A multi-sensor fusion system, comprising: a trigger module comprising a pulse signal output and a global positioning system, GPS, positioning module, the pulse signal output being used to output a pulse signal, the GPS positioning module comprises a serial output port; and a plurality of depth camera modules (2; 3), wherein one depth camera module of the plurality of depth camera modules comprises a trigger signal generation module and a trigger signal output, the trigger signal generation module being used to generate a trigger signal according to the pulse signal, and the trigger signal output being connected to the trigger signal generation module, and used to output the trigger signal, the depth camera modules (2, 3) each comprise a processor, the processor is used to receive a serial signal output by the GPS positioning module, and receive the pulse signal output by the pulse signal output; wherein the trigger signal is used to trigger said one depth camera module to perform an exposure operation, and the other depth camera modules of the plurality of depth camera modules to perform exposure operations according to the received trigger signal output by the trigger signal output; wherein: the processor is configured to record a first local time when a target edge of the pulse signal is received, obtain a universal time coordinated, UTC time from the serial signal when the target edge is received, and record a second local time when the UTC time is obtained, so as to determine a current UTC time corresponding to the second local time according to the first local time, the second local time and the obtained UTC time, and update the second local time according to the current UTC time, wherein the target edge comprises at least one of a rising edge or a falling edge of the pulse signal, and wherein the local time is the time of a local clock of the processor. a trigger module comprising a pulse signal output and a global positioning system, GPS, positioning module, the pulse signal output being used to output a pulse signal, the GPS positioning module comprises a serial output port; and a plurality of depth camera modules (2; 3), wherein one depth camera module of the plurality of depth camera modules comprises a trigger signal generation module and a trigger signal output, the trigger signal generation module being used to generate a trigger signal according to the pulse signal, and the trigger signal output being connected to the trigger signal generation module, and used to output the trigger signal, the depth camera modules (2, 3) each comprise a processor, the processor is used to receive a serial signal output by the GPS positioning module, and receive the pulse signal output by the pulse signal output; wherein the trigger signal is used to trigger said one depth camera module to perform an exposure operation, and the other depth camera modules of the plurality of depth camera modules to perform exposure operations according to the received trigger signal output by the trigger signal output; wherein: the processor is configured to record a first local time when a target edge of the pulse signal is received, obtain a universal time coordinated, UTC time from the serial signal when the target edge is received, and record a second local time when the UTC time is obtained, so as to determine a current UTC time corresponding to the second local time according to the first local time, the second local time and the obtained UTC time, and update the second local time according to the current UTC time, wherein the target edge comprises at least one of a rising edge or a falling edge of the pulse signal, and wherein the local time is the time of a local clock of the processor.