The invention discloses an IMU and GNSS data synchronous method based on a
standard time scale. The IMU and GNSS data synchronous method comprises the following steps that T1, a PPS pulse
signal is monitored in real time, when the PPS pulse
signal arrives, a processor starts a
timer and a counter, the
timer takes an original parameter as the timing parameter, when the next PPS pulse
signal arrives, the counter calculates the interval value of the two PPS pulse signals, the
timer takes the interval value as the new timing parameter, and the timer and the counter are restarted; and T2, when it is monitored that the PPS pulse signals arrive, IMU data are read, through the
system time T1 when the PPS pulse signals arrive, a time
label of the IMU data are marked, and a time
label of GNSS data at the UTC1 moment are updated, the
system time t is a time value having the time period during starting of a
system power supply, and UTC1 is the sum of the round number of the UTC time of the momentwhen the PPS pulse signal arrives and one. The
data synchronization timing accuracy of the IMU and GNSS data synchronous method is higher.