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lidar-imu-cam-GPS时间戳硬件同步方案
尊敬的作者:
您好!
看到您开源的硬件时间同步方案,有些细节问题想要向您请教一下。在方案中,您使用PPS信号作为整个系统的主时钟,相机触发信号由主时钟分频(INS完成)得到。这样的确做到了多个传感器的触发时间一致。但是对于工控机而言,由于各种传感器信号传递的数据量和所需时间不同,即使同时触发,工控机所得到的数据时间也有些许差异。请问这个问题应该如何解决呢?
另外由于相机回传的数据没有时间戳,工控机接受的数据只能按照接受到的ROS时间来做参考,一旦回传的数据掉帧或者过慢导致错位,则每一秒的“第一帧”无法对齐,后面的所有数据可能都会相应错误。这个问题您是怎样解决的呢?
非常感谢!期待您的回复!
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