System for processing asynchronous sensor data
First Claim
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1. A method of acquiring data from a first sensor apparatus, the method comprising:
- synchronizing a local clock signal with an external timing signal;
dividing a clock cycle of the local clock signal into a plurality of timing intervals, wherein the number of timing intervals is based at least in part on a framerate or resolution of a second sensor apparatus;
generating a plurality of sensor pulses based at least in part on framerates or resolutions of each of a plurality of sensors of the first sensor apparatus, wherein each of the plurality of sensor pulses are aligned with a respective one of the timing intervals;
receiving sensor data from the first sensor apparatus; and
determining a timing of the sensor data in relation to the local clock signal based at least in part on the plurality of sensor pulses.
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Abstract
A sensor synchronization system for a sensor apparatus. The system synchronizes a local clock signal with an external timing signal. For example, the external timing signal may correspond to a pulse per second (PPS) signal received from a global positioning system (GPS) receiver. The system further generates a plurality of sensor pulses that are each offset in phase relative to the local clock signal by a respective amount. The system then receives sensor data from the sensor apparatus, and determines a timing of the sensor data in relation to the local clock signal based at least in part on the plurality of sensor pulses.
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Citations
17 Claims
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1. A method of acquiring data from a first sensor apparatus, the method comprising:
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synchronizing a local clock signal with an external timing signal; dividing a clock cycle of the local clock signal into a plurality of timing intervals, wherein the number of timing intervals is based at least in part on a framerate or resolution of a second sensor apparatus; generating a plurality of sensor pulses based at least in part on framerates or resolutions of each of a plurality of sensors of the first sensor apparatus, wherein each of the plurality of sensor pulses are aligned with a respective one of the timing intervals; receiving sensor data from the first sensor apparatus; and determining a timing of the sensor data in relation to the local clock signal based at least in part on the plurality of sensor pulses. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A sensor synchronization system, comprising:
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clock synchronization circuitry to synchronize a local clock signal with an external timing signal; a memory that stores instructions for acquiring data from a first sensor apparatus; and one or more processors that, upon executing the instructions, cause the sensor synchronization system to; divide a clock cycle of the local clock signal into a plurality of timing intervals, wherein the number of timing intervals is based at least in part on a framerate or resolution of a second sensor apparatus; generate a plurality of sensor pulses based at least in part on framerates or resolutions of each of a plurality of sensors of the first sensor apparatus, wherein each of the plurality of sensor pulses are aligned with a respective one of the timing intervals; receive sensor data from the first sensor apparatus; and determine a timing of the sensor data in relation to the local clock signal based at least in part on the plurality of sensor pulses. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory computer-readable storage medium containing instructions that, when executed by a processor of a sensor synchronization system, causes the sensor synchronization system to:
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synchronize a local clock signal with an external timing signal; divide a clock cycle of the local clock signal into a plurality of timing intervals, wherein the number of timing intervals is based at least in part on a framerate or resolution of a second sensor apparatus; generate a plurality of sensor pulses based at least in part on framerates or resolutions of each of a plurality of sensors of a first sensor apparatus, wherein each of the plurality of sensor pulses are aligned with a respective one of the timing intervals; receive sensor data from the first sensor apparatus; and determine a timing of the sensor data in relation to the local clock signal based at least in part on the plurality of sensor pulses.
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Specification