Clock Error Research Articles

A Static Reduced-Order Multiple-Model Adaptive Estimator for Noise Identification

A reduced-order multiple-model (MM) estimator for noise identification in dynamic stochastic systems is developed. The unknown noise statistics are assumed to be static. While a standard static MM estimator does not grow exponentially over time, its computational complexity grows exponentially with the number of modes. The proposed algorithm reduces the computational complexity of MM estimation from exponential to polynomial by constructing a significantly smaller set of mode models which are updated every time step. It is assumed that the constructed mode models do not change significantly between time steps, which in turn holds if the smoothness of the mode probabilities is guaranteed. It is shown that in the case where there is “enough” statistical distinction between the noise modes, the proposed reduced-order MM estimator converges to the standard MM estimator. The proposed reduced-order MM estimator is evaluated using Monte Carlo simulations, showing that it performs nearly similar to the standard MM estimator with a fraction of its complexity. The numerical example shows less than a 2% increase in the root mean-squared errors (RMSEs) of the reduced-order MM estimator from the standard one, while the reduction in the number of filters in the reduced-order MM estimator is 300%. To further validate the proposed filter, experimental results are presented of an unmanned aerial vehicle (UAV) navigating with terrestrial signals of opportunity. Opportunistic navigation serves a relevant application for MM-based estimation, as system parameters, namely the statistics of the clock error dynamics of opportunistic sources, are unknown and must be adaptively estimated. The experimental results show a UAV navigating for more than 5 minutes over a trajectory of more than 3 km, achieving a final position error of 6.21 m obtained using the standard MM estimator versus a final position error of 6.25 m obtained using the proposed reduced-order MM estimator. A standard extended Kalman filter (EKF) was implemented for comparative analysis, showing a final error of 40.03 m. In the experiments, the reduced-order MM estimator was implemented with 16 filters, while the standard MM was implemented with 256 filters.

Common-clock GPS single differences: An improved correlation model for GPS phase observations based on turbulence theory

Microwave signals, for example, those from Global Navigation Satellite System (GNSS) and Very Long Baseline Interferometry (VLBI), are affected by tropospheric turbulence in such a way that the random fluctuations of the atmospheric index of refractivity correlate the phase measurements. A proper modeling of correlations is mandatory to avoid biased analysis, particularly when statistical tests are used. In this contribution, we analyze single differences (SD) computed from Global Positioning System (GPS) phase observations for which the between receiver clock error could be strongly mitigated by a specific common clock setting. We estimate specific parameters from the power spectral density (psd), which is directly related to the correlation function, with the debiased Whittle maximum likelihood and investigate their dependencies with the satellite geometry (elevation, azimuth angles) and the time of the day. We show that (i) the estimated slopes of the psd follow the one predicted by the Kolmogorov turbulence theory and (ii) the cut-off at high frequencies shows daily variations that may be linked with the strength of the turbulence. Based on these findings, we derive an improved spectral density model for GPS phase SD. The results of this study contribute to improving the stochastic description of random effects impacting VLBI and GNSS phase observations by studying variations of parameters from the von Karman spectrum.

BDS-3 new signals observable-specific phase biases estimation and PPP ambiguity resolution

Nowadays, the BDS-3 satellites transmit new signals B1c and B2a that are compatible with GPS and Galileo, which is meaningful to fully take advantage of the BDS positioning capability. However, further research and analysis are needed to investigate the precise point positioning ambiguity resolution (PPP-AR) performance of the new BDS-3 signal combination. In this manuscript, the characteristics and quality of differential code bias (DCB), inter frequency clock bias (IFCB) and uncalibrated phase delay (UPD) of BDS-3 new signals are analyzed based on 30 days observation data from 70 multi GNSS experiment (MGEX) stations. The results show that the mean value of IFCB between B1I/B3I and B1C/B2a is 1.18 cm, which indicates that the IFCB can be ignored when performing the clock errors reference conversion of BDS-3 satellites. Besides, the DCB of the new BDS-3 signals varies within 0.2 ns over 30 days, and with a difference of 0.08 ns compared to the DCB product provided by chinese academy of science (CAS). The percentage of the estimated residuals less than 0.25 cycles for new signals WL UPD and less than 0.15 cycles for new signals NL UPD are 99.76% and 97.19%, respectively. The above results demonstrate the reliability of the DCB and UPD products, which can be used to estimate the carrier phase observable specific signal bias (OSB) product for the new signals. The average positioning errors of the BDS-3 new signals static PPP-AR in the N, E and U directions is 0.50 cm, 0.43 cm and 1.62 cm respectively, with an improvement of 18.3%, 28.3% and 11.5% compared to the ambiguity float static PPP. The average positioning errors of the kinematic PPP-AR are 2.09 cm, 2.67 cm and 4.79 cm in three directions, respectively, with an improvement of 17.1%, 23.9% and 15.7% compared to the ambiguity float PPP. The convergence time of the static and kinematic PPP-AR are 26.36 min and 29.12 min, respectively.

Deep Space Navigation by Optical Pulsars

Nowadays, deep-space navigation strongly depends on ground segments, e.g., ESA’s European Space Tracking and NASA’s Deep Space Network. However, the positioning accuracy of ground-based navigation systems decreases with the distance from the Earth, significantly increasing the positioning uncertainty for interplanetary missions. Furthermore, ground-based navigation systems require extensive ground operations, and their limited bandwidth could lead to a point of full utilization in the future. The aim of this work is to introduce—for the first time—the concept of space navigation by optical pulsars, a novel technology that aims at overcoming the limits of ground-based navigation systems. This paper presents, first, an introduction to satellite navigation by using pulsars, discussing on the physical and timing properties of optical pulsars. Then, it investigates on the timing techniques allowing to reconstruct, process, and make use of a pulsar signal, leading to a position estimation. Finally, it reports the results of a clock error estimation performed on ground with real pulsar data and a first estimation of the achievable positioning accuracy in a simulated highly elliptical orbit around the Earth.

A Design of Differential-Low Earth Orbit Opportunistically Enhanced GNSS (D-LoeGNSS) Navigation Framework

Considering the problem of GNSS service interruption caused by the insufficient number of available satellites in complex environments, Low Earth Orbit (LEO) satellites can supplement GNSS effectively. To eliminate the unknown satellite clock error and the atmospheric delay error with spatial correlation in LEO observations, a Differential-Low Earth Orbit opportunistically enhancing GNSS (D-LoeGNSS) navigation framework is proposed. Firstly, because of the uncertainty of the LEO orbit, we derive the effect of the LEO orbit error on the differential measurement model. Secondly, aiming at the noise amplification and correlation in double-difference (DD), we propose a Householder-Based D-LoeGNSS (HB-DLG) algorithm, which suppresses noise by introducing an orthogonal matrix. Thirdly, in D-LoeGNSS, the typical measurement of LEO is Doppler, which is heterogeneous with the GNSS pseudorange, rendering the Dilution of Precision (DOP) evaluation method unsuitable. Given the unbiasedness of differential measurements, the Cramer Rao Lower Bound (CRLB) is derived as a metric to characterize the positioning accuracy and satellite spatial distribution. Finally, a field experiment using Orbcomm (ORB) and GPS is conducted. The experimental results show that the performance of the HB-DLG algorithm is superior to DD. Especially when the number of satellites is insufficient or the measurement redundancy is poor; the D-LoeGNSS framework has advantages of rapid convergence and high accuracy compared with a single constellation.

Low sampling rate digital dechirp for Inverse Synthetic Aperture Ladar imaging processing

The application of digital dechirp technology to Inverse Synthetic Aperture Ladar (ISAL) can greatly reduce the sampling rate burden on analog-to-digital converters. We address the disadvantage of signal sampling and imaging processing in linear frequency-modulated continuous waveform (LFMCW) ISAL systems and suggest a delay estimation method based on a reference channel to reduce the impact of echo delay error. Our method uses the strongest point in the scene as the scene center to estimate the delay and target distance via dechirped pulse compression. The reference channel data are also used to align the dechirped pulse signal and, in turn, reduce clock errors and ensure azimuth signal quality. To our knowledge, our experiment represents the first successful application of digital dechirp to ISAL systems. Experimental results confirm the applicability of our digital dechirp method to ISAL system in order to reduce sampling requirements.

MPC-based time synchronization method for V2V (vehicle-to-vehicle) communication

PurposeAs the strategy of 5G new infrastructure is deployed and advanced, 5G-R becomes the primary technical system for future mobile communication of China’s railway. V2V communication is also an important application scenario of 5G communication systems on high-speed railways, so time synchronization between vehicles is critical for train control systems to be real-time and safe. How to improve the time synchronization performance in V2V communication is crucial to ensure the operational safety and efficiency of high-speed railways.Design/methodology/approachThis paper proposed a time synchronization method based on model predictive control (MPC) for V2V communication. Firstly, a synchronous clock for V2V communication was modeled based on the fifth generation mobile communication-railway (5G-R) system. Secondly, an observation equation was introduced according to the phase and frequency offsets between synchronous clocks of two adjacent vehicles to construct an MPC-based space model of clock states of the adjacent vehicles. Finally, the optimal clock offset was solved through multistep prediction, rolling optimization and other control methods, and time synchronization in different V2V communication scenarios based on the 5G-R system was realized through negative feedback correction.FindingsThe results of simulation tests conducted with and without a repeater, respectively, show that the proposed method can realize time synchronization of V2V communication in both scenarios. Compared with other methods, the proposed method has faster convergence speed and higher synchronization precision regardless of whether there is a repeater or not.Originality/valueThis paper proposed an MPC-based time synchronization method for V2V communication under 5G-R. Through the construction of MPC controllers for clocks of adjacent vehicles, time synchronization was realized for V2V communication under 5G-R by using control means such as multistep prediction, rolling optimization, and feedback correction. In view of the problems of low synchronization precision and slow convergence speed caused by packet loss with existing synchronization methods, the observer equation was introduced to estimate the clock state of the adjacent vehicles in case of packet loss, which reduces the impact of clock error caused by packet loss in the synchronization process and improves the synchronization precision of V2V communication. The research results provide some theoretical references for V2V synchronous wireless communication under 5G-R technology.

An evaluation method of GPS satellite clock in-orbit with periodic terms deducted

The performance of the atomic clock in orbit is of terrific significance for the Global Navigation Satellite System (GNSS). With the rapid development of satellite navigation and atomic clock technology, the periodic error of satellite clocks caused by the environment is more prominent. This paper focuses on the analysis and quantification of the systematic periodic error in the clock offset and proposes a more accurate evaluation method for GPS satellite clocks. The fact that the J2 relativistic effect and orbit radial error are the main sources of the systematic periodic term has been revealed. Then, the Fast Fourier Transform (FFT) is employed using the sliding window to investigate the periodic influence caused by satellite orbit and the J2 relativistic effect on clock offset through six GPS satellites with different orbital planes, these satellites also cover all four types of GPS satellite blocks. The results show that there is an obvious relationship between the sun elevation and orbit radial error, clock offset fitting precision, frequency stability and amplitude. The different geometric configurations of the satellite and the varying environment make this relationship different. Based on the clock offset provided by European Space Agency (ESA), the period of clock offset is extracted and quantized, with the period of 24 h, 12 h, 8 h, 6 h, 4 h, and 3 h. According to the daily extraction results of the time-varying periodic terms, the two most noticeable terms correction on satellite clock offset has been proven to be effective in eliminating periodic errors. Compared to those without periodic correction, the fitting precision and frequency stability can improve by 48.5% and 42.6%, respectively. In addition, all GPS satellite clocks in orbit are evaluated by this periodic correction method, and the results are more approach to the actual performance of the satellite clock. Furthermore, this method can also be adapted to evaluate satellite clocks of other GNSS systems. Therefore, when we evaluate the high-precision atomic clock flying on board GNSS satellites and compare them with the manufacturers’ specifications, the periodic error cannot be neglected.

ASSESSING EFFICIENCY OF GPS EPHEMERIDES IN DIFFERENT REGION USING PRECISE POINT POSITIONING

Abstract. Precise Point Positioning (PPP) is a technique that process Global Positioning System (GPS) observation that can achieve sub-decimetre accuracy. Precise ephemerides that contain satellite clock and position plays a vital role in minimising orbital and clock error in PPP. This study hypothesize that the efficiency of ephemerides varies across region, influenced by the density of stations involved in generating the ephemerides. GPS observations from stations in five different regions were processed using PPP technique by using RTKLIB. Four types of ephemerides were used namely broadcast, ultra-rapid, rapid, and final ephemerides during the processing of each station. Root-mean-squared error (RMSE) of 3D error of the PPP solution for the stations in each region is quantified. Among the five regions selected, Europe has the lowest RMSE of 155.67 cm, 27.93 cm, 27.38 cm and 27.06 cm for broadcast, ultra-rapid, rapid, and final ephemeris respectively. This high accuracy can be attributed to the density of International GNSS Service (IGS) stations in Europe that are available for the generation of ephemerides. Position Dilution of Precision (PDOP) was also found to contribute to the accuracy of PPP solution in a region, whereby a low PDOP often promises higher positioning accuracy. More regional stations are suggested to be involved in the generation of ephemerides to improve the efficiency of ephemerides in that region.

Anti Interference Clock Error Correction Technology Based on BD3 System

Beidou-3 (BD3) uses the pseudo range transmission method to calculate the clock difference through the pseudo range. However, due to the influence of electromagnetic interference, the clock difference measurement error is too large, which affects the timing accuracy of the power system. This paper first introduces the principle of Beidou timing service; Secondly, it introduces the clock error calculation method; Finally, combined with the clock difference calculation method, this paper presents an anti-interference clock difference correction method based on Least Mean Square (LMS) filter. According to the principle of LMS filter, the influence of electromagnetic interference on pseudo distance can be eliminated, and the clock difference can be calculated. Then the clock difference can be corrected. The simulation results show that the method is feasible and effective.

Velocity changes after the 2021 MS 6.4 Yangbi earthquake based on passive image interferometry

An MS 6.4 earthquake occurred in Yangbi, Yunan Province, China, on 21 May 2021. The epicenter was on the blind branch fault in the west of the Weixi–Qiaohou–Weishan fault, but no surface rupture was obvious. In the present study, the continuous vertical component of waveforms that were recorded in six nearby permanent stations was collected and the noise cross-correlation and autocorrelation techniques were utilized to investigate velocity changes that were induced by the Yangbi Earthquake. Velocity changes based on the single-station autocorrelation method reveal mainly coseismic declines, and a maximum of .09% was recorded in the EYA station. Results from the cross-correlation technique show both positive and negative velocity changes, and these lasted for approximately 3 months. The volumetric strain that was generated by the Yangbi Earthquake at a depth of 5 km exhibits an obvious four-quadrant distribution. Station pairs in the dilatation region (e.g., EYA–HEQ) mainly display a decrease in velocity, whereas those in the contraction region (e.g., BAS–TUS, TUS–YUL, and LUS–TUS) show an increase in velocity. Based on the depth sensitivity of scattered waves, velocity changes that were obtained using the noise cross-correlation involve the highest weight coefficients near the related two stations. Regarding stations of one station pair in different stress loading regions, the static stress of the station that is nearest to the epicenter exerted a greater impact on the velocity change. The observed velocity changes are likely attributed to a combination of near-surface physical damage and static stress changes. The validation of clock errors with magnitudes of seconds that were obtained using the noise cross-correlation and effects of these errors on measured velocity changes are also discussed.

A 14 GHZ DELAY LOCKED LOOP WITH MINIMIZED PERIOD DELAY ERROR AND WORST 1.5% DUTY CYCLE ERROR

In many applications, the Delay Locked Loop (DLL) is used to improve the timing margin for better performance of the synchronous system. A precise 50′ duty ratio of the clock signal is essential to the DDR SDRAM, which needs both the rising edge and the falling edge of the clock to sample the data. The duty mismatch of the output clock in the DLL may be caused by the duty error of the external input clock or by the common mode voltage offset in the voltage-controlled delay line (VCDL). Many studies have presented the duty cycle corrector (DCC) to reduce the duty mismatch of the clock. This paper proposes a high-frequency DLL that generates multiplate clocks with a wide frequency range. The object of this research is to have +-1.5% duty cycle error at the output clock and, in locked state, less than 2% of clock period delay between 0- and 360-degree phases (delay error). This generator produces 8 phases at 14 GHz.

Long-Baseline Differential Doppler Positioning Using Space-Based SOP Based on BPVGMM

Positioning based on Low Earth Orbit (LEO) satellites Signals of OPportunity (SOPs) is an effective complement and backup positioning solution of Global Navigation Satellite System (GNSS). The major sources of error that have to be considered in the positioning technology based on LEO satellites SOP are ephemeris and satellite clock errors with space-time relevance. Although the differential positioning can effectively reduce the error, positioning error is still large due to the low orbit of the satellites in the long-baseline scenario. To address the aforementioned challenge, a differential Doppler positioning algorithm based on Baseline Projection Vector Geometric Model Modification (BPVGMM) is proposed. Simulation results show that BPVGMM algorithm has significantly better accuracy in long-baseline positioning case than the traditional algorithm, and the validity of the algorithm is verified by differential positioning experiments using signals from Iridium NEXT satellites.

Time-differenced double difference method for measurement of Navigation with Indian Constellation (NavIC) receiver differential phase bias

The pseudo-range (PR) and carrier phase (CP) observations of Global Navigation Satellite System (GNSS)/Navigation with Indian Constellation (NavIC) receivers are influenced due to various errors like ionosphere delay, troposphere delay, receiver and satellite clock error, multipath, integer ambiguity, receiver hardware noise etc. However, the real-time positioning and navigation applications are in quest of high-quality carrier phase measurements with zero bias. The GNSS/NavIC receiver hardware noise is one of the critical error sources that degrade the quality of carrier phase measurements. And it can be measured by computing the differential phase bias or carrier phase bias employing the double-difference method. This research article proposes a novel approach called Time Differenced Double Difference Carrier Phase (TDDDCP) for estimating differential phase bias or carrier phase bias of NavIC receiver. Moreover, the proposed TDDDCP technique has the advantage over the Double Difference Carrier Phase (DDCP) because it requires data from only one satellite with two zero base length receivers for which the differential phase bias is to be measured. The experimental results show that the differential phase bias value differs for different satellites, ranging from −0.3904 m to 0.3168 m. The bias-free carrier phase observations based on position coordinates (X, Y, Z) found improved precision of standard deviation of 0.4176 m, 0.645 m, and 0.328 m, respectively.

Performance Assessment of Multi-GNSS Real-Time Products from Various Analysis Centers

The performance of real-time precise point positioning (PPP) relies primarily on the availability and quality of orbit and clock corrections. In this research, we collected data streams from 12 real-time mount points of IGS Real-Time Service (RTS) or analysis centers for a one-month period and conducted a performance assessment, including product latency and data availability, accuracy of orbit, clock and positioning performance. The epoch availability of GPS, GLONASS, Galileo and BDS was more than 98.5%, 95.79%, 94.20% and 85.9%, respectively. In addition, the orbit and clock errors of different real-time corrections was investigated. Then, PPP in static and kinematic for 16 IGS stations was conducted. The results show the real-time PPP for different products has a longer convergence time and a slightly worse accuracy than those of the post-processing PPP. For static PPP over 24 h, the real-time products of WHU had the best performance, with a mean RMSE of 1.0 cm in the horizontal and vertical directions and a median convergence time of 12.0 min. The products of CAS had the faster convergence speed due to the shortest product latency. Regarding real-time kinematic PPP for GPS only in an hourly batch, the real-time products of WHU and ESA performed best with a mean RMSE of 10.8 cm and 9.5 cm in the horizontal and vertical directions, respectively. Additionally, the PPP for different real-time products with the multi-GNSS combination obtained higher accuracy than those with GPS only in post-processing or real-time mode, and the PPP with the GPS/GLONASS/Galileo/BDS combination had the fastest convergence speed and best positioning performance. The hourly based kinematic PPP results of CAS, DLR, GFZ and WHU with the GREC combination had positioning errors smaller than 5.2 cm.

Ionospheric measurement using a linearly polarized tri-band small satellite beacon

Radio waves propagating the ionosphere are subject to a number of unpredictable and corrupting effects, the most significant of which are phase path reduction, Faraday rotation, and scintillation. A method of measuring these effects is necessary in order to study and understand the solar-terrestrial connections, as well as to anticipate their impact on radio systems. However, limitations in current measurement solutions, most notably the lack of direct ionospheric Faraday rotation measurement capability, restricts the ability to characterize the ionosphere to a sufficient degree for applications such as the detection of coronal mass ejections. The rise in popularity of small satellites presents a new cost-effective opportunity to study and observe the ionosphere in detail, however the challenge of realizing a beacon within the constraints of a small satellite system must be overcome. In this paper, we introduce a measurement technique that builds on past multi-frequency beacons, incorporating the well established differential phase technique, as well as introducing a new differential polarization technique. We achieve this by employing linearly polarized beacon signals, which enables us to separate phase path reduction and Faraday rotation into a phase and polarization error respectively. The introduction of linear polarization overcomes a key limitations in current ionospheric measurement techniques: eliminating errors associated with indirect Faraday rotation measurement. The additional polarization data also enables absolute unambiguous measurement of both parameters with fewer and lower frequencies than conventional solutions, as well as without the need for precise satellite clock, phase biases and positioning data. These characteristics correspond with a reduction in the size, power and complexity of the satellite payload, and as a result, our technique better suited to small satellite applications. To validate the capability of measuring the ionosphere within the constraints of a small satellite package, we establish the influence of system noise, weak scattering, clock errors and antenna characteristics on the measurement technique. We then use this to inform a starting point for a CubeSat beacon and receiver design solution which achieves unambiguous and high-resolution measurement of ionospheric parameters with practicable system requirements and constraints. This starting point demonstrates that a resolution of 12mTECU and 0.03rad/m2 for the electron density and Faraday rotation estimates respectively, as well as useful scintillation measurements dominated by scintillation noise may be achieved utilizing a tri-band 3U CubeSat beacon with frequencies 144.2MHz, 432.6MHz, and 1297.8MHz, a transmitter power of no more than 4watts, and antenna requirements consistent with a dipole type antenna.

Asymptotic Gradient Clock Synchronization in Wireless Sensor Networks for UWB Localization

Time-of-flight-based localization requires high-accurate synchronization among the nodes in a network. Gradient clock synchronization (GCS) is a class of distributed algorithms capable of providing the demanded accuracy. Global clock rates defined by GCS algorithms are susceptible to drift relative to the individual hardware clock rates. This is due to the lack of a hard tie to a physical clock rate and is identified as the chaotic clock rate phenomenon. This scales range of measurements and can lead to stability issues in the network. This article presents a novel GCS algorithm for ultrawideband (UWB) ranging networks, addressing the chaotic global clock rate phenomenon. A correction term is introduced in the generic GCS algorithm so that the global clock rate is guaranteed to be converging into the average of individual clock rates. This also achieves asymptotic stability in the clock rate error state. The stability of the generic GCS and the proposed method for time-invariant hardware clock rates are compared using eigenvalue analysis in the clock error state space. A Kalman filter-based technique is used to precisely estimate the interanchor clock dynamics and ranges, which are then used in the asymptotic GCS (AGCS) update rule to calculate synchronization parameters. Simulations and experiments are conducted to evaluate the stability and synchronization accuracy of the proposed algorithm. The localization accuracy is evaluated for an indoor quadcopter localization task, which uses a range-assisted inertial navigation system (INS), resulting in rms position errors in the order of 0.2 m.

Detection of clock errors in seismic records and estimation of time shifts for a seismic network

In the records of autonomous seismological observations occurrence of quartz watch clock drift often leads to incorrect time records. This paper presents a method for detecting such errors in a seismic station network based on the analysis of ambient seismic noise cross-correlation functions using Monte-Carlo Markov chain (MCMC) approach without using a reference signal. The proposed method was tested on the seismic data of a temporary seismic network installed on Paramushir Island in 2021-2022 for which time shifts were successfully estimated and corrections to the cross-correlation functions were made.

ARAIM Stochastic Model Refinements for GNSS Positioning Applications in Support of Critical Vehicle Applications.

Integrity monitoring (IM) is essential if GNSS positioning technologies are to be fully trusted by future intelligent transport systems. A tighter and conservative stochastic model can shrink protection levels in the position domain and therefore enhance the user-level integrity. In this study, the stochastic models for vehicle-based GNSS positioning are refined in three respects: (1) Gaussian bounds of precise orbit and clock error products from the International GNSS Service are used; (2) a variable standard deviation to characterize the residual tropospheric delay after model correction is adopted; and (3) an elevation-dependent model describing the receiver-related errors is adaptively refined using least-squares variance component estimation. The refined stochastic models are used for positioning and IM under the Advanced Receiver Autonomous Integrity Monitoring (ARAIM) framework, which is considered the basis for multi-constellation GNSS navigation to support air navigation in the future. These refinements are assessed via global simulations and real data experiments. Different schemes are designed and tested to evaluate the corresponding enhancements on ARAIM availability for both aviation and ground vehicle-based positioning applications.

IHorology: Lowering the Barrier to Microsecond-Level Internet Time

High accuracy, synchronized clocks are essential to a growing number of Internet applications. Standard protocols and their associated server infrastructure typically enable client clocks to synchronize to the order of tens of milliseconds. We address one of the key challenges to high precision Internet timekeeping – the intrinsic contribution to clock error of underlying path asymmetry between client and time server, a fundamental barrier to microsecond level accuracy. We first exploit results of a unique measurement study to reliably quantify asymmetry by taking routing changes into account for the first time, and then to infer the impacts on timing. We then describe three approaches to addressing the path asymmetry problem: LBBE, SBBE and K-SBBE, each based on timestamp exchange with multiple servers, with the goal of tightening bounds on asymmetry for each client. We explore their capabilities and limitations through simulation and model-based argument. We show that substantial improvements are possible, and discuss whether, and how, the goal of microsecond accuracy might be attained.