基于FPGA的多传感器融合同步授时系统设计

Design of Multi-sensor Fusion Synchronous Timing System Based on FPGA

为了充分发挥多传感器融合系统的优点,提高其同步授时的精确性和信息融合的鲁棒性,设计了一种基于FPGA的多传感器融合同步授时系统。系统传感器包含激光雷达、相机以及惯性测量单元IMU;通过FPGA内部的秒脉冲(PPS)校准模块产生的精确且稳定的信号作为标准触发信号,触发校准模块以该标准触发信号作为基准结合各传感器自身工作频率产生同步脉冲触发各传感器,以此方式实现激光雷达、惯性测量单元IMU和相机的同步授时。实验结果表明:基于FPGA的多传感器融合同步授时系统实现了各传感器的同步授时,且传感器信息融合的有效性与鲁棒性较好。

In order to give full play to the advantages of the multi-sensor fusion system and improve the accuracy of its synchronous timing and the robustness of information fusion,a multi-sensor fusion synchronous timing system based on FPGA was designed.The system's sensors included lidar,camera and inertial measurement unit.The accurate and stable signal generated by the PPS calibration module inside the FPGA was used as the standard trigger signal,and the trigger calibration module used the standard trigger signal as a reference and combined the operating frequency of each sensor to generate synchronous pulses to trigger each sensor.In this way,the synchronous timing of lidar,IMU and camera was realized.The experimental results show that the multi-sensor fusion synchronous timing system based on FPGA realized the synchronous timing of each sensor,and the effectiveness and robustness of sensor information fusion are good.