CN112484711B - Direction angle measurement delay system and method based on electronic compass - Google Patents
Direction angle measurement delay system and method based on electronic compass Download PDFInfo
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Abstract
The invention discloses a direction angle measurement delay system and method based on an electronic compass, and belongs to the technical field of electronic compasses. According to the method, a main control module starts a timestamp alignment request, records a current main control timestamp according to the timestamp alignment request, and sends the current main control timestamp to an electronic compass steering angle measuring module, the electronic compass steering angle measuring module records the current measuring timestamp and sends the current measuring timestamp to the main control module when receiving the current main control timestamp, the main control module records a receiving timestamp when receiving the current measuring timestamp, and the main control module determines delay time according to the current main control timestamp, the current measuring time and the recording receiving timestamp, so that the problem that the time delay of an automatic driving steering angle measuring system is uncertain is solved, the complexity of automatic driving upper-layer software is obviously reduced, and the cost is reduced.
Description
Technical Field
The invention relates to the technical field of electronic compasses, in particular to a direction angle measurement delay system and method based on an electronic compass.
Background
The automatic driving vehicle is an important component of a future intelligent traffic system, and the direction angle measurement of the existing automatic driving system generally cannot clearly acquire the accurate time of the direction angle measurement or the delay of the direction angle measurement, so that extremely high requirements are provided for the local path planning and motion control algorithm of automatic driving, and the cost of the whole system is obviously increased.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a direction angle measurement delay system and method based on an electronic compass, and aims to solve the problem that the time delay of an automatic driving direction angle measurement system is uncertain, and obviously reduce the complexity of automatic driving upper-layer software, so that the cost is reduced.
In order to achieve the above object, the present invention provides an electronic compass-based direction angle measurement delay system, including: the electronic compass comprises an electronic compass steering angle measuring module and a main control module;
the main control module is used for starting a timestamp alignment request, recording a current main control timestamp according to the timestamp alignment request, and sending the current main control timestamp to the electronic compass steering angle measuring module;
the electronic compass steering angle measuring module is used for recording the current measuring time stamp when receiving the current master control time stamp and sending the current measuring time stamp to the master control module;
the main control module is further used for recording a receiving time stamp when the current measuring time stamp is received;
the main control module is further configured to determine a delay time according to the current main control timestamp, the current measurement time, and the record receiving timestamp.
Optionally, the electronic compass steering angle measurement module includes: a receiving module and a microcontroller;
the receiving module is used for receiving the current master control timestamp and sending the current master control timestamp to the microcontroller;
and the microcontroller is used for recording the current measurement timestamp when receiving the current master control timestamp and sending the current measurement timestamp to the master control module.
Optionally, the receiving module includes at least one of a serial module, a bluetooth module, and an ethernet module.
Optionally, the master control module is further configured to determine a receiving time difference with the microcontroller according to the current master control timestamp and the current measurement timestamp;
the master control module is further used for determining a sending time difference with the microcontroller according to the current measuring time and the record receiving time stamp;
the main control module is further configured to determine a delay time according to the receiving time difference and the sending time difference.
Optionally, the main control module is further configured to determine whether the receiving time difference is smaller than the sending time difference, and determine a delay time according to the receiving time difference and the sending time difference when the receiving time difference is smaller than the sending time difference.
Further, to achieve the above object, the present invention also provides a method for measuring a delay of a steering angle based on an electronic compass, which is applied to a system for measuring a delay of a steering angle based on an electronic compass, the system for measuring a delay of a steering angle based on an electronic compass comprising: the electronic compass comprises an electronic compass steering angle measuring module and a main control unit module;
the direction angle measurement delay method based on the electronic compass comprises the following steps:
the master control module starts a timestamp alignment request, records a current master control timestamp according to the timestamp alignment request, and sends the current master control timestamp to the electronic compass steering angle measuring module;
when the electronic compass steering angle measuring module receives the current master control timestamp, recording the current measurement timestamp, and sending the current measurement timestamp to the master control module;
when the main control module receives the current measuring time stamp, recording the receiving time stamp;
and the master control module determines delay time according to the current master control timestamp, the current measurement time and the record receiving timestamp.
Optionally, the electronic compass steering angle measurement module includes: a receiving module and a microcontroller;
when receiving the current master control timestamp, the electronic compass steering angle measurement module records the current measurement timestamp and sends the current measurement timestamp to the master control module, and the method comprises the following steps:
the receiving module receives the current master control timestamp and sends the current master control timestamp to the microcontroller;
and when receiving the current master control timestamp, the microcontroller records the current measurement timestamp and sends the current measurement timestamp to the master control module.
Optionally, the determining, by the master control module, a delay time according to the current master control timestamp, the current measurement time, and the record receiving timestamp includes:
the master control module determines a receiving time difference with the microcontroller according to the current master control timestamp and the current measurement timestamp;
the master control module determines a sending time difference with the microcontroller according to the current measuring time and the recording receiving time stamp;
and the main control module determines delay time according to the receiving time difference and the sending time difference.
Optionally, before the main control module determines the delay time according to the receiving time difference and the sending time difference, the method further includes:
and the main control module judges whether the receiving time difference is smaller than the sending time difference or not, and executes the step of determining the delay time according to the receiving time difference and the sending time difference when the receiving time difference is smaller than the sending time difference.
Optionally, the main control module includes at least one of a serial port module, a bluetooth module, and an ethernet module.
According to the method, a main control module starts a timestamp alignment request, records a current main control timestamp according to the timestamp alignment request, and sends the current main control timestamp to an electronic compass steering angle measuring module, the electronic compass steering angle measuring module records the current measuring timestamp and sends the current measuring timestamp to the main control module when receiving the current main control timestamp, the main control module records a receiving timestamp when receiving the current measuring timestamp, and the main control module determines delay time according to the current main control timestamp, the current measuring time and the recording receiving timestamp, so that the problem that the time delay of an automatic driving steering angle measuring system is uncertain is solved, the complexity of automatic driving upper-layer software is obviously reduced, and the cost is reduced.
Drawings
FIG. 1 is a block diagram of a first embodiment of an electronic compass-based directional angle measurement delay system according to the present invention;
FIG. 2 is a block diagram of a second embodiment of the electronic compass-based directional angle measurement delay system of the present invention;
FIG. 3 is a schematic flow chart of a first embodiment of a method for measuring a delay of a direction angle based on an electronic compass according to the present invention;
fig. 4 is a schematic flow chart of a second embodiment of the method for measuring a delay of a direction angle based on an electronic compass according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a block diagram illustrating a first embodiment of a direction angle measurement delay system according to the present invention.
In this embodiment, the electronic compass-based direction angle measurement delay system includes: the electronic compass direction angle measuring module 10 and the main control module 20 are configured to communicate with each other through at least one of a serial port module, a bluetooth module, and an ethernet module, which is not limited in this embodiment. In this embodiment, the direction angle measurement delay system based on the electronic compass can provide a delay of a direction angle measurement result in real time, perform corresponding delay time calculation according to clear time information, and the electronic compass direction angle measurement module 10 is responsible for measuring a direction angle of a vehicle and then continuously sends the measurement result to the automatic driving main control module 20; the main control module 20 is used to control the whole automatic driving system, and is the most important part for processing various sensor data, making decisions through calculation and outputting driving behaviors.
It should be noted that, in this embodiment, the main control module 20 may be an automatic driving main control unit, after the automatic driving system is started, a timestamp of a system clock is attached to a measurement value of each sensor, and when the automatic driving main control unit can make a request for aligning the timestamps, the automatic driving main control unit matches the timestamps synchronously and records the current main control timestamp. In addition, the current master timestamp is a time record of the start timestamp alignment request, and this embodiment does not limit the current master timestamp, and the current master timestamp is taken as T1 for example. After the current master control timestamp is recorded according to the timestamp alignment request, the current master control timestamp is sent to the electronic compass steering angle measurement module 10, the delay time cannot be clearly measured at present, the electronic compass steering angle measurement delay time can be further determined according to the clear instruction time of the master control module, and the accuracy of the electronic compass steering angle measurement delay time is improved.
In this embodiment, the electronic compass steering angle measuring module 10 includes a receiving module and a microcontroller, and is mainly configured to synchronously record the current measurement timestamp when receiving the current master control timestamp. In addition, the current measurement timestamp is a time record when the current master control timestamp is received, the current measurement timestamp is not limited in this embodiment, and the current measurement timestamp T2 is taken as an example to explain, the electronic compass steering angle measurement module 10 sends the current measurement timestamp recorded when the current master control timestamp is received to the master control module 20, and the accuracy of the measurement delay time of the electronic compass steering angle can be improved by the explicit receiving time of the electronic compass steering angle measurement module.
In specific implementation, the receiving module receives the current master control timestamp and sends the current master control timestamp to the microcontroller, and the microcontroller records the current measurement timestamp and sends the current measurement timestamp to the master control module 20 when receiving the current master control timestamp.
It should be noted that the receiving module includes at least one of a serial module, a bluetooth module, and an ethernet module, and the receiving module is not limited in this embodiment.
In a specific implementation, when the main control module 20 receives the current measurement timestamp, the main control module 20 synchronously records and stores the reception timestamp in the main control module 20. The reception time stamp is a record of the time when the current measurement time stamp is received, and the reception time stamp is not limited in the present embodiment, and the reception time stamp T3 is taken as an example for description.
In this embodiment, the main control module 20 receives the current main control timestamp, the current measurement time, and the record receiving timestamp, and performs delay analysis on the electronic compass steering angle according to the current main control timestamp, the current measurement time, and the record receiving timestamp, so as to determine the delay time of the electronic compass steering angle.
In specific implementation, the difference between the current master control timestamp and the current measurement timestamp is the receiving time difference from the master control module 20 to the electronic compass steering angle module 10, the difference between the current measurement timestamp and the recorded receiving timestamp is the sending time difference from the electronic compass steering angle module 10 to the master control module 20, and the delay time of the electronic compass steering angle can be calculated according to the receiving time difference and the sending time difference, so that the delay time can be determined.
It should be noted that the main control module 20 includes at least one of a serial module, a bluetooth module, and an ethernet module, and the transmission mode included in the main control module 20 is not limited in this embodiment.
In this embodiment, a master control module starts a timestamp alignment request, records a current master control timestamp according to the timestamp alignment request, and sends the current master control timestamp to an electronic compass direction angle measurement module, the electronic compass direction angle measurement module records the current measurement timestamp when receiving the current master control timestamp, and sends the current measurement timestamp to the master control module, the master control module records a receiving timestamp when receiving the current measurement timestamp, and the master control module determines delay time according to the current master control timestamp, the current measurement time, and the recording receiving timestamp, so that the problem that the time delay of an automatic driving direction angle measurement system is uncertain is solved, the complexity of automatic driving upper-layer software is remarkably reduced, and the cost is reduced.
Referring to fig. 2, fig. 2 is a block diagram of a second embodiment of the electronic compass-based direction angle measurement delay system according to the present invention, and the second embodiment of the electronic compass-based direction angle measurement delay system according to the present invention is proposed based on the first embodiment.
It should be noted that, the main control module 20 'synchronously records the instruction time of the transmission timestamp when transmitting the instruction of the timestamp, that is, the current main control timestamp T1, and transmits the current main control timestamp T1 to the microcontroller of the electronic compass direction angle measurement module, when receiving the current main control timestamp T1, the microcontroller of the compass direction angle measurement module synchronously records the time corresponding to the received previous main control timestamp T1, that is, the current measurement timestamp T2, and then transmits the current measurement timestamp T2 to the main control module 20', and a time difference is formed between the reception of the current main control timestamp T1 and the recording of the current measurement timestamp T2.
In a specific implementation, the receiving time difference is calculated by the current master timestamp T1 and the current measurement timestamp T2, that is, the receiving time difference is T2-T1.
It should be noted that, when receiving the current measurement time stamp T2 sent by the microcontroller of the compass direction angle measurement module, the main control module 20 'synchronously records the time corresponding to the received current measurement time stamp T2, that is, the record receiving time stamp T3, and stores the record receiving time stamp in the main control module 20', and a time difference is formed between the sending of the current measurement time T2 and the recording of the corresponding record receiving time stamp T3.
In a specific implementation, the receiving time difference is calculated by recording the sending time stamp T3 and the current measurement time stamp T2, that is, the sending time difference is T3-T2.
It should be noted that, the delay time is not limited in this embodiment, and the delay time Δ is taken as an example for explanation, because the delay of the measurement of the steering angle of the electronic compass is generated, the delay Δ of the time data transmission or reception through the electronic compass is generated, and the accurate current measurement time stamp is T2+ Δ, so that according to the actual situation, the reception time difference should be smaller than the transmission time difference, and the step of determining the delay time by the main control module 20' according to the reception time difference and the transmission time difference may be executed.
It can be understood that, in the time stamp alignment process, the receiving time difference and the transmitting time difference should be equal without generating a delay, and due to the delay of the electronic compass steering angle measurement, T3- (T2+ Δ) ═ T2+ Δ) -T1 can be determined due to the delay time, thereby obtaining:
in this embodiment, the receiving time difference of the microcontroller is determined by the current master control timestamp and the current measurement timestamp, the sending time difference of the microcontroller is determined by the current measurement timestamp and the recording receiving timestamp, and the delay time is determined by calculation and analysis by the receiving time difference and the sending time difference, so that the problem of uncertainty of the time delay of the automatic driving direction angle measurement system is accurately solved.
Referring to fig. 3, fig. 3 is a schematic flowchart of a first embodiment of the electronic-compass-based direction angle measurement delay method according to the present invention, where the electronic-compass-based direction angle measurement delay method is applied to an electronic-compass-based direction angle measurement delay system, and the electronic-compass-based direction angle measurement delay system includes: the electronic compass comprises an electronic compass steering angle measuring module and a main control unit module;
the direction angle measurement delay method based on the electronic compass comprises the following steps:
step S10: the main control module starts a timestamp alignment request, records a current main control timestamp according to the timestamp alignment request, and sends the current main control timestamp to the electronic compass steering angle measuring module.
In this embodiment, the electronic compass-based direction angle measurement delay system includes: the electronic compass comprises an electronic compass steering angle measuring module and a main control module, wherein the electronic compass steering angle measuring module and the main control module communicate with each other through at least one of a serial port module, a bluetooth module and an ethernet module, and the embodiment is not limited. In this embodiment, the electronic compass-based direction angle measurement delay system is capable of giving a delay of a direction angle measurement result in real time, and performing corresponding delay time calculation according to definite time information, the electronic compass-based direction angle measurement module is responsible for measuring a direction angle of a vehicle, and then continuously sending the measurement result to the automatic driving main control module, and the main control module is used for controlling the whole automatic driving system, and is the most important part for processing various sensor data, making a decision through calculation, and outputting driving behaviors.
It should be noted that, in this embodiment, the main control module may be an automatic driving main control unit, after the automatic driving system is started, a timestamp of a system clock is attached to a measurement value of each sensor, and when the automatic driving main control unit can be aligned to a request by starting the timestamp, the automatic driving main control unit is synchronously matched with the time to record a current main control timestamp. In addition, the current master timestamp is a time record of the start timestamp alignment request, and this embodiment does not limit the current master timestamp, and the current master timestamp is taken as T1 for example. After the current master control timestamp is recorded according to the timestamp alignment request, the current master control timestamp is sent to the electronic compass steering angle measurement module, the delay time cannot be clearly measured at present, the electronic compass steering angle measurement delay time can be further determined through the clear instruction time of the master control module, and the accuracy of the electronic compass steering angle measurement delay time is improved.
Step S20: and the electronic compass steering angle measuring module records the current measuring time stamp when receiving the current master control time stamp and sends the current measuring time stamp to the master control module.
In this embodiment, the electronic compass steering angle measurement module includes a receiving module and a microcontroller, and is mainly configured to synchronously record the current measurement timestamp when receiving the current master control timestamp. In addition, the current measurement timestamp is the time record when receiving the current master control timestamp, and this embodiment does not limit the current measurement timestamp, explains taking current measurement timestamp T2 as an example, and the electronic compass steering angle measurement module sends the current measurement timestamp of receiving when the current master control timestamp to the master control module with recording, and the accuracy of electronic compass steering angle measurement delay time can be promoted through the clear receiving time of the electronic compass steering angle measurement module.
In specific implementation, the receiving module receives the current master control timestamp and sends the current master control timestamp to the microcontroller, and the microcontroller records the current measurement timestamp and sends the current measurement timestamp to the master control module when receiving the current master control timestamp.
It should be noted that the receiving module includes at least one of a serial module, a bluetooth module, and an ethernet module, and the receiving module is not limited in this embodiment.
Step S30: and the main control module records the receiving time stamp when receiving the current measuring time stamp.
In a specific implementation, when the main control module receives the current measurement timestamp, the main control module synchronously records the reception timestamp and stores the reception timestamp in the main control module. The reception time stamp is a record of the time when the current measurement time stamp is received, and the reception time stamp is not limited in the present embodiment, and the reception time stamp T3 is taken as an example for description.
Step S40: and the master control module determines delay time according to the current master control timestamp, the current measurement time and the record receiving timestamp.
In this embodiment, the main control module receives the current master control timestamp, the current measurement time and the record receiving timestamp, and performs delay analysis on the electronic compass steering angle according to the current master control timestamp, the current measurement time and the record receiving timestamp, so as to determine the delay time of the electronic compass steering angle.
In specific implementation, the difference between the current master control timestamp and the current measurement timestamp is the receiving time difference from the master control module to the electronic compass steering angle module, the difference between the current measurement timestamp and the recorded receiving timestamp is the sending time difference from the electronic compass steering angle module to the master control module, and the delay time of the electronic compass steering angle can be calculated according to the receiving time difference and the sending time difference.
It should be noted that the main control module includes at least one of a serial port module, a bluetooth module, and an ethernet module, and the transmission mode included in the main control module is not limited in this embodiment.
In this embodiment, a master control module starts a timestamp alignment request, records a current master control timestamp according to the timestamp alignment request, and sends the current master control timestamp to an electronic compass direction angle measurement module, the electronic compass direction angle measurement module records the current measurement timestamp when receiving the current master control timestamp, and sends the current measurement timestamp to the master control module, the master control module records a receiving timestamp when receiving the current measurement timestamp, and the master control module determines delay time according to the current master control timestamp, the current measurement time, and the recording receiving timestamp, so that the problem that the time delay of an automatic driving direction angle measurement system is uncertain is solved, the complexity of automatic driving upper-layer software is remarkably reduced, and the cost is reduced.
Fig. 4 is a schematic flowchart of a second embodiment of the method for delaying measurement of a direction angle based on an electronic compass according to the present invention, and the second embodiment of the method for delaying measurement of a direction angle based on an electronic compass according to the present invention is proposed based on the first embodiment.
In this embodiment, the step S40 includes:
step S401: and the master control module determines the receiving time difference with the microcontroller according to the current master control time stamp and the current measurement time stamp.
It should be noted that, the master control module synchronously records the instruction time of the transmission timestamp when transmitting the instruction of the timestamp, that is, the current master control timestamp T1, and transmits the current master control timestamp T1 to the microcontroller of the electronic compass direction angle measurement module, when receiving the current master control timestamp T1, the microcontroller of the compass direction angle measurement module synchronously records the time corresponding to the previous master control timestamp T1, that is, the current measurement timestamp T2, and then transmits the current measurement timestamp T2 to the master control module, and a time difference is formed between receiving the current master control timestamp T1 and recording the current measurement timestamp T2.
In a specific implementation, the receiving time difference is calculated by the current master timestamp T1 and the current measurement timestamp T2, that is, the receiving time difference is T2-T1.
Step S402: and the main control module determines the sending time difference with the microcontroller according to the current measuring time and the recording receiving time stamp.
It should be noted that, when receiving the current measurement time stamp T2 sent by the microcontroller of the compass direction angle measurement module, the main control module synchronously records the time corresponding to the received current measurement time stamp T2, that is, records the received time stamp T3, and stores the recorded received time stamp T3 in the main control module, and a time difference is formed between the sending of the current measurement time T2 and the recording of the corresponding recorded received time stamp T3.
In a specific implementation, the receiving time difference is calculated by recording the sending time stamp T3 and the current measurement time stamp T2, that is, the sending time difference is T3-T2.
Step S403: and the main control module determines delay time according to the receiving time difference and the sending time difference.
It should be noted that, the delay time is not limited in this embodiment, and the delay time Δ is taken as an example for explanation, because the delay of the measurement of the steering angle of the electronic compass is generated, the delay Δ of the time that would be generated when the electronic compass transmits or receives the time data is, and the accurate current measurement time stamp is T2+ Δ, so that according to the actual situation, the receiving time difference should be smaller than the sending time difference, and the step of determining the delay time by the main control module according to the receiving time difference and the sending time difference may be executed.
It can be understood that, in the time stamp alignment process, the receiving time difference and the transmitting time difference should be equal without generating a delay, and due to the delay of the electronic compass steering angle measurement, T3- (T2+ Δ) ═ T2+ Δ) -T1 can be determined due to the delay time, thereby obtaining:
in this embodiment, the receiving time difference of the microcontroller is determined by the current master control timestamp and the current measurement timestamp, the sending time difference of the microcontroller is determined by the current measurement timestamp and the recording receiving timestamp, and the delay time is determined by calculation and analysis by the receiving time difference and the sending time difference, so that the problem of uncertainty of the time delay of the automatic driving direction angle measurement system is accurately solved.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. An electronic compass-based direction angle measurement delay system, comprising: the electronic compass comprises an electronic compass steering angle measuring module and a main control module;
the main control module is used for starting a timestamp alignment request, recording a current main control timestamp according to the timestamp alignment request, and sending the current main control timestamp to the electronic compass steering angle measuring module;
the electronic compass steering angle measuring module is used for recording the current measuring time stamp when receiving the current master control time stamp and sending the current measuring time stamp to the master control module;
the main control module is further used for recording a receiving time stamp when the current measuring time stamp is received;
the master control module is further configured to determine a delay time according to the current master control timestamp, the current measurement time, and the record receiving timestamp;
wherein, the electronic compass steering angle measuring module includes: a receiving module and a microcontroller;
the receiving module is used for receiving the current master control timestamp and sending the current master control timestamp to the microcontroller;
and the microcontroller is used for recording the current measurement timestamp when receiving the current master control timestamp and sending the current measurement timestamp to the master control module.
2. The electronic compass-based direction angle measurement delay system of claim 1, wherein the receiving module comprises at least one of a serial module, a bluetooth module, and an ethernet module.
3. The electronic compass-based directional angle measurement delay system of claim 1, wherein the master module is further configured to determine a receive time difference with the microcontroller based on the current master timestamp and the current measurement timestamp;
the master control module is further used for determining a sending time difference with the microcontroller according to the current measuring time and the record receiving time stamp;
the main control module is further configured to determine a delay time according to the receiving time difference and the sending time difference.
4. The system as claimed in claim 3, wherein the main control module is further configured to determine whether the receiving time difference is smaller than the transmitting time difference, and determine the delay time according to the receiving time difference and the transmitting time difference when the receiving time difference is smaller than the transmitting time difference.
5. An electronic compass-based direction angle measurement delay method is applied to an electronic compass-based direction angle measurement delay system, and the electronic compass-based direction angle measurement delay system includes: the electronic compass comprises an electronic compass steering angle measuring module and a main control module;
the direction angle measurement delay method based on the electronic compass comprises the following steps:
the master control module starts a timestamp alignment request, records a current master control timestamp according to the timestamp alignment request, and sends the current master control timestamp to the electronic compass steering angle measuring module;
when the electronic compass steering angle measuring module receives the current master control timestamp, recording the current measurement timestamp, and sending the current measurement timestamp to the master control module;
the main control module records a receiving time stamp when receiving the current measuring time stamp;
the master control module determines delay time according to the current master control timestamp, the current measurement time and the record receiving timestamp;
wherein, the electronic compass steering angle measuring module includes: a receiving module and a microcontroller;
when receiving the current master control timestamp, the electronic compass steering angle measurement module records the current measurement timestamp and sends the current measurement timestamp to the master control module, and the method comprises the following steps:
the receiving module receives the current master control timestamp and sends the current master control timestamp to the microcontroller;
and when receiving the current master control timestamp, the microcontroller records the current measurement timestamp and sends the current measurement timestamp to the master control module.
6. The electronic compass-based direction angle measurement delay method of claim 5, wherein the master module determining a delay time according to the current master timestamp, the current measurement time, and the record reception timestamp, comprises:
the master control module determines a receiving time difference with the microcontroller according to the current master control timestamp and the current measurement timestamp;
the master control module determines a sending time difference with the microcontroller according to the current measuring time and the recording receiving time stamp;
and the main control module determines delay time according to the receiving time difference and the sending time difference.
7. The method for delaying a measurement of a steering angle based on an electronic compass according to claim 6, wherein before the master module determines the delay time according to the receiving time difference and the transmitting time difference, further comprising:
and the main control module judges whether the receiving time difference is smaller than the sending time difference or not, and executes the step of determining the delay time according to the receiving time difference and the sending time difference when the receiving time difference is smaller than the sending time difference.
8. The electronic compass-based direction angle measurement delay method of any one of claims 5-7, wherein the master module comprises at least one of a serial port module, a Bluetooth module, and an Ethernet module.
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| CN106027193A (en) * | 2016-07-07 | 2016-10-12 | 广州市国飞信息科技有限公司 | Clock synchronization method, module, equipment and system for network timing system |
| CN110568753A (en) * | 2019-07-30 | 2019-12-13 | 青岛小鸟看看科技有限公司 | handle, head-mounted equipment, head-mounted system and time synchronization method thereof |
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| US20150244455A1 (en) * | 2012-03-27 | 2015-08-27 | Hangzhou H3C Technologies Co., Ltd. | Calculating time offset |
| RO131470A2 (en) * | 2015-04-10 | 2016-10-28 | Ixia, A California Corporation | Methods, systems and computer-readable media for one-way link delay measurement |
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| CN104486135A (en) * | 2014-11-18 | 2015-04-01 | 北京交控科技有限公司 | System and method for communication calibration of rail vehicle |
| CN106027193A (en) * | 2016-07-07 | 2016-10-12 | 广州市国飞信息科技有限公司 | Clock synchronization method, module, equipment and system for network timing system |
| CN110568753A (en) * | 2019-07-30 | 2019-12-13 | 青岛小鸟看看科技有限公司 | handle, head-mounted equipment, head-mounted system and time synchronization method thereof |
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