Browse > Article
http://dx.doi.org/10.12673/jant.2017.21.3.251

A Time Synchronization Scheme for Vision/IMU/OBD by GPS  

Lim, JoonHoo (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University)
Choi, Kwang Ho (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University)
Yoo, Won Jae (School of Electronics and Information Eng., Korea Aerospace University)
Kim, La Woo (School of Electronics and Information Eng., Korea Aerospace University)
Lee, Yu Dam (School of Electronics and Information Eng., Korea Aerospace University)
Lee, Hyung Keun (School of Electronics and Information Eng., Korea Aerospace University)
Publication Information
Journal of Advanced Navigation Technology / v.21, no.3, 2017 , pp. 251-257 More about this Journal
Abstract
Recently, hybrid positioning system combining GPS, vision sensor, and inertial sensor has drawn many attentions to estimate accurate vehicle positions. Since accurate multi-sensor fusion requires efficient time synchronization, this paper proposes an efficient method to obtain time synchronized measurements of vision sensor, inertial sensor, and OBD device based on GPS time information. In the proposed method, the time and position information is obtained by the GPS receiver, the attitude information is obtained by the inertial sensor, and the speed information is obtained by the OBD device. The obtained time, position, speed, and attitude information is converted to the color information. The color information is inserted to several corner pixels of the corresponding image frame. An experiment was performed with real measurements to evaluate the feasibility of the proposed method.
Keywords
Time synchronization; Global positioning system; Vision; Micro electro mechanical systems - inertial measurement unit; On-board diagnostics;
Citations & Related Records
연도 인용수 순위
  • Reference
1 A. Soloviev, and D. Venable, "Integration of GPS and vision measurements for navigation in GPS challenged environments," in Proceeding of the Position Location and Navigation Symposium (PLANS) 2010 IEEE/ION, California: CA, pp. 826-833, 2010.
2 J. H. Lim, K. H. Choi, J. Cho, and H. K. Lee, "Integration of GPS and monocular vision for land vehicle navigation in urban area," International Journal of Automotive Technology, Vol. 18, No. 2, pp. 345-356, Apr. 2017.   DOI
3 C. Shen, Z. Bai, H. Cao, K. Xu, C. Wang, H. Zhang, and J. Liu, "Optical flow sensor/INS/magnetometer integrated navigation system for MAV in GPS-denied environment," Journal of Sensors, Vol. 2016, pp. 1-10, Jan. 2016.
4 H. K. Lee, J. G. Lee, and G. I. Jee, "Calibration of Measurement Delay in GPS/SDINS Hybrid Navigation," AIAA Journal of Guidance, Control, and Dynamics, Vol. 25, No. 2, pp.240-247, 2002.   DOI
5 B. Li, C. Rizos, H. K. Lee, and H. K. Lee, "A GPS-slaved time synchronization system for hybrid navigation," GPS Solutions, vol. 10, no. 3, pp. 207-217, July. 2006.   DOI
6 L. Gasparini, O. Zadedyurina, G. Fontana, D. Macii, A. Boni, and Y. Ofek, "A digital circuit for jitter reduction of GPS-disciplined 1-pps synchronization signals," in Proceeding of the 2007 IEEE International Workshop, Sardagna: Italy, pp. 84-88, 2007.
7 J. Lin, S. C. Chen, Y. T. Shih, and S. H. Chen, "A study on remote on-line diagnostic system for vehicles by integrating the technology of OBD, GPS, and 3G," World Academy of Science, Engineering and Technology, Vol. 56, pp. 435-441, 2009.
8 OBD-II PIDs. Available: https://en.wikipedia.org/wiki/ OBD-II_PIDs
9 Beagleboard. Available: https://beagleboard.org/black
10 J. H. Lim, Estimation for Displacement of Vehicle based on GPS and Monocular Vision sensor, Master dissertation, Korea Aerospace University, Korea, 2013.