Development of a Sensor Network System with High Sampling Rate Based on Highly Accurate Simultaneous Synchronization of Clock and Data Acquisition and Experimental Verification

摘要

In this paper, we develop a new sensor network system with a high sampling rate (over 500 Hz) based on the simultaneous synchronization of clock and data acquisition for integrating the data obtained from various sensors. Hence, we also propose a method for the synchronization of clock and data acquisition in the sensor network system. In the proposed scheme, multiple sensor nodes including PCs are connected via Ethernet for data communication and for clock synchronization. The timing of the data acquisition of each sensor is locally controlled based on the PC’s clock locally provided in the node, and the clocks are globally synchronized over the network. We construct three types of high-speed sensor network systems using the proposed method: the first one is composed of a high-speed tactile sensor node and a high-speed vision node; the second one is composed of a high-speed tactile sensor node and three acceleration sensor nodes; and the last one is composed of a high-speed tactile sensor node, two acceleration sensor nodes, and a gyro sensor node. Through experiments, we verify that the timing error between the sensor nodes for data acquisition is less than 15 μs, which is significantly smaller than the time interval of 2 ms or a shorter sampling time (less than 2 ms). We also confirm the effectiveness of the proposed method and it is expected that the system can be applied to various applications.