _ GPIO _ GET _ HZ;
and S433, corresponding to different identifiers cmd, executing different arg, wherein when the cmd parameter is PPSGEN _ GPIO _ SET _ HZ, the arg parameter indicates that the values of PPS _ OUT _ HZ and HIGH _ TIME are SET, and when the cmd parameter is PPSGEN _ GPIO _ GET _ HZ, the arg parameter indicates that the values of the current PPS _ OUT _ HZ and HIGH _ TIME are obtained from a PPS IN driver.
Further, in step S5, the interrupt processing function realizes the timing of the high level duration and the low level duration by the cooperation of the start function and the timer, and the specific method for switching between the high level and the low level includes:
when a signal of the PPS IN arrives, immediately responding to interruption, setting a PPS OUT pin as a HIGH level IN an interruption processing function, calling a starting function to start timing, and setting the timing TIME as the HIGH level and the duration as HIGH _ TIME; when the automatic timing time in the timer is consistent with the high level duration time set by the starting function, the interrupt processing function switches the high level of the PPS OUT pin to a low level; the interrupt processing function of the timer calculates and controls the low level duration of the PPS OUT pin through two variables of PPS _ OUT _ HZ and HIGH _ TIME, and one period of level change is completed.
Further, the low level duration calculation formula is: 1000/PPS _ OUT _ HZ-HIGH _ TIME.
Further, the timer is a high-precision timer, the high-precision timer is a high-resolution kernel timer, and the high-precision timer is used for an overtime or periodic timer and is an ns-level timer.
Compared with the prior art, the multi-sensor synchronous signal generation method based on the high-precision timer has the following beneficial effects:
(1) the starting function of the invention ensures that the starting time of the timer is consistent with the time of the PPS IN signal; a high-precision timer is started IN an interrupt processing function of the PPS IN, and a time error between signals of the PPS IN and the PPS OUT is prevented.
(2) The invention restarts and starts the high-precision timer whenever a new PPS IN signal is input or an interrupt processing function is executed for one second, thereby preventing the equipment from running for a long time and preventing the error accumulation of the high-precision timer.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a method for generating a multi-sensor synchronization signal based on a high-precision timer according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the present application provides a method for generating a multi-sensor synchronization signal based on a high-precision timer, wherein PPS OUT further triggers an external sensor device, and the specific steps are as follows:
s1, adding an initialization function of the timer IN the driving program of the PPS IN, setting an interrupt processing function of the timer IN the initialization function and setting a change mode of system time;
s2, setting a starting function of a timer in the interrupt processing function, wherein the starting function is used for immediately timing and setting timing time;
s3, adding two global variables for specifying the frequency PPS _ OUT _ HZ of PPS OUT and for specifying the HIGH level duration HIGH _ TIME IN the driver of PPS IN;
s4, modifying two variables of PPS _ OUT _ HZ and HIGH _ TIME according to the parameters of the external sensor equipment;
s5, when a signal of PPS IN arrives, the interrupt processing function realizes the timing of high level duration and low level duration through the matching of the starting function and the timer, and switches high and low levels to finish the level change of one period;
s6, circulating PPS _ OUT _ HZ-1 times, and performing step S5;
s7, when the time goes to the next second, the interrupt processing function restarts the timer, and the high and low level switching cycle is carried out again;
or when the signal of the PPS IN comes again, the interrupt processing function restarts a new timer.
The timer can be a high-precision timer, wherein the high-precision timer is a high-resolution kernel timer, is used for an overtime or periodic timer and is an ns-level timer.
In step S6, the PPS _ OUT _ HZ-1 times of step S5 is cycled, because the PPS _ OUT _ HZ is the frequency of PS OUT, i.e., how many high and low level periods are in 1S, and therefore the number of high and low level periods is the same as the value of PPS _ OUT _ HZ.
The starting function is used for ensuring that the starting time of the high-precision timer is consistent with the time of the PPS IN signal; the external sensor is synchronously triggered by the high-low level change of the pin of the PPS OUT.
And starting a timer IN a GPIO interrupt processing function of the PPS IN to prevent a time error between signals of the PPS IN and the PPS OUT.
And the high-precision timer is restarted and started IN the GPIO interrupt processing function of the PPS IN every second, so that the equipment is prevented from running for a long time, and the error accumulation of the high-precision timer is avoided.
And setting the change mode of the system time as a change mode relative to the system time.
The system time change MODE is divided into an absolute system time HRTIMER _ MODE _ ABS and a relative system time HRTIMER _ MODE _ REL, if the absolute system time HRTIMER _ MODE _ ABS is set, when the system time is changed, the timing time of the high-precision timer is influenced, the kernel is crashed, the relative system time HRTIMER _ MODE _ REL is set, the change of the system time cannot influence the high-precision timer of the timer, and the high-precision timer can normally run.
In step S4, the two variable methods of PPS _ OUT _ HZ and HIGH _ TIME are modified:
s41, generating a device node/dev/PPS 0 by a driver of the PPS IN;
s42, the application program opens the equipment node/dev/pps 0 through an open function to obtain a file descriptor tone fd;
s43, calling the ioctl function to transfer the PPS _ OUT _ HZ and HIGH _ TIME global variables through the file descriptor fd.
In step S43, the method for transferring the PPS _ OUT _ HZ and HIGH _ TIME global variables by calling the ioctl function through the file descriptor fd is as follows:
s431, setting parameters of the ioctl function to comprise a file descriptor fd, an identifier cmd and a modification \ acquisition variable arg;
s432, setting an identifier cmd, wherein the identifier cmd comprises a PPSGEN _ GPIO _ SET _ HZ and a PPSGEN _ GPIO _ GET _ HZ;
and S433, corresponding to different identifiers cmd, executing different arg, wherein when the cmd parameter is PPSGEN _ GPIO _ SET _ HZ, the arg parameter indicates that the values of PPS _ OUT _ HZ and HIGH _ TIME are SET, and when the cmd parameter is PPSGEN _ GPIO _ GET _ HZ, the arg parameter indicates that the values of the current PPS _ OUT _ HZ and HIGH _ TIME are obtained from a PPS IN driver.
In step S5, the interrupt processing function counts the high level duration and the low level duration by the start function and the timer, and the specific method for switching between high and low levels is as follows:
when a signal of the PPS IN arrives, immediately responding to interruption, setting a PPS OUT pin as a HIGH level IN an interruption processing function, calling a starting function to start timing, and setting the timing TIME as the HIGH level and the duration as HIGH _ TIME; when the automatic timing time in the high-precision timer is consistent with the high level duration time set by the starting function, the interrupt processing function switches the high level of the PPS OUT pin into the low level; the interrupt processing function of the HIGH-precision timer calculates and controls the duration TIME of the low level of the PPS OUT pin through two variables of PPS _ OUT _ HZ and HIGH _ TIME, and one period of level change is completed.
The low level duration calculation formula is: 1000/PPS _ OUT _ HZ-HIGH _ TIME.
Taking a camera as an example, assuming that a linux device is externally connected with 2-channel cameras, each camera needs a PPS signal of 20HZ to trigger the camera to take a picture, and the HIGH level TIME is required to be 20ms, in this case, the required PPS OUT signal can be set through two variables of PPS _ OUT _ HZ and HIGH _ TIME, the PPS _ OUT _ HZ is 20HZ, and the HIGH _ TIME is 20 ms.
One continuously high level and one continuously low level are one period, such as a square wave. The PPS _ OUT _ HZ variable refers to the frequency of the generated PPS OUT signal, the frequency refers to how many cycles are generated within 1s, for example, the PPS _ OUT _ HZ value is 20HZ, a cycle TIME is 1000ms/20 to 50ms, the HIGH _ TIME value indicates a HIGH level duration, for example, the HIGH _ TIME is 20ms, a cycle indicates a HIGH level TIME of 20ms and a low level TIME of 30ms, and 20HZ indicates that 20 cycles of signals are generated within 1 s.
The HIGH-low level associated with PPS OUT is operated by the value of HIGH TIME.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A multi-sensor synchronous signal generating method based on a high-precision timer is characterized in that PPS OUT further triggers external sensor equipment, and the method comprises the following specific steps:
s1, adding an initialization function of the timer IN the driving program of the PPS IN, setting an interrupt processing function of the timer IN the initialization function and setting a change mode of system time;
s2, setting a starting function of a timer in the interrupt processing function, wherein the starting function is used for immediately timing and setting timing time;
s3, adding two global variables for specifying the frequency PPS _ OUT _ HZ of PPS OUT and for specifying the HIGH level duration HIGH _ TIME IN the driver of PPS IN;
s4, modifying two variables of PPS _ OUT _ HZ and HIGH _ TIME according to the parameters of the external sensor equipment;
s5, when a signal of PPS IN arrives, the interrupt processing function realizes the timing of high level duration and low level duration through the matching of the starting function and the timer, and switches high and low levels to finish the level change of one period;
s6, circulating PPS _ OUT _ HZ-1 times, and performing step S5;
s7, when the time goes to the next second, the interrupt processing function restarts the timer, and the high and low level switching cycle is carried out again;
or when the signal of the PPS IN comes again, the interrupt processing function restarts a new timer.
2. A method for generating multi-sensor synchronous signals based on high-precision timers according to claim 1, characterized in that: and setting the change mode of the system time as a change mode relative to the system time.
3. The method for generating multi-sensor synchronous signals based on HIGH-precision timers as claimed in claim 1, wherein in step S4, two variable methods of PPS _ OUT _ HZ and HIGH _ TIME are modified:
s41, generating a device node/dev/PPS 0 by a driver of the PPS IN;
s42, the application program opens the equipment node/dev/pps 0 through an open function to obtain a file descriptor tone fd;
s43, calling the ioctl function to transfer the PPS _ OUT _ HZ and HIGH _ TIME global variables through the file descriptor fd.
4. The method for generating multi-sensor synchronous signals based on HIGH-precision timers as claimed in claim 3, wherein in step S43, the method for calling ioctl function to transfer PPS _ OUT _ HZ and HIGH _ TIME global variables through file descriptor fd is as follows:
s431, setting parameters of the ioctl function to comprise a file descriptor fd, an identifier cmd and a modification \ acquisition variable arg;
s432, setting an identifier cmd, wherein the identifier cmd comprises a PPSGEN _ GPIO _ SET _ HZ and a PPSGEN _ GPIO _ GET _ HZ;
and S433, corresponding to different identifiers cmd, executing different arg, wherein when the cmd parameter is PPSGEN _ GPIO _ SET _ HZ, the arg parameter indicates that the values of PPS _ OUT _ HZ and HIGH _ TIME are SET, and when the cmd parameter is PPSGEN _ GPIO _ GET _ HZ, the arg parameter indicates that the values of the current PPS _ OUT _ HZ and HIGH _ TIME are obtained from a PPS IN driver.
5. The method for generating multi-sensor synchronous signals based on high-precision timers according to claim 3, wherein in step S5, the interrupt processing function realizes the timing of the high-level duration and the low-level duration by the cooperation of the start function and the timer, and the specific method for switching between high and low levels is as follows:
when a signal of the PPS IN arrives, immediately responding to interruption, setting a PPS OUT pin as a HIGH level IN an interruption processing function, calling a starting function to start timing, and setting the timing TIME as the HIGH level and the duration as HIGH _ TIME; when the automatic timing time in the timer is consistent with the high level duration time set by the starting function, the interrupt processing function switches the high level of the PPS OUT pin to a low level; the interrupt processing function of the timer calculates and controls the duration of the low level of the PPSOUT pin through two variables of PPS _ OUT _ HZ and HIGH _ TIME, and one period of level change is completed.
6. The method for generating multi-sensor synchronous signals based on high-precision timers as claimed in claim 5, wherein: the low level duration calculation formula is: 1000/PPS _ OUT _ HZ-HIGH _ TIME.
7. A method for generating multi-sensor synchronous signals based on high-precision timers according to claim 1, characterized in that: the timer is a high-precision timer, the high-precision timer is a high-resolution kernel timer, is used for an overtime or periodic timer and is an ns-level timer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111388780.8A CN114047688B (en) | 2021-11-22 | 2021-11-22 | Multi-sensor synchronous signal generation method based on high-precision timer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111388780.8A CN114047688B (en) | 2021-11-22 | 2021-11-22 | Multi-sensor synchronous signal generation method based on high-precision timer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114047688A true CN114047688A (en) | 2022-02-15 |
| CN114047688B CN114047688B (en) | 2022-11-22 |
Family
ID=80210592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111388780.8A Active CN114047688B (en) | 2021-11-22 | 2021-11-22 | Multi-sensor synchronous signal generation method based on high-precision timer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114047688B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5629649A (en) * | 1994-11-24 | 1997-05-13 | Advantest Corporation | Frequency standard generator synchronized with satellite or other communication network reference clocks |
| US20100188286A1 (en) * | 2008-09-17 | 2010-07-29 | St-Ericsson Sa | Time reference system |
| CN109752738A (en) * | 2018-12-26 | 2019-05-14 | 广州中海达卫星导航技术股份有限公司 | Target IMU and GNSS data synchronous method when based on standard |
| CN110515294A (en) * | 2018-05-22 | 2019-11-29 | 福建师范大学 | A kind of quick high accuracy time service method of Embedded GPS terminal |
| CN111698050A (en) * | 2020-06-02 | 2020-09-22 | 上海金卓网络科技有限公司 | Wireless terminal, clock synchronization method and system |
| CN112433536A (en) * | 2020-10-27 | 2021-03-02 | 一飞(海南)科技有限公司 | PPS second pulse clock calibration method, processor, storage medium and unmanned aerial vehicle |
-
2021
- 2021-11-22 CN CN202111388780.8A patent/CN114047688B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5629649A (en) * | 1994-11-24 | 1997-05-13 | Advantest Corporation | Frequency standard generator synchronized with satellite or other communication network reference clocks |
| US20100188286A1 (en) * | 2008-09-17 | 2010-07-29 | St-Ericsson Sa | Time reference system |
| CN110515294A (en) * | 2018-05-22 | 2019-11-29 | 福建师范大学 | A kind of quick high accuracy time service method of Embedded GPS terminal |
| CN109752738A (en) * | 2018-12-26 | 2019-05-14 | 广州中海达卫星导航技术股份有限公司 | Target IMU and GNSS data synchronous method when based on standard |
| CN111698050A (en) * | 2020-06-02 | 2020-09-22 | 上海金卓网络科技有限公司 | Wireless terminal, clock synchronization method and system |
| CN112433536A (en) * | 2020-10-27 | 2021-03-02 | 一飞(海南)科技有限公司 | PPS second pulse clock calibration method, processor, storage medium and unmanned aerial vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 李玉广等: "一种高精度数据同步测量方法研究", 《测绘科学》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114047688B (en) | 2022-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111381487B (en) | Multi-sensor synchronous time service system, method and device and electronic equipment | |
| CN107710753B (en) | Decentralized synchronous multisensor system | |
| CN108923876B (en) | Time synchronization method, device and system | |
| CN111860604B (en) | Data fusion method, system and computer storage medium | |
| CN111983948A (en) | Multi-sensor data synchronization method and equipment thereof | |
| US20180313928A1 (en) | System and method of sensor triggering for synchronized operation | |
| JP2006079625A (en) | System and method for coordinating actions of a plurality of devices | |
| US11861957B2 (en) | Time master and sensor data collection for robotic system | |
| CN112945228B (en) | Multi-sensor time synchronization method and synchronization device | |
| US10725497B2 (en) | Clocking device, electronic apparatus, and vehicle | |
| CN111934843A (en) | Multi-sensor data synchronous acquisition method for intelligent unmanned system | |
| CN108768576B (en) | Method and device for realizing high-precision time synchronization data of sensor based on single chip microcomputer | |
| CN111556224B (en) | Multi-camera synchronous calibration method, device and system | |
| CN114047688B (en) | Multi-sensor synchronous signal generation method based on high-precision timer | |
| CN111813716A (en) | Multi-sensor data synchronization, electronic device, and storage medium | |
| CN111279637B (en) | Information synchronization method, unmanned aerial vehicle, load equipment, system and storage medium | |
| CN112558514B (en) | Multi-device hardware synchronization method | |
| KR20210026528A (en) | In-vehicle communication device and time synchronization method thereof | |
| CN111102689A (en) | Method and device for adjusting clock synchronization | |
| US20150294555A1 (en) | Device, system and method for informing alarm | |
| CN116015523A (en) | Time synchronization method and device and electronic equipment | |
| CN115454040A (en) | Multi-sensor synchronous control method, equipment, unmanned system and medium | |
| CN109581859A (en) | A kind of automatic correcting time method and device | |
| CN110830732B (en) | Exposure time acquisition device and method for automatic driving system | |
| CN116830689A (en) | Time synchronization method, device and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |