CN102997898B - Time synchronization control method and system - Google Patents
Time synchronization control method and system Download PDFInfo
- Publication number
- CN102997898B CN102997898B CN201110275372.1A CN201110275372A CN102997898B CN 102997898 B CN102997898 B CN 102997898B CN 201110275372 A CN201110275372 A CN 201110275372A CN 102997898 B CN102997898 B CN 102997898B
- Authority
- CN
- China
- Prior art keywords
- count value
- attitude
- line image
- data
- imaging sensor
- 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.)
- Active
Links
Abstract
The invention relates to a time synchronization control method and a time synchronization control system. The time synchronization control method comprises the steps of recording a current counting value of a counter in real time as a corresponding position posture counting value each when the position posture data from a POS (Point Of Sale) is received; recording the current counting value of the counter in real time as a linear image counting data corresponding to linear image data each time when linear image data sent by a linear array push-broom imaging sensor is received; determining accurate position posture data of the linear array push-broom imaging sensor at the recording time of each linear image counting value according to each position posture counting value, the corresponding position posture data and each linear image counting value; and establishing corresponding relation of the each image counting value, the corresponding linear image data and the accurate position posture data at the recording time, so that the position posture data and the linear image data are synchronous on time. According to the time synchronization control method and system provided by the invention, the position posture data measured by the POS and the linear image data measured by the linear array push-broom imaging sensor are synchronous on time.
Description
Technical field
The present invention relates to Time synchronization technique field, particularly relate to a kind of control method and control system of time synchronized.
Background technology
At present at survey field, usually by positioning and orientation system (POS, Position and Orientation System) be mounted on same platform with imaging sensor (as face battle array digital camera, linear array CCD camera, linear array imaging spectrometer, two-dimensional laser sensor), the two detects ground simultaneously, thus while obtaining the ground image data that record of imaging sensor, also obtain the geographic coordinate data corresponding with these ground image data.But this platform with POS and imaging sensor usually can relate to the control problem of the time synchronized of data at work, and the data namely how making imaging sensor and POS record respectively reach synchronous in time.
Prior art utilizes hardware to solve this problem, stored and opertaing device transmission trigger pip to same third party by POS and imaging sensor, thus trigger this third party and to store and opertaing device record POS or linear array push sweep the time that imaging sensor starts image data and end image data, and then determine the collection moment of the data that POS and imaging sensor record respectively, so just establish the corresponding relation between data and the data that gather of synchronization POS that imaging sensor gathers, reach the object that data are synchronous in time.
But, also there is certain problem in existing this hardware settling mode, such as, the trigger pip of the data that imaging sensor records and transmission to be stored by third party and opertaing device identify, must be resolved data and trigger pip by special pulse trigger, this just needs for imaging sensor is equipped with special pulse trigger, and imaging sensor is manufactured by factory by the manufacturer of specialty usually, its structural a little change all will directly have influence on the precision of measurement, and to design a kind of imaging sensor with pulse trigger be not an easy thing for mapping worker, therefore, although be feasible in principle for imaging sensor is equipped with special pulse trigger, but it is difficult on technology realizes, these data also making imaging sensor and POS record respectively will reach synchronous very difficult in time.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of control method and control system of time synchronized, and the position and attitude data that POS can be made to record and linear array push are swept the view data that imaging sensor records and reached synchronous in time.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of control method of time synchronized, and the method is swept for the position and attitude data that make positioning and orientation system POS and record and linear array push the view data that imaging sensor records and reached synchronous in time; Wherein, POS and described linear array push are swept imaging sensor and to be positioned in identical platform and to keep geo-stationary; The method comprises:
Step 1: often receive the described position and attitude data that POS sends, detects the current count value of also recording counter in real time as the position and attitude count value corresponding with these position and attitude data; Often receive described linear array push and sweep the described view data that imaging sensor sends, detect in real time and the current count value recording described counter as the picture count value corresponding with this view data;
Step 2: according to each described position and attitude count value and respectively corresponding described position and attitude data thereof, determines the accurate location attitude data in POS and described linear array push record moment of picture count value of sweeping imaging sensor described in each;
Step 3: the described accurate location attitude data three in the record moment of described view data corresponding to picture count value described in each, this picture count value and this picture count value is set up corresponding relation, thus makes described position and attitude data and described view data reach synchronous in time.
The invention has the beneficial effects as follows: in the present invention, POS and linear array push are swept imaging sensor and to be positioned in identical platform and to keep geo-stationary, and the position and attitude data that thus POS records can think that linear array push sweeps the position and attitude data of imaging sensor.Often receive the position and attitude data that POS sends, detect the current count value of also recording counter in real time as the position and attitude count value corresponding with these position and attitude data, this just establishes the corresponding relation between position and attitude data and position and attitude count value, often receive linear array push and sweep the view data that imaging sensor sends, detect in real time and the current count value of recording counter as the picture count value corresponding with this view data, this just establishes the corresponding relation between view data and picture count value, like this, POS and linear array push are swept the data that imaging sensor records respectively and are just established corresponding relation with the count value of same counter, the present invention is according to each position attitude count value and position and attitude data corresponding respectively thereof, can determine that POS and linear array push sweep the accurate location attitude data of imaging sensor in the record moment of each picture count value, and then by each picture count value, the accurate location attitude data three in the record moment of the view data that this picture count value is corresponding and this picture count value sets up corresponding relation, thus make position and attitude data and view data reach synchronous in time.Visible, the present invention is without the need to arranging special pulse trigger hardware, only using the count value of same counter as medium, sweep the data that imaging sensor records separately with regard to making POS and linear array push and establish temporal contact, and then by count value continuity in time, make position and attitude data and view data reach synchronous in time.
On the basis of technique scheme, the present invention can also do following improvement:
Further, described position and attitude data comprise header and data volume, and in described step 1, described header is first sent by POS than described data volume; Then in described step 1, often receive the described position and attitude data that POS sends, to detect in real time and the current count value of recording counter as the method for the position and attitude count value corresponding with these position and attitude data is:
Often receive the described header of the described position and attitude data that POS sends, detect the current count value of also recording counter in real time as the position and attitude count value corresponding with these position and attitude data.
Further, before described step 1, also step 0-1 is comprised: position and attitude sequence number and picture numbers are all set to 0;
Then described step 1 comprises:
Often receive the described position and attitude data that POS sends, described position and attitude sequence number is added 1 automatically, detect and the current count value of recording counter simultaneously in real time, by itself and this position and attitude data, automatically add the position and attitude sequence number obtained after 1 and set up corresponding relation;
Often receive described linear array push and sweep the described view data that imaging sensor sends, described picture numbers is added 1 automatically, detect simultaneously in real time and record the current count value of described counter, by itself and this view data, automatically adding the picture numbers obtained after 1 and set up corresponding relation.
Further, before described step 1, also comprise step 0-2: the data transmitting period of setting POS, make POS periodically send described position and attitude data.
Further, in described step 1, often receive described linear array push and sweep the described view data that imaging sensor sends, to detect in real time and the current count value recording described counter as the method for the picture count value corresponding with this view data is:
Sweep imaging sensor to described linear array push to transmit control signal, make it send described view data, detect simultaneously in real time and the current count value recording described counter as the picture count value corresponding with this view data.
Further, described step 2 comprises:
Determine the adjacent position attitude count value that each described picture count value is corresponding and No. two adjacent position attitude count values, wherein, a described adjacent position attitude count value is be not less than this picture count value and with it apart from minimum position and attitude count value, and described No. two adjacent position attitude count values are be not more than this picture count value and with it apart from minimum position and attitude count value;
Position and attitude data corresponding to a described adjacent position attitude count value corresponding for each described picture count value and No. two nearlyer persons of adjacent position this picture count value of attitude count value middle distance are swept the accurate location attitude data of imaging sensor at the POS in this image record moment as described linear array push.
In addition, present invention also offers a kind of control system of time synchronized, this control system comprises: controller, storer, counter, positioning and orientation system POS, linear array push sweep imaging sensor; Wherein,
Described controller is swept imaging sensor with described storer, counter, POS, linear array push and is connected respectively; Described counter counts with fixed frequency; POS and described linear array push are swept imaging sensor and to be positioned in identical platform and to keep geo-stationary;
POS is used for, and the position and attitude Data Concurrent that acquisition linear array push sweeps imaging sensor delivers to described controller;
Described linear array push sweep imaging sensor for, obtain the detection of a target view data and be sent to described controller;
Described controller is used for, and often receives described position and attitude data, and the two correspondence, as the position and attitude count value corresponding with these position and attitude data, is delivered to described storer and stored by the current count value obtaining described counter in real time; Often receive a described view data, the two correspondence, as the picture count value corresponding with this view data, is delivered to described storer and is stored by the current count value obtaining described counter in real time; According to each described position and attitude count value and respectively corresponding described position and attitude data thereof, determine the accurate location attitude data in POS and described linear array push record moment of picture count value of sweeping imaging sensor described in each; The described accurate location attitude data three in the record moment of described view data corresponding to picture count value described in each, this picture count value and this picture count value is set up corresponding relation, thus makes described position and attitude data and described view data reach synchronous in time.
Further, described counter is 8253 programmable counters, or is 8254 programmable counters.
Further, described controller is CPU.
Further, POS comprises:
Global position system GPS and inertial navigation system INS;
And/or, odometer and Inertial Measurement Unit IMU.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the control method of time synchronized provided by the invention;
Fig. 2 is the structural drawing of the control system of time synchronized provided by the invention.
Embodiment
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
Fig. 1 is the process flow diagram of the control method of time synchronized provided by the invention, position and attitude data and linear array push that the method is used for positioning and orientation system (POS, Position and Orientation System) is recorded are swept the line image data that imaging sensor records and are reached synchronous in time.Here position and attitude data comprise coordinate, corner etc. relative to certain coordinate system determined (as navigational coordinate system or predetermined space coordinates), thus POS available GPS (GPS) here realizes with the combination of inertial navigation system (INS), also can realize with the combination of odometer and Inertial Measurement Unit (IMU).Imaging sensor linear array push in the present invention is swept imaging sensor to realize, the accuracy of line image data can be improved on the one hand, on the other hand, due to this imaging sensor to obtain on ground on a line simultaneously image (i.e. line image data of the present invention) a little, be thus also conducive to improving mapping speed.
In the present invention, POS and linear array push are swept imaging sensor and are positioned in identical platform, and maintenance geo-stationary, such as, the two is placed on the airborne platform of aircraft, and makes the two contact or as far as possible close, to reduce distance therebetween as much as possible, ensure that the position and attitude data that POS records are the position and attitude data that linear array push sweeps imaging sensor, for accuracy of the present invention creates conditions.
As shown in Figure 1, the method comprises:
Step 101: often receive the position and attitude data that POS sends, detects the current count value of also recording counter in real time as the position and attitude count value corresponding with these position and attitude data; Often receive linear array push and sweep the line image data that imaging sensor sends, detect in real time and the current count value of recording counter as the line image count value corresponding with these line image data.
In this step, position and attitude count value and line image count value are by same counter by counting to get, and this counter can realize with 8253 programmable counters that Intel company produces, and also can realize with 8254 programmable counters.The data that POS obtains are self position and attitude data, but be arranged in identical platform because POS and linear array push are swept imaging sensor by the present invention, and make that the two is as far as possible close, thus POS detects the data that obtain also for linear array push sweeps the position and attitude data of imaging sensor.Linear array push sweep imaging sensor to the detection of a target (as its be positioned on the airborne platform of aircraft time, can using ground as the detection of a target) to carry out data that one-time detection obtains be view data on a line, thus in the present invention, linear array push is swept imaging sensor and detect the data obtained and be called line image data.
When receiving each position and attitude data that POS sends or linear array push and sweeping each line image data that imaging sensor sends, namely this step detects and the current count value of recording counter in real time, and the count value of counter is periodic, with the time, there is natural contacting, so just by count value as medium, make to establish in time between position and attitude data with line image data to associate, thus count value can be utilized to determine that linear array push sweeps accurate location attitude data when imaging sensor gathers each line image data.
Position and attitude data send with the form of byte usually, and position and attitude data usually comprise several byte, these bytes are divided into again header and data volume, header is more first than data volume to be sent by POS, like this, obtain whole position and attitude data and need the regular hour, this step sends the correct time of these position and attitude data in order to obtain POS, by the above-mentioned position and attitude data often receiving POS and send, real-time detection the current count value of recording counter are defined as the method for the position and attitude count value corresponding with these position and attitude data: the header often receiving the position and attitude data that POS sends, real-time detection the current count value of recording counter are as the position and attitude count value corresponding with these position and attitude data.
Sweeping imaging sensor in view of linear array push is professional equipment, be difficult to data that the special interfacing equipment of design one sends POS and trigger pip is resolved, therefore, the present invention can adopt and sweep to linear array push the mode that imaging sensor transmits control signal and send line image data to control it, like this, in this step, the above-mentioned linear array push that often receives sweeps the line image data that imaging sensor sends, real-time detection the current count value of recording counter as the method for the line image count value corresponding with these line image data can be: periodically or sweep imaging sensor to linear array push aperiodically and transmit control signal, make it while receiving control signal, send line image data, while receiving these line image data, real-time detection the current count value of recording counter are as the line image count value corresponding with these line image data.
Step 102: according to each position attitude count value and respectively corresponding position and attitude data thereof and each line image count value, determine that linear array push sweeps the accurate location attitude data of imaging sensor in the record moment of each line image count value.
This step, while obtaining linear array push and sweeping the accurate location attitude data of imaging sensor, also just obtains and sweeps the accurate location attitude data of the POS of imaging sensor in identical platform in this record moment with linear array push.
In a step 101, line image data and position and attitude data are that medium establishes and associates with count value, this step just can by this incidence relation, determine the record moment (namely receiving the moment of these line image data) in each line image count value, POS and linear array push sweep the accurate location attitude data of imaging sensor.
In most cases, line image count value all can not be identical with any position attitude count value, be difficult to detect simultaneously and send data this is because POS and linear array push sweep imaging sensor, this just needs in this step by means of associating between line image data with position and attitude data, determine the record moment (namely receiving the moment of the line image data of its correspondence) in this line image count value, POS and linear array push sweep the accurate location attitude data of imaging sensor, and defining method comprises:
First, determine the adjacent position attitude count value that each line image count value is corresponding and No. two adjacent position attitude count values, wherein, adjacent position attitude count value is be not less than this line image count value and with it apart from minimum position and attitude count value, and No. two adjacent position attitude count values are be not more than this line image count value and with it apart from minimum position and attitude count value;
Secondly, determine that POS and linear array push sweep the accurate location attitude data of imaging sensor in the record moment of each line image count value, nearby principle can be adopted realize: the position and attitude data corresponding to corresponding for an each line image count value adjacent position attitude count value and No. two nearlyer persons of adjacent position this line image count value of attitude count value middle distance are swept the accurate location attitude data of imaging sensor in the record moment of this line image count value as linear array push.
Visible, this method obtains linear array push to sweep the approximate value of imaging sensor at the accurate location attitude data in this record moment, in an adjacent position attitude count value corresponding to each line image count value and No. two adjacent position attitude count value distances, less (namely the time interval of POS detection data is less, be such as 10ms) when, the error of this approximation is minimum.
Certainly, above-mentioned defining method also enumerates position and attitude count value corresponding to the position and attitude data situation identical with a certain line image count value, this belongs in an above-mentioned adjacent position attitude count value and No. two adjacent position attitude count values one situation equal with this line image count value, does not affect the correctness of this defining method.In this case, (or the record moment of this position and attitude count value is claimed in the record moment of this line image count value, the two is identical), the accurate location attitude data that POS and linear array push sweep imaging sensor is position and attitude data corresponding to this position and attitude count value, like this, just the position and attitude data corresponding to line image data corresponding for this line image count value and this position and attitude count value can be set up corresponding relation, both confirmations are synchronous in time.
Step 103: the accurate location attitude data three in the record moment of line image data corresponding to each line image count value, this line image count value and this line image count value is set up corresponding relation, thus makes position and attitude data and line image data reach synchronous in time.
Accurate location attitude data in this step is from step 102, line image data in itself and this step correspond to same line image count value, this also means that the acquisition time of the two is identical, thus this also just achieves object of the present invention, under the prerequisite without the need to arranging special pulse trigger, position and attitude data and linear array push that POS is recorded are swept the line image data that imaging sensor records and are reached synchronous in time.
As can be seen here, in the present invention, POS and linear array push are swept imaging sensor and to be positioned in identical platform and to keep geo-stationary, and the position and attitude data that thus POS records can think that linear array push sweeps the position and attitude data of imaging sensor.Often receive the position and attitude data that POS sends, detect the current count value of also recording counter in real time as the position and attitude count value corresponding with these position and attitude data, this just establishes the corresponding relation between position and attitude data and position and attitude count value, often receive linear array push and sweep the line image data that imaging sensor sends, real-time detection the current count value of recording counter are as the line image count value corresponding with these line image data, and this just establishes the corresponding relation between line image data and line image count value, like this, POS and linear array push are swept the data that imaging sensor records respectively and are just established corresponding relation with the count value of same counter, the present invention is according to each position attitude count value and position and attitude data corresponding respectively thereof, can determine that POS and linear array push sweep the accurate location attitude data of imaging sensor in the record moment of each line image count value, and then by each line image count value, the accurate location attitude data three in the record moment of the line image data that this line image count value is corresponding and this line image count value sets up corresponding relation, thus make position and attitude data and line image data reach synchronous in time.Visible, the present invention is without the need to arranging special pulse trigger hardware, only using the count value of same counter as medium, sweep the data that imaging sensor records separately with regard to making POS and linear array push and establish temporal contact, and then by count value continuity in time, make position and attitude data and line image data reach synchronous in time.
Before step 101, step 100-1 can also be comprised: position and attitude sequence number and picture numbers are all set to 0.
Then above-mentioned step 101 may further include:
Often receive the position and attitude data that POS sends, position and attitude sequence number is added 1 automatically, detect and the current count value of recording counter simultaneously in real time, by itself and this position and attitude data, automatically add the position and attitude sequence number obtained after 1 and set up corresponding relation;
Often receive linear array push and sweep the line image data that imaging sensor sends, picture numbers is added 1 automatically, detect in real time and the current count value of recording counter simultaneously, by itself and this line image data, automatically add the picture numbers obtained after 1 and set up corresponding relation.
Visible, the method is provided with position and attitude sequence number and these two parameters of picture numbers, and the two, all from 0, increases in units of 1.Like this, just all be provided with corresponding sequence number for each position and attitude data and each line image data, this is conducive to the problem solving loss of data, such as, POS is by the mountain ridge, when buildingss etc. stop, usually can there is the loss of data, because data volume is extremely huge, the loss of this data is again indiscoverable, and the loss of data can cause the gross error of mapped results, therefore, the present invention is that each position and attitude data and each line image data are all provided with corresponding sequence number, thus avoid mapping mistake that loss of data causes (such as, the modes such as blank can be drawn in the position of obliterated data and point out this place's position and attitude loss of data).
Before step 101, can also step 100-2 be comprised: the data transmitting period of setting POS, make POS periodically send position and attitude data.Like this, POS just can periodically send position and attitude data, and without the need to periodically having transmitted control signal to it.
Above-mentioned step 100-1 and 100-2 performs all before step 101, but the execution sequence of the present invention not conditioning step 100-1 and 100-2, namely first step 100-1 can be performed, also first step 100-2 can be performed.
Fig. 2 is the structural drawing of the control system of time synchronized provided by the invention.As shown in Figure 2, this control system comprises: controller 201, storer 202, counter 203, positioning and orientation system (POS) 205, linear array push sweep imaging sensor 204.Wherein, controller 201 is swept imaging sensor 204 with storer 202, counter 203, POS205, linear array push and is connected respectively, counter 203 counts with fixed frequency, POS205 and linear array push are swept imaging sensor 204 and are positioned in identical platform (as aircraft airborne platform), the two is close to each other (as zero distance contact or distance as far as possible little) and maintenance geo-stationary.
POS205 is used for, and obtains the position and attitude data that linear array push sweeps imaging sensor 204, and sends it to controller 201.Here, sweep imaging sensor 204 due to POS205 and linear array push and be positioned in identical platform, close to each other and keep geo-stationary, the linear array push that thus POS205 obtains sweeps the position and attitude data of imaging sensor 204, is also just the position and attitude data of self.
Linear array push sweep imaging sensor 204 for, obtain the line image data of the detection of a target (as ground, mountain peak etc.), and send it to controller 201;
Controller 201 for, often receive position and attitude data, the two correspondence, as the position and attitude count value corresponding with these position and attitude data, is delivered to storer 202 and is stored by the current count value obtaining in real time counter 203; Often receive line image data, the two correspondence, as the line image count value corresponding with these line image data, is delivered to storer 202 and is stored by the current count value obtaining counter 203 in real time; According to each position attitude count value and position and attitude data corresponding respectively thereof, determine that POS205 and linear array push sweep the accurate location attitude data of imaging sensor 204 in the record moment of each line image count value; The accurate location attitude data three in the record moment of line image data corresponding to each line image count value, this line image count value and this line image count value is set up corresponding relation, thus makes position and attitude data and line image data reach synchronous in time.
Here counter 203 can be 8253 programmable counters, also can be 8254 programmable counters.The central processing unit (CPU) of controller 201 available computers realizes.POS205 can realize with the combination of GPS and INS, also can realize with the combination of odometer and IMU.
In fact, here controller 201, storer 202 sum counter 203 can be arranged in same computing machine, like this, POS205 and linear array push are swept imaging sensor 204 and are namely achieved a butt joint by the interface (as serial ports, parallel port, USB interface, infrared interface, blue tooth interface etc.) that data line is corresponding on computing machine by respective intrinsic interface, thus realize the transmission of data.This can save the design of special pulse trigger hardware.
As can be seen here, the present invention has the following advantages:
(1), in the present invention, POS and linear array push are swept imaging sensor and to be positioned in identical platform and to keep geo-stationary, and the position and attitude data that thus POS records can think that linear array push sweeps the position and attitude data of imaging sensor.Often receive the position and attitude data that POS sends, detect the current count value of also recording counter in real time as the position and attitude count value corresponding with these position and attitude data, this just establishes the corresponding relation between position and attitude data and position and attitude count value, often receive linear array push and sweep the line image data that imaging sensor sends, real-time detection the current count value of recording counter are as the line image count value corresponding with these line image data, and this just establishes the corresponding relation between line image data and line image count value, like this, POS and linear array push are swept the data that imaging sensor records respectively and are just established corresponding relation with the count value of same counter, the present invention is according to each position attitude count value and position and attitude data corresponding respectively thereof, can determine that POS and linear array push sweep the accurate location attitude data of imaging sensor in the record moment of each line image count value, and then by each line image count value, the accurate location attitude data three in the record moment of the line image data that this line image count value is corresponding and this line image count value sets up corresponding relation, thus make position and attitude data and line image data reach synchronous in time.Visible, the present invention is without the need to arranging special pulse trigger hardware, only using the count value of same counter as medium, sweep the data that imaging sensor records separately with regard to making POS and linear array push and establish temporal contact, and then by count value continuity in time, make position and attitude data and line image data reach synchronous in time.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a control method for time synchronized, the method is swept for the position and attitude data that make positioning and orientation system and record and linear array push the line image data that imaging sensor records and is reached synchronous in time; Wherein, positioning and orientation system and described linear array push are swept imaging sensor and to be positioned in identical platform and to keep geo-stationary; It is characterized in that, the method comprises:
Step 1: often receive the described position and attitude data that positioning and orientation system is sent, detects the current count value of also recording counter in real time as the position and attitude count value corresponding with these position and attitude data; Often receive described linear array push and sweep the described line image data that imaging sensor sends, detect in real time and the current count value recording described counter as the line image count value corresponding with these line image data;
Step 2: according to each described position and attitude count value and respectively corresponding described position and attitude data thereof and each line image count value, determine the accurate location attitude data in described linear array push record moment of line image count value of sweeping imaging sensor described in each, comprise: determine the adjacent position attitude count value that each described line image count value is corresponding and No. two adjacent position attitude count values, wherein, a described adjacent position attitude count value is be not less than this line image count value and with it apart from minimum position and attitude count value, described No. two adjacent position attitude count values are be not more than this line image count value and with it apart from minimum position and attitude count value, position and attitude data corresponding to a described adjacent position attitude count value corresponding for each described line image count value and No. two nearlyer persons of adjacent position this line image count value of attitude count value middle distance are swept the accurate location attitude data of imaging sensor in the record moment of this line image count value as described linear array push,
Step 3: the described accurate location attitude data three in the record moment of described line image data corresponding to line image count value described in each, this line image count value and this line image count value is set up corresponding relation, thus makes described position and attitude data reach synchronous in time with described line image data.
2. method according to claim 1, is characterized in that, described position and attitude data comprise header and data volume, and in described step 1, described header is first sent by positioning and orientation system than described data volume; Then in described step 1, often receive the described position and attitude data that positioning and orientation system is sent, to detect in real time and the current count value of recording counter as the method for the position and attitude count value corresponding with these position and attitude data is:
Often receive the described header of the described position and attitude data that positioning and orientation system is sent, detect the current count value of also recording counter in real time as the position and attitude count value corresponding with these position and attitude data.
3. method according to claim 1, is characterized in that,
Before described step 1, also comprise step 0-1: position and attitude sequence number and picture numbers are all set to 0;
Then described step 1 comprises:
Often receive the described position and attitude data that positioning and orientation system is sent, described position and attitude sequence number is added 1 automatically, detect and the current count value of recording counter simultaneously in real time, by itself and this position and attitude data, automatically add the position and attitude sequence number obtained after 1 and set up corresponding relation;
Often receive described linear array push and sweep the described line image data that imaging sensor sends, described picture numbers is added 1 automatically, detect simultaneously in real time and record the current count value of described counter, by itself and this line image data, automatically adding the picture numbers obtained after 1 and set up corresponding relation.
4. method according to claim 1, is characterized in that, before described step 1, also comprises step 0-2: the data transmitting period of setting positioning and orientation system, makes positioning and orientation system periodically send described position and attitude data.
5. method according to claim 1, it is characterized in that, in described step 1, often receive described linear array push and sweep the described line image data that imaging sensor sends, to detect in real time and the current count value recording described counter as the method for the line image count value corresponding with these line image data is:
Sweep imaging sensor to described linear array push to transmit control signal, make it send described line image data, detect simultaneously in real time and the current count value recording described counter as the line image count value corresponding with these line image data.
6. a control system for time synchronized, is characterized in that, this control system comprises: controller, storer, counter, positioning and orientation system, linear array push sweep imaging sensor; Wherein,
Described controller is swept imaging sensor be connected respectively with described storer, counter, positioning and orientation system, linear array push; Described counter counts with fixed frequency; Positioning and orientation system and described linear array push are swept imaging sensor and to be positioned in identical platform and to keep geo-stationary;
Positioning and orientation system is used for, and obtains the position and attitude data that linear array push sweeps imaging sensor, and sends it to described controller;
Described linear array push sweep imaging sensor for, obtain the line image data of the detection of a target, and send it to described controller;
Described controller is used for, and often receives described position and attitude data, and the two correspondence, as the position and attitude count value corresponding with these position and attitude data, is delivered to described storer and stored by the current count value obtaining described counter in real time; Often receive described line image data, the two correspondence, as the line image count value corresponding with these line image data, is delivered to described storer and is stored by the current count value obtaining described counter in real time; According to each described position and attitude count value and respectively corresponding described position and attitude data thereof, determine the accurate location attitude data in positioning and orientation system and described linear array push record moment of line image count value of sweeping imaging sensor described in each; The described accurate location attitude data three in the record moment of described line image data corresponding to line image count value described in each, this line image count value and this line image count value is set up corresponding relation, thus makes described position and attitude data reach synchronous in time with described line image data.
7. the control system of time synchronized according to claim 6, is characterized in that, described counter is 8253 programmable counters, or is 8254 programmable counters.
8. the control system of time synchronized according to claim 6, is characterized in that, described controller is central processing unit.
9. the control system of time synchronized according to claim 6, is characterized in that, positioning and orientation system comprises:
GPS and inertial navigation system;
And/or, odometer and Inertial Measurement Unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110275372.1A CN102997898B (en) | 2011-09-16 | 2011-09-16 | Time synchronization control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110275372.1A CN102997898B (en) | 2011-09-16 | 2011-09-16 | Time synchronization control method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102997898A CN102997898A (en) | 2013-03-27 |
| CN102997898B true CN102997898B (en) | 2015-07-08 |
Family
ID=47926779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110275372.1A Active CN102997898B (en) | 2011-09-16 | 2011-09-16 | Time synchronization control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102997898B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10180340B2 (en) * | 2014-10-09 | 2019-01-15 | Invensense, Inc. | System and method for MEMS sensor system synchronization |
| CN110231028B (en) * | 2018-03-05 | 2021-11-30 | 北京京东乾石科技有限公司 | Aircraft navigation method, device and system |
| CN110928175B (en) * | 2019-12-19 | 2020-10-30 | 中国地震局地质研究所 | Camera time synchronization system based on LED lamp |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1184929A (en) * | 1996-12-12 | 1998-06-17 | 中国科学院遥感应用研究所 | Apparatus and method for remote sensing multi-dimension information integration |
| CN1732370A (en) * | 2002-12-27 | 2006-02-08 | 有泽博 | Multi-view-point video capturing system |
| CN101162265A (en) * | 2006-10-12 | 2008-04-16 | 华晶科技股份有限公司 | Satellite positioning recording apparatus and recording method |
| TW201007202A (en) * | 2008-08-08 | 2010-02-16 | Mobile Action Technology Inc | Information processing method and system thereof |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003139838A (en) * | 2001-10-30 | 2003-05-14 | Mitsui & Co Ltd | Gps positioning system |
| JP4858608B2 (en) * | 2009-12-15 | 2012-01-18 | カシオ計算機株式会社 | POSITIONING DEVICE, POSITIONING METHOD, PROGRAM, AND IMAGING DEVICE |
-
2011
- 2011-09-16 CN CN201110275372.1A patent/CN102997898B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1184929A (en) * | 1996-12-12 | 1998-06-17 | 中国科学院遥感应用研究所 | Apparatus and method for remote sensing multi-dimension information integration |
| CN1732370A (en) * | 2002-12-27 | 2006-02-08 | 有泽博 | Multi-view-point video capturing system |
| CN101162265A (en) * | 2006-10-12 | 2008-04-16 | 华晶科技股份有限公司 | Satellite positioning recording apparatus and recording method |
| TW201007202A (en) * | 2008-08-08 | 2010-02-16 | Mobile Action Technology Inc | Information processing method and system thereof |
Non-Patent Citations (1)
| Title |
|---|
| 基于多传感器融合的车载移动测图系统研究;陈允芳等;《测绘通报》;20070326(第1期);第5-7,19页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102997898A (en) | 2013-03-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108900272B (en) | Sensor data acquisition method and system and packet loss judgment method | |
| CN102735263B (en) | Whole-course real-time detection system of spatial stereoscopic plotting camera time synchronization accuracy and method thereof | |
| CN102636788B (en) | Ranging method and system for tracking laser point | |
| CN102980556B (en) | A kind of distance-finding method and device | |
| CN103926927A (en) | Binocular vision positioning and three-dimensional mapping method for indoor mobile robot | |
| CN103714571A (en) | Single camera three-dimensional reconstruction method based on photogrammetry | |
| KR20140049361A (en) | Multiple sensor system, and apparatus and method for three dimensional world modeling using the same | |
| CN103438864B (en) | Engineering slope real-time digital geological record system | |
| CN104515498B (en) | Laser measurement system | |
| CN102679961A (en) | Portable four-camera three-dimensional photographic measurement system and method | |
| CN102997898B (en) | Time synchronization control method and system | |
| CN104864866A (en) | Aerial vehicle flight error correcting device and correcting method as well as unmanned aerial vehicle | |
| CN108881667A (en) | A kind of multi-angle of view image acquisition device | |
| CN114755693B (en) | Infrastructure facility measuring system and method based on multi-rotor unmanned aerial vehicle | |
| WO2020133105A1 (en) | Timing method, switching method, apparatus, control system, and unmanned aerial vehicle | |
| CN102289231B (en) | Receiving control circuit synchronized with absolute time of photoelectric tracer | |
| CN103795935A (en) | Camera shooting type multi-target locating method and device based on image rectification | |
| CN111238531B (en) | Astronomical calibration controller IP core and calibration method thereof | |
| CN108318053A (en) | A kind of space optical remote camera imaging moment stated accuracy measurement method and system | |
| CN206601498U (en) | Housing demolition remote supervision system based on satellite remote sensing images | |
| CN204228958U (en) | To take photo by plane laser ranging device for dotting | |
| CN104501745A (en) | Photoelectronic imaging system optical axis difference rapid detection method and device | |
| CN109141363A (en) | Unmanned plane high-precision dual camera oblique photograph measuring system | |
| CN204679122U (en) | A kind of high integrated multifunction handheld terminal | |
| CN204594468U (en) | Aircraft flight error correction device and unmanned vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |