The Syncline Model -- Analyzing the Impact of Time Synchronization in Sensor Fusion

The accuracy of sensor fusion algorithms are limited by either the intrinsic sensor noise, or by the quality of time synchronization of the sensors. While the intrinsic sensor noise only depends on the respective sensors, the error induced by quality of, or lack of, synchronization depends on the dynamics of the vehicles and robotic system and the magnitude of time synchronization errors. To meet their sensor fusion requirements, system designers must consider both which sensor to use and also how to synchronize them. This paper presents the Syncline model, a simple visual model of how time synchronization affects the accuracy of sensor fusion for different mobile robot platform. The model can serve as a simple tool to determine which synchronization mechanisms should be used.