| CPC H04W 56/0015 (2013.01) [H04J 3/0661 (2013.01); H04L 5/0051 (2013.01)] | 8 Claims |
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1. A multi-sensor synchronization method comprising the steps of:
receiving, by a synchronization device, a reference signal for synchronizing a plurality of sensors from a Global Positioning System (GPS) device;
generating, by the synchronization device, a trigger signal for each of the plurality of sensors based on the reference signal;
recording, by the synchronization device, a time stamp for the trigger signal based on time information included in the reference signal;
acquiring, by the synchronization device, a sample indicating a current position of a LiDAR of the plurality of sensors at every preset output period from the LiDAR;
deriving, by the synchronization device, trigger timing, which is an expected time for the LiDAR to rotate from the current position to a trigger target, based on the sample; and
transmitting, by the synchronization device, the trigger signal including the time information recorded in the time stamp to each of the plurality of sensors,
wherein the step of deriving the trigger timing includes the steps of:
deriving, by the synchronization device, an average value by dividing a total sum of a value of difference between a rotation angle indicating the current position of the LiDAR included in the acquired sample and a rotation angle included in a previously acquired sample by an accumulated number of acquired samples;
repeating, by the synchronization device, the step of the acquiring the sample when the accumulated number of the acquired samples is smaller than a predetermined target number of samples; and
deriving the trigger timing based on the average value when the accumulated number of the acquired samples is equal to the predetermined target number of samples.
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