Fundamentals of statistical signal processing: estimation theory
Fundamentals of statistical signal processing: estimation theory
Improved algorithms for synchronizing computer network clocks
IEEE/ACM Transactions on Networking (TON)
Experience with an adaptive globally-synchronizing clock algorithm
Proceedings of the eleventh annual ACM symposium on Parallel algorithms and architectures
Wireless integrated network sensors
Communications of the ACM
Time synchronization in ad hoc networks
MobiHoc '01 Proceedings of the 2nd ACM international symposium on Mobile ad hoc networking & computing
PC based precision timing without GPS
SIGMETRICS '02 Proceedings of the 2002 ACM SIGMETRICS international conference on Measurement and modeling of computer systems
Statistical Digital Signal Processing and Modeling
Statistical Digital Signal Processing and Modeling
Continuous Clock Synchronization in Wireless Real-Time Applications
SRDS '00 Proceedings of the 19th IEEE Symposium on Reliable Distributed Systems
Fine-grained network time synchronization using reference broadcasts
ACM SIGOPS Operating Systems Review - OSDI '02: Proceedings of the 5th symposium on Operating systems design and implementation
Timing-sync protocol for sensor networks
Proceedings of the 1st international conference on Embedded networked sensor systems
Adaptive clock synchronization in sensor networks
Proceedings of the 3rd international symposium on Information processing in sensor networks
Robust synchronization of software clocks across the internet
Proceedings of the 4th ACM SIGCOMM conference on Internet measurement
The flooding time synchronization protocol
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Time-diffusion synchronization protocol for wireless sensor networks
IEEE/ACM Transactions on Networking (TON)
IMC '05 Proceedings of the 5th ACM SIGCOMM conference on Internet Measurement
ACES: adaptive clock estimation and synchronization using Kalman filtering
Proceedings of the 14th ACM international conference on Mobile computing and networking
The minimum description length principle in coding and modeling
IEEE Transactions on Information Theory
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Clock synchronization is essential for a large number of applications ranging from performance measurements in wired networks to data fusion in sensor networks. Existing techniques are either limited to undesirable accuracy or rely on specific hardware characteristics that may not be available in certain applications. In this paper, we examine the clock synchronization problem in networks where nodes lack the high-accuracy oscillators or programmable network interfaces some previous protocols depend on. This paper derives a general model for clock offset and skew and demonstrates its application to real clock oscillators. We design an efficient algorithm based on this model to achieve high synchronization accuracy. This algorithm applies the Kalman filter to track the clock offset and skew. We demonstrate the performance advantages of our schemes through extensive simulations and real clock oscillator measurements.