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Clock synchronization and ranging over a wireless network with low communication overhead is a challenging goal with tremendous impact. In this paper, we study the use of time-to-digital converters in wireless sensors, which provides clock synchronization and ranging at negligible communication overhead through a sawtooth signal model for round trip times between two nodes. In particular, we derive Cram{e}r-Rao lower bounds for a linearitzation of the sawtooth signal model, and we thoroughly evaluate simple estimation techniques by simulation, giving clear and concise performance references for this technology.
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In this paper, we analyze the two-node joint clock synchronization and ranging problem. We focus on the case of nodes that employ time-to-digital converters to determine the range between them precisely. This specific design choice leads to a sawtooth model for the captured signal, which has not been studied before from an estimation theoretic standpoint. In the study of this model, we recover the basic conclusion of a well-known article by Freris, Graham, and Kumar in clock synchronization. More importantly, we discover a surprising identifiability result on the sawtooth signal model: noise improves the theoretical condition of the estimation of the phase and offset parameters. To complete our study, we provide performance references for joint clock synchronization and ranging using the sawtooth signal model by presenting an exhaustive simulation study on basic estimation strategies under different realistic conditions. With our contributions in this paper, we enable further research in the estimation of sawtooth signal models and pave the path towards their industrial use for clock synchronization and ranging.
Synchronization and ranging in internet of things (IoT) networks are challenging due to the narrowband nature of signals used for communication between IoT nodes. Recently, several estimators for range estimation using phase difference of arrival (PDoA) measurements of narrowband signals have been proposed. However, these estimators are based on data models which do not consider the impact of clock-skew on the range estimation. In this paper, clock-skew and range estimation are studied under a unified framework. We derive a novel and precise data model for PDoA measurements which incorporates the unknown clock-skew effects. We then formulate joint estimation of the clock-skew and range as a two-dimensional (2-D) frequency estimation problem of a single complex sinusoid. Furthermore, we propose: (i) a two-way communication protocol for collecting PDoA measurements and (ii) a weighted least squares (WLS) algorithm for joint estimation of clock-skew and range leveraging the shift invariance property of the measurement data. Finally, through numerical experiments, the performance of the proposed protocol and estimator is compared against the Cramer Rao lower bound demonstrating that the proposed estimator is asymptotically efficient.
Clock synchronization has become a key design objective in wireless networks for its essential importance in many applications. However, as the wireless link is prone to random network delays due to unreliable channel conditions, it is in general difficult to achieve accurate clock synchronization among wireless nodes. This letter proposes robust clock synchronization algorithms based on low rank matrix approximation, which are able to correct timestamps in the presence of random network delays. We design a low rank approximation based maximum likelihood estimator (MLE) to jointly estimate the clock offset and clock skew under the two-way message exchange mechanism assuming Gaussian delay distribution. By formulating the timestamp correction problem into a low rank approximation problem, we can solve the problem in the singular value decomposition (SVD) domain and also via nuclear norm minimization. Numerical results show that the proposed schemes can correct noisy timestamps and thus achieve more robust synchronization performance than the MLE.
In this paper we suggest a method by which reference broadcast synchronization (RBS), and other methods of estimating clock values, can be incorporated in standard clock synchronization algorithms to improve synchronization quality. We advocate a logical separation of the task of estimating the clock values of other nodes in the network from the task of using these estimates to output a logical clock value. The separation is achieved by means of a virtual estimate graph, overlaid on top of the real network graph, which represents the information various nodes can obtain about each other. RBS estimates are represented in the estimate graph as edges between nodes at distance 2 from each other in the original network graph. A clock synchronization algorithm then operates on the estimate graph as though it were the original network. To illustrate the merits of this approach, we modify a recent optimal gradient clock synchronization algorithm to work in this setting. The modified algorithm transparently takes advantage of RBS estimates and any other means by which nodes can estimate each others clock values.
We study the problem of clock synchronization in highly dynamic networks, where communication links can appear or disappear at any time. The nodes in the network are equipped with hardware clocks, but the rate of the hardware clocks can vary arbitrarily within specific bounds, and the estimates that nodes can obtain about the clock values of other nodes are inherently inaccurate. Our goal in this setting is to output a logical clock at each node such that the logical clocks of any two nodes are not too far apart, and nodes that remain close to each other in the network for a long time are better synchronized than distant nodes. This property is called gradient clock synchronization. Gradient clock synchronization has been widely studied in the static setting, where the network topology does not change. We show that the asymptotically optimal bounds obtained for the static case also apply to our highly dynamic setting: if two nodes remain at distance $d$ from each other for sufficiently long, it is possible to upper bound the difference between their clock values by $O(d log (D / d))$, where $D$ is the diameter of the network. This is known to be optimal even for static networks. Furthermore, we show that our algorithm has optimal stabilization time: when a path of length $d$ appears between two nodes, the time required until the clock skew between the two nodes is reduced to $O(d log (D / d))$ is $O(D)$, which we prove to be optimal. Finally, the techniques employed for the more intricate analysis of the algorithm for dynamic graphs provide additional insights that are also of interest for the static setting. In particular, we establish self-stabilization of the gradient property within $O(D)$ time.
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