The invention discloses a time-space synchronization multi-sensor error analysis method and device. The method comprises the following steps: acquiring original data acquired by passing vehicles by an Internet of Things sensor pre-deployed at a roadside, and preprocessing the original data; converting the preprocessed data from an Internet of Things sensor coordinate system to a global coordinate system; establishing a space-time synchronization error model; wherein the space-time synchronization error model is used for representing the difference value of the positions obtained by the geomagnetic sensor and the millimeter wave radar for the same vehicle at the same moment; the space-time synchronization error model is composed of a time synchronization error, a space synchronization error and a sensor measurement error; based on data obtained by all Internet of Things sensors after coordinate conversion, respectively solving sensor measurement errors according to different vehicle types; and based on sensor measurement errors solved by different vehicle types, space synchronization errors of the different vehicle types are obtained in a fitting solution mode. According to the method, the problem of association errors of data of different sensor devices caused by space-time synchronization errors can be solved.
本发明公开了一种时空同步多传感器误差分析方法和装置,方法包括:获取路侧预先部署的物联网传感器对经过车辆所采集的原始数据并预处理;将预处理后的数据从物联网传感器坐标系转换到全局坐标系;建立时空同步误差模型;其中,时空同步误差模型用于表征同一时刻地磁传感器和毫米波雷达对同一车辆获取的位置的差值;时空同步误差模型由时间同步误差、空间同步误差和传感器测量误差三部分组成;基于所有物联网传感器得到的坐标转换后数据,按照不同车型对传感器测量误差分别求解;基于不同车型求解到的传感器测量误差,通过拟合求解的方式得到不同车型的空间同步误差。本发明能解决不同传感器设备的数据由于时空同步误差导致的关联错误问题。
Space-time synchronization multi-sensor error analysis method and device
一种时空同步多传感器误差分析方法和装置
2024-05-10
Patent
Electronic Resource
Chinese
European Patent Office | 2022
|Space-time positioning synchronization device and system
European Patent Office | 2024
|