Device, system and method for synchronizing of data from multiple sensors
In an embodiment, a device comprises a memory, which, in operation, stores data samples associated with a plurality of data sensors, and circuitry, coupled to the memory, wherein the circuitry, in operation, generates synchronized output data sets associated with the plurality of data sensors. Generating a synchronized output data set includes: determining a reference sample associated with a sensor of the plurality of sensors; verifying a timing validity of a data sample associated with another sensor of the plurality of sensors; identifying a closest-in-time data sample associated with the another sensor of the plurality of sensors with respect to the reference sample; and generating the synchronized output data set based on interpolation.
1 . A device, comprising:
a memory, which, in operation, stores a plurality of data samples associated with a plurality of data sensors; and
circuitry, coupled to the memory, wherein the circuitry, in operation, generates, using a timing of data samples of the plurality of data samples, synchronized output data sets associated with the plurality of data sensors, wherein generating a synchronized output data set includes:
determining a reference sample associated with a sensor of the plurality of sensors;
verifying a timing validity of a data sample associated with another sensor of the plurality of sensors;
identifying a closest-in-time data sample associated with the another sensor of the plurality of sensors with respect to the reference sample; and
generating the synchronized output data set based on interpolation.
2 . The device of claim 1 , wherein the memory is organized into a plurality of first-in-first-out (FIFO) buffers storing data samples associated with respective sensors of the plurality of sensors.
3 . The device of claim 1 , wherein the determining the reference sample includes verifying that the memory stores at least one data sample associated with each sensor of the plurality of sensors and identifying a most-recently received sample of received samples associated with sensors of the plurality of sensors as the reference sample.
4 . The device of claim 1 , wherein the verifying the timing validity of a data sample comprises determining a difference between a time stamp of the data sample and a time stamp of the reference sample and comparing the difference to a threshold value.
5 . The device of claim 4 , wherein the threshold value is a longest output data rate (ODR) period of the sensors of the plurality of sensors.
6 . The device of claim 1 , wherein identifying a closest-in-time data sample associated with the another data sensor with respect to the reference sample comprises, starting with a most-recently received data sample associated with the another data sensor, determining a difference between a time stamp of the data sample and a time stamp of the reference sample, comparing the difference to a threshold value and identifying the data sample as the closest-in-time data sample based on the comparison.
7 . The device of claim 6 , wherein the threshold value is a longest output data rate (ODR) period of the sensors of the plurality of sensors.
8 . The device of claim 1 , wherein the generating the synchronized output data set based on interpolation comprises:
comparing a time stamp of the reference sample to a time stamp of the closest-in-time sample.
9 . The device of claim 8 wherein the generating the synchronized output data set based on interpolation comprises:
in response to the comparison indicating the time stamp of the reference sample is greater than the time stamp of the closest-in-time sample, determining whether the reference sample is the only sample associated with the sensor;
in response to determining the reference sample is the only sample associated with the sensor, including the reference sample and the closest-in-time sample in the synchronized output data set; and
in response to determining the reference sample is not the only sample associated with the sensor, interpolating the reference sample and including the interpolated reference sample and the closest-in-time sample in the synchronized output data set.
10 . The device of claim 9 wherein the generating the synchronized output data set based on interpolation comprises:
in response to the comparison indicating the time stamp of the reference sample is not greater than the time stamp of the closest-in-time sample, determining whether the closest-in-time sample is the only sample associated with the another sensor;
in response to determining the closest-in-time sample is the only sample associated with the another sensor, including the reference sample and the closest-in-time sample in the synchronized output data set; and
in response to determining the closest-in-time sample is not the only sample associated with the another sensor, interpolating the closest-in-time sample and including the reference sample and the interpolated closest-in-time sample in the synchronized output data set.
11 . The device of claim 1 , wherein the synchronized output data set includes data associated with two or more data sensors of the plurality of data sensors.
12 . A system, comprising:
a plurality of data sensors;
a memory, which, in operation, stores a plurality of data samples associated with the plurality of data sensors; and
circuitry, coupled to the memory, wherein the circuitry, in operation, generates, using a timing of data samples of the plurality of data samples, synchronized output data sets associated with the plurality of data sensors, wherein generating a synchronized output data set includes:
determining a reference sample associated with a sensor of the plurality of sensors;
verifying a timing validity of a data sample associated with another sensor of the plurality of sensors;
identifying a closest-in-time data sample associated with the another sensor of the plurality of sensors with respect to the reference sample; and
generating the synchronized output data set based on interpolation.
13 . The system of claim 12 , wherein the memory is organized into a plurality of first-in-first-out (FIFO) buffers storing data samples associated with respective sensors of the plurality of sensors.
14 . The system of claim 12 wherein identifying a closest-in-time data sample associated with the another data sensor with respect to the reference sample comprises, starting with a most-recently received data sample associated with the another data sensor, determining a difference between a time stamp of the data sample and a time stamp of the reference sample, comparing the difference to a threshold value and identifying the data sample as the closest-in-time data sample based on the comparison.
15 . A method, comprising:
generating, using a timing of data samples of a plurality of data samples associated with a plurality of data sensors, synchronized output data sets associated with the plurality of data sensors, wherein generating a synchronized output data set includes:
determining a reference sample associated with a sensor of a plurality of sensors;
verifying a timing validity of a data sample associated with another sensor of the plurality of sensors;
identifying a closest-in-time data sample associated with the another sensor of the plurality of sensors with respect to the reference sample; and
generating the synchronized output data set based on interpolation.
16 . The method of claim 15 , comprising storing data samples associated with the plurality of sensors into respective first-in-first-out (FIFO) buffers.
17 . The method of claim 16 , wherein the determining the reference sample includes verifying that the FIFO buffers store at least one data sample associated with each sensor of the plurality of sensors and identifying a most-recently received sample of received samples associated with sensors of the plurality of sensors as the reference sample.
18 . The method of claim 17 , wherein identifying a closest-in-time data sample associated with the another data sensor with respect to the reference sample comprises, starting with a most-recently received data sample associated with the another data sensor, determining a difference between a time stamp of the data sample and a time stamp of the reference sample, comparing the difference to a threshold value and identifying the data sample as the closest-in-time data sample based on the comparison.
19 . A non-transitory computer-readable medium having contents which cause a computing device to generate, using a timing of data samples of a plurality of data samples associated with a plurality of data sensors, synchronized output data sets associated with the plurality of data sensors, the generating a synchronized output data set including:
determining a reference sample associated with a sensor of the plurality of sensors;
verifying a timing validity of a data sample associated with another sensor of the plurality of sensors;
identifying a closest-in-time data sample associated with the another sensor of the plurality of sensors with respect to the reference sample; and
generating the synchronized output data set based on interpolation.
20 . The non-transitory computer-readable medium of claim 19 , wherein the contents comprise instructions executed by the computing device.