1P1-K05 Time Synchronization between SOKUIKI Sensor and Host Computer using Timestamps
Alexander Carballo, Yoshitaka HARA, Hirohiko Kawata, Tomoaki Yoshida, Akihisa Ohya, Shin’ichi Yuta · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2007
Time is crucial in applications such as sensor data fusion, autonomous mobility and SLAM. However clocks at end systems are rarely synchronized and often running at different speeds, therefore this lack of synchronization reduces the accuracy of sensor readings. The new SCIP2.0 protocol of Sokuiki sensor allows acquiring time values by timestamping range readings. Our work consists in a method for time synchronization with clock skew estimation, between a Sokuiki sensor and a host computer.