低成本实时同步传感器与计算单元，提升机器人高精度估计可靠性。
Simultaneous Triggering and Synchronization of Sensors and Onboard Computers
- 使用现成组件构建可同时触发高低速传感器的同步系统。
- 实测验证系统能有效实现多源数据时间对齐。
- 适合需要实时数据同步的嵌入式机器人开发场景。
机器人高保真估计算法依赖精确的数据时间戳，但时间戳准确性常被忽视。不准确的时间戳虽可在离线处理中修正，但在在线估计中至关重要。即便通过放宽调参可缓解时间偏差问题，也会损害性能。为解决实时、低成本时间戳需求，本文提出一种基于通用组件与成熟方法的同步与触发系统，实现了高低速传感器的同步触发与时间对齐，验证了其在实际应用中的有效性。
原文摘要 · Abstract (English)
High fidelity estimation algorithms for robotics require accurate data. However, timestamping of sensor data is a key issue that rarely receives the attention it deserves. Inaccurate timestamping can be compensated for in post-processing but is imperative for online estimation. Simultaneously, even online mitigation of timing issues can be achieved through a relaxation of the tuning parameters from their otherwise more performative optimal values, but at a detriment to performance. To address the need for real-time, low-cost timestamping, a versatile system which utilizes readily-available components and established methods for synchronization is introduced. The synchronization and triggering (of both high- and low-rate sensors) capabilities of the system are demonstrated.
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