论文标题
同步线模型 - 分析时间同步在传感器融合中的影响
The Syncline Model -- Analyzing the Impact of Time Synchronization in Sensor Fusion
论文作者
论文摘要
传感器融合算法的精度受到固有传感器噪声或传感器的时间同步质量的限制。虽然固有传感器噪声仅取决于相应的传感器，但由或缺乏同步引起的误差取决于车辆和机器人系统的动力学以及时间同步误差的大小。为了满足其传感器融合要求，系统设计人员必须考虑要使用哪种传感器，也必须考虑如何同步它们。本文介绍了Syncline模型，这是一个简单的视觉模型，即时间同步如何影响不同移动机器人平台传感器融合的准确性。该模型可以用作简单的工具，以确定应使用哪些同步机制。
The accuracy of sensor fusion algorithms are limited by either the intrinsic sensor noise, or by the quality of time synchronization of the sensors. While the intrinsic sensor noise only depends on the respective sensors, the error induced by quality of, or lack of, synchronization depends on the dynamics of the vehicles and robotic system and the magnitude of time synchronization errors. To meet their sensor fusion requirements, system designers must consider both which sensor to use and also how to synchronize them. This paper presents the Syncline model, a simple visual model of how time synchronization affects the accuracy of sensor fusion for different mobile robot platform. The model can serve as a simple tool to determine which synchronization mechanisms should be used.
