Time Synchronization and Temporal Ordering of Asynchronous Sensor Measurements of a Multi-sensor Navigation System

J-O. Nilsson, P. Handel

Abstract:	In this article we propose a filter based method to solve the time synchronization and minimum delay temporal ordering problem of asynchronous sensor measurements. A problem which inevitably arise in the sensor fusion of a multi-sensor navigation system implemented in realtime on a general purpose operation system (OS) without using functionality dedicated to realtime applications. The time synchronization is done up to a constant error by linear filtering of time stamps given to each measurement. The filtered time stamps together with predicted future time stamps are then used in a measurement temporal ordering algorithm to achieve a minimal delay temporal ordering subject to a user specified jitter tolerance. Finally, experimental time synchronization and temporal ordering results from the system implemented with a typical set of navigation sensors are presented.
Published in:	Proceedings of IEEE/ION PLANS 2010 May 4 - 6, 2010 Renaissance Esmeralda Resort & Spa Indian Wells, CA
Pages:	897 - 902
Cite this article:	Nilsson, J-O., Handel, P., "Time Synchronization and Temporal Ordering of Asynchronous Sensor Measurements of a Multi-sensor Navigation System," Proceedings of IEEE/ION PLANS 2010, Indian Wells, CA, May 2010, pp. 897-902. https://doi.org/10.1109/PLANS.2010.5507193
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