通过旋转运动检测传感器时间偏差并自动校正
Self-Assessment and Correction of Sensor Synchronization
- 利用函数相似性与滑动窗口估计动态时间偏移
- 可精准识别并修正时间戳错误，提升系统精度
- 适合自动驾驶中依赖精确时间戳的跟踪模块
我们提出一种基于刚性安装传感器旋转运动的时间同步评估方法。结合函数相似性度量与滑动窗口技术，该方法能够估计随时间变化的时间偏移，并据此修正测量数据中的错误时间戳。这有效缓解了同步问题对自主软件栈后续模块（如高度依赖准确时间戳的追踪系统）的影响。此外，我们推导出基于不确定性度量的自评估机制，并描述了相应的校正策略。通过包含不同误差模式的蒙特卡洛实验评估，结果表明该方法能准确估计时间偏移，从而有效检测和评估同步问题。为凸显其在自主系统中的重要性，我们进一步分析了时间不同步对追踪系统的影响，并验证了所提偏移校正的有效性。
原文摘要 · Abstract (English)
We propose an approach to assess the synchronization of rigidly mounted sensors based on their rotational motion. Using function similarity measures combined with a sliding window approach, our approach is capable of estimating time-varying time offsets. Further, the estimated offset allows the correction of erroneously assigned time stamps on measurements. This mitigates the effect of synchronization issues on subsequent modules in autonomous software stacks, such as tracking systems that heavily rely on accurate measurement time stamps. Additionally, a self-assessment based on an uncertainty measure is derived, and correction strategies are described. Our approach is evaluated with Monte Carlo experiments containing different error patterns. The results show that our approach accurately estimates time offsets and, thus, is able to detect and assess synchronization issues. To further embrace the importance of our approach for autonomous systems, we investigate the effect of synchronization inconsistencies in tracking systems in more detail and demonstrate the beneficial effect of our proposed offset correction.
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