Time Synchronization Solution Research Articles

Precise GNSS Time Synchronization With Experimental Validation in Vehicular Networks

Time synchronization utilizing the Global Navigation Satellite System (GNSS) is being increasingly investigated for vehicular networks. Due to GNSS signal blockages, the availability and accuracy of GNSS timing solutions in various road settings is a recognized challenge. With the recent improvement of Multi-GNSS technology and the increased capacity of consumer-grade receivers, the application of GNSS in vehicular environments has brightened up. This paper systematically analyzes the required time synchronization of vehicular networks and presents a GNSS-based time synchronization solution. It also experimentally demonstrates the availability and capabilities of GNSS time synchronization using commercial-grade GNSS receivers and off-the-shelf communication devices. Our experiments show that the timing accuracy of an individual vehicular node can be as good as ±2 microseconds, resulting in synchronization accuracy of sub-10 microseconds among nodes. A momentary complete outage of the GNSS time solution due to signal blockage on the road adds clock error, leading to synchronization inaccuracy of up to sub-20 microseconds. This level of inaccuracy still meets the desired requirement for most applications in vehicular communication.

AUV-Aided joint time synchronization and localization of underwater target with propagation speed uncertainties

The accurate sensor localization is one of the most basic requirements for the Underwater Acoustic Sensor Networks (UASNs) in many applications. However, in harsh underwater environment, the existence of propagation speed variation with depth (i.e., stratification effect) and asynchronous clock generally affects the ranging estimation, and in turn significantly decreases localization accuracy. Taking into account these specific characteristics of UASNs, we first propose an efficient Autonomous Underwater Vehicle (AUV) aided joint localization and time synchronization solution for UASNs, subjected to stratification effect constraint, in which AUV acts as a mobile anchor and broadcasts beacon signals periodically to provide localization reference for unknown target sensors. Next, since the estimation accuracy of localization and synchronization is very sensitive to the accuracy of the AUV locations, the joint localization and synchronization method in the case of inaccurate AVU locations is considered. Then, Cramer Rao Lower Bound (CRLB) analyses are presented for both accurate and inaccurate AVU locations cases. Finally, numerical simulation results show that the proposed method in this paper outperforms the existing ones in terms of estimation errors.

Fully Autonomous Orbit Determination and Synchronization for Satellite Navigation and Communication Systems in Halo Orbits

This paper presents a solution for autonomous orbit determination and time synchronization of spacecraft in Halo orbits around Lagrange points using inter-satellite links. Lagrange points are stable positions in the gravitational field of two large bodies that allow for a sustained presence of a spacecraft in a specific region. However, a challenge in operating at these points is the lack of fixed landmarks for orbit determination. The proposed solution involves using inter-satellite links to perform range and range-rate measurements, allowing for accurate computation of the spacecraft’s orbit parameters without the need for any facilities on Earth. Simulations using a fleet of three satellites in Near Rectilinear Halo Orbits around the Earth–Moon Lagrange point, proposed for the Lunar Gateway stations, were conducted to demonstrate the feasibility of the approach. The results show that inter-satellite links can provide reliable and accurate solutions for orbit determination with a DRMS error lower than one meter (90th percentile) and synchronization errors of around one nanosecond. This solution paves the way for a fully autonomous fleet of spacecraft that can be used for observation, telecommunication, and navigation missions.

CoSiWiNeT: A Clock Synchronization Algorithm for Wide Area IIoT Network

Recent advances in the industrial internet of things (IIoT) and cyber–physical systems drive Industry 4.0 and have led to remote monitoring and control applications that require factories to be connected to remote sites over wide area networks (WAN). The adequate performance of remote applications depends on the use of a clock synchronization scheme. Packet delay variations adversely impact the clock synchronization performance. This impact is significant in WAN as it comprises wired and wireless segments belonging to public and private networks, and such heterogeneity results in inconsistent delays. Highly accurate, hardware–based time synchronization solutions, global positioning system (GPS), and precision time protocol (PTP) are not preferred in WAN due to cost, environmental effects, hardware failure modes, and reliability issues. As a software–based network time protocol (NTP) overcomes these challenges but lacks accuracy, the authors propose a software–based clock synchronization method, called CoSiWiNeT, based on the random sample consensus (RANSAC) algorithm that uses an iterative technique to estimate a correct offset from observed noisy data. To evaluate the algorithm’s performance, measurements captured in a WAN deployed within two cities were used in the simulation. The results show that the performance of the new algorithm matches well with NTP and state–of–the–art methods in good network conditions; however, it outperforms them in degrading network scenarios.

Long-Distance Time Transfer in Optical Fiber Networks Using a Cascaded Taming Technology

In order to meet the time service needs of high-precision, long-distance, and multinode optical network, this paper proposes a new time synchronization solution, which combines the wavelength division multiplexing (WDM) technology with cascaded taming clock technology. The WDM technology is used for time synchronization between each pair of master-slave nodes. In the system, there are two wavelengths on the fiber link between the master node and the slave node for transmitting signals. 1 plus per second (PPS) signal, time code signal, and 10 MHz signal are, respectively, and successively, sent to the optical fiber link. By solving the one-way delay through analysis of error contribution and link characteristics of the time transmission process, time synchronization of the master-slave nodes pair is achieved. Furthermore, the authors adopt cascaded taming clock technology to ensure accurate time synchronization of each node. A 700 km long-distance time-frequency synchronization system is constructed in the laboratory. The system uses a cesium atomic clock as the reference clock source and transmits the signals through 8 small rubidium atomic clocks (RB clocks) hierarchically. Results from the experiment show that the long-term time stability is 47.5 ps/104 s. The system’s structural characteristics and the experiment results meet the requirements to allow practical use of high-precision time synchronization in networks. This proposed solution can be applied in various civil, commercial, and military fields.

Overview of Time Synchronization for IoT Deployments: Clock Discipline Algorithms and Protocols.

Internet of Things (IoT) is expected to change the everyday life of its users by enabling data exchanges among pervasive things through the Internet. Such a broad aim, however, puts prohibitive constraints on applications demanding time-synchronized operation for the chronological ordering of information or synchronous execution of some tasks, since in general the networks are formed by entities of widely varying resources. On one hand, the existing contemporary solutions for time synchronization, such as Network Time Protocol, do not easily tailor to resource-constrained devices, and on the other, the available solutions for constrained systems do not extend well to heterogeneous deployments. In this article, the time synchronization problems for IoT deployments for applications requiring a coherent notion of time are studied. Detailed derivations of the clock model and various clock relation models are provided. The clock synchronization methods are also presented for different models, and their expected performance are derived and illustrated. A survey of time synchronization protocols is provided to aid the IoT practitioners to select appropriate components for a deployment. The clock discipline algorithms are presented in a tutorial format, while the time synchronization methods are summarized as a survey. Therefore, this paper is a holistic overview of the available time synchronization methods for IoT deployments.

Synchronization of Heterogeneous Multi-Robotic Cell with Emphasis on Low Computing Power

This paper presents a time-synchronization solution for operations performed by a heterogeneous set of robotic manipulators grouped into a production cell. The cell control is realized using master–slave architecture without an external control element. Information transmission in a cell is provided by a TCP/IP channel in which communication is ensured via sockets. The proposed problem solution includes an algorithm, which is verified and validated by simulation and tested in real environment. This algorithm requires minimal computational power thanks to an empirically oriented approach, which enables its processing directly by the control unit of each participating element of the robotic cell. The algorithm works on the basis of monitoring and evaluating time differences among sub-operations of master and slave devices. This ensures defined production cycle milestones of each robotic manipulator in the cell at the same time are attained. Dynamic speed adaptation of slave manipulators utilizing standard instructions of their native language is used. The proposed algorithm also includes a feedforward form of operations synchronization which responds to changes in the operating cycle of the master manipulator. The application of the solution proposal is supplemented with a visualization part. This part represents a complementary form of designed solution implementation.

Solution for wireless time synchronization using sub-Nyquist sampling rates

This article presents an accurate low-cost solution for wireless time synchronization between different systems. The results are obtained using commercial-off-the-shelf 2.4 GHz transceiver components and a novel approach to the sampling of pseudo-random number code modulated signals that enables highly accurate estimation of signal arrival times using simple hardware. The method consists of sampling incoming signals at a sub-bit-rate frequency and subsequent data processing that estimates the shape of the pulse-form of each individual data bit. Based on this, the arrival time of the signal can be determined, with estimates achieving higher accuracy with increasing code lengths regardless of bit-rate. This means that accurate measurements can be achieved with modest hardware running at sample rates in the low megahertz range. The developed solution is thereby able to achieve sub-nanosecond resolution using a 32767-bit Gold code modulated signal with a chirp-rate of 3.2767 MHz.

Real-time georeferencing of thermal images using small fixed-wing UAVs in maritime environments

This article considers real-time georeferencing using a fixed-wing unmanned aerial vehicle (UAV) with a thermal camera. A flexible system for direct georeferencing is proposed without the need for ground reference points. Moreover, as the system is tailored for highly maneuverable and agile fixed-wing UAVs, no restrictions on the motion are assumed. The system is designed with a solution for accurate time synchronization between sensors. This feature enables tracking of objects with low uncertainty. Sensors for navigation, permitting estimation of the UAV pose with a nonlinear observer, are employed in addition to a thermal camera. The estimated UAV pose is utilized in georeferencing to acquire Earth-fixed coordinates of objects. The main examples studied in this research are georeferencing of a static object and of a moving marine vessel. To obtain the desired accuracy, thermal camera calibration and compensation of mounting misalignment errors are discussed. The entire system is validated in two independent field experiments with a thorough analysis of the results. Georeferencing of a static object is conducted with centimeter accuracy when the average position of all measurements is used. The position of a moving marine vessel is obtained with mean accuracy of two meters.

Features of modernization of the National network of universal time based on the experience of introducing modern time synchronization solutions in corporate networks

The article is devoted to the problems of modernization of the National network of universal time (The Service of universal time and reference frequencies) in the conditions of increasing requirements for the synchronization quality of time and frequency in sectors critical to the accuracy of time. At present, meeting the needs of different consumers in synchronization signals of the exact time is an urgent metrological task. The Resolution of the Cabinet of Ministers of Ukraine No. 664 “Issues of the Service of universal time and reference frequencies”, dated September 2, 2015, approved the Regulations on the universal time and reference frequencies, which defines the main priorities for providing Ukrainian consumers with reliable information on the exact time using the state measurement standards of the units of time and frequency.The paper presents a comparative analysis of time synchronization accuracy requirements in the main critical industry sectors.Ways of delivering accurate time signals from national time measurement standards in the context of GNSS vulnerability are considered, an examples of technical solutions for delivering accurate time signals to remote users based on current ITU-T and IEEE recommendations are provided.These technical solutions can be successfully taken into account for the development and modernization of the Service of universal time and reference frequencies. Solutions to the problem of synchronization signals delivery from national time and frequency measurement standards to users (customers) with the smallest error, based on modern equipment and taking into account the capabilities of the PTP IEEE 1588–2008 protocol as the most efficient and accurate time synchronization method, are considered. The main factors that negatively affect the accuracy of the time synchronization network constructed in accordance with the PTP 1588–2008 protocol are considered, and recommendations are given to minimize their impact while modernizing the Service of universal time.The paper presents examples of the use of various types of synchronization equipment, based on existing experience in solving such problems in modern corporate (sector) synchronization networks, such as mobile communications, energy and finance.

Traveling Wave-Based Solutions for Transmission Line Two-Terminal Data Time Synchronization

This Letter presents traveling wave (TW)-based solutions for transmission line two-terminal data time synchronization. By analyzing line energization or fault records with high sampling rates, the arrival times of modal TWs at both line ends are estimated, and then used to compute a synchronization factor through which local and remote time references are aligned. Line energization and fault case studies were carried out using the Alternative Transients Program to evaluate the proposed solutions, which in turn proved to be accurate and easy-to-use.

Time Synchronization Solution for FPGA-based Distributed Network Monitoring

Distributed network monitoring solutions face various challenges with the increase of line speed, the extending variety of protocols, and new services with complex KPIs. This paper addresses one part of the first challenge: faster line speed necessitates time-stamping with higher granularity and higher precision than ever. Proper, system-wide time-stamping is inevitable for network monitoring and traffic analysis point of view. It is hard to find feasible time synchronization solutions for those systems that have nation-wide, physically distributed probes. Current networking equipment reside in server rooms, and have many legacy nodes. Access to GPS signal is complicated in these places, and Precision Time Protocol (PTP) does not seem to be supported by all network nodes in the near future – so high precision time-stamping is indeed a current problem. This paper suggests a novel, practical solution to overcome the obstacles. The core idea is that in real-life, distributed network monitoring systems operate with a few, finite number of probeclusters, and their site should have a precise clock provided by PTP or GPS somewhere in the building. The distribution of time information within a site is still troublesome, even within a server rack. This paper presents a closed control loop solution implemented in an FPGA-based device in order to minimize the jitter, and compensate the calculated delay.

Time synchronization and ranging under unknown positions and velocities

The process to achieve time synchronization and ranging for a network of mobile nodes is raising a concern among researchers, and hence a variety of joint time synchronization and ranging algorithms have been proposed in recent years. However, few of them handle the case of all-node motion under unknown positions and velocities. This study addresses the problem of determining ranging and time synchronization for a group of nodes moving within a local area. First, we examined several models of clock discrepancy and synchronous two-way ranging. Based upon these models, we present a solution for time synchronization with known positions and velocities. Next, we propose a functional model that jointly estimates the clock skew, clock offset, and time of flight in the absence of a priori knowledge for a pair of mobile nodes. Then, we extend this model to a network-wide time synchronization scheme by way of a global least square estimator. We also discuss the advantages and disadvantages of our model compared to the existing algorithms, and we provide some applicable scenarios as well. Finally, we show that the simulation results verify the validity of our analysis.

Utilization of Chip-Scale Atomic Clock for Synchrophasor Measurements

Global positioning system (GPS)-based phasor measurement units (PMUs) are increasingly deployed in the power system in order to monitor the grid status in real time. Nevertheless, GPS receivers inside PMUs tend to lose signal lock when certain uncontrollable and unpredictable factors arise. To address this issue, the chip-scale atomic clock is proposed to be used as a backup solution for time synchronization in this paper. It is the first time ever reporting the utilization of CSAC in the electric power grid. Test results show that CSAC can work as a reliable and accurate backup for GPS timing.

A Joint Time Synchronization and Localization Design for Mobile Underwater Sensor Networks

Time synchronization and localization are basic services in a sensor network system. Although they often depend on each other, they are usually tackled independently. In this work, we investigate the time synchronization and localization problems in underwater sensor networks, where more challenges are introduced because of the unique characteristics of the water environment. These challenges include long propagation delay and transmission delay, low bandwidth, energy constraint, mobility, etc. We propose a joint solution for localization and time synchronization, in which the stratification effect of underwater medium is considered, so that the bias in the range estimates caused by assuming sound waves travel in straight lines in water environments is compensated. By combining time synchronization and localization, the accuracy of both are improved jointly. Additionally, an advanced tracking algorithm interactive multiple model (IMM) is adopted to improve the accuracy of localization in the mobile case. Furthermore, by combining both services, the number of required exchanged messages is significantly reduced, which saves on energy consumption. Simulation results show that both services are improved and benefit from this scheme.

FLIGHT: Clock Calibration and Context Recognition Using Fluorescent Lighting

In this paper, we propose a novel clock calibration approach called FLIGHT, which leverages the fact that the fluorescent light intensity changes with a stable period that equals half of the alternating current's. By tuning to the light emitted from indoor fluorescent lamps, FLIGHT can intelligently extract the light period information and achieve network wide time calibration by referring to such a common time reference. The light period can be also viewed as an indoor context indicator. As sampling the light sensor consumes substantially less energy, FLIGHT provides us a lightweight clock calibration and time synchronization solution. In addition, FLIGHT suits various mobility-enabled scenarios and it can work well even when the network is temporarily disconnected. We address a series of practical challenges and implement FLIGHT in TelosB motes. We conduct comprehensive experiments using a 12-node test-bed in both static and mobile environments. Over one-week measurement suggests that compared with existing technologies, FLIGHT can achieve tightly synchronized time with low energy consumption. We further leverage the periodical pattern and upgrade FLIGHT to recognize the ambient indoor/outdoor context, based on which the on/off states of a variety of location-based services can be controlled automatically for mobile devices.

Voltage-Aware Time Synchronization for Wireless Sensor Networks

The low-cost crystal oscillators in wireless sensor networks are prone to be affected by their working conditions such as voltage, temperature, and humidity. Such effect is often ignored by existing time synchronization solutions that typically assume the frequency error of a given node to be constant and hence adopt frequent timestamp exchanges, resulting in high energy consumptions. We propose a novel voltage-aware time synchronization (VATS) scheme that is inspired by the fact that the clock skew is highly correlated to voltage supplies. VATS features a two-phase process: (i) it first estimates the clock skew and updates the frequency error autonomously based on the local voltage level; (ii) it then adjusts the resynchronization intervals dynamically according to a given synchronization error controlling factor and the synchronization error accumulating rate to balance the calibration accuracy and cost. Since VATS leverages voltage measurements to assist clock skew estimation, it does not require frequent timestamp exchanges as in traditional schemes. Extensive simulation results illustrate the superior performance of the proposed method in terms of calculation accuracy, robustness, and reduced timestamp exchanges for energy saving.

DA-Sync: A Doppler-Assisted Time-Synchronization Scheme for Mobile Underwater Sensor Networks

Time synchronization plays a critical role in distributed network systems. In this paper, we investigate the time synchronization problem in the context of underwater sensor networks (UWSNs). Although many time-synchronization protocols have been proposed for terrestrial wireless sensor networks, none of them can be directly applied to UWSNs. This is because most of these protocols do not consider long propagation delays and sensor node mobility, which are important attributes in UWSNs. In addition, UWSNs usually have high requirements in energy efficiency. To solve these new challenges, innovative time synchronization solutions are demanded. In this paper, we propose a pairwise, cross-layer, time-synchronization scheme for mobile underwater sensor networks, called DA-Sync. The scheme proposes a framework to estimate the doppler shift caused by mobility, more precisely through accounting the impact of the skew. To refine the relative velocity estimation, and consequently to enhance the synchronization accuracy, the Kalman filter is employed. Further, the clock skew and offset are calibrated by two runs of linear regression. Simulation results show that DA-Sync outperforms the existing synchronization schemes in both accuracy and energy efficiency.

A Distributed Time Synchronization Solution without Satellite Time Reference for Mobile Communication

Synchronization is one of the most important issues for telecommunication. Some 3G and LTE mobile communication systems require high-accuracy time synchronization between neighboring base stations. Existing synchronization solutions rely heavily on the satellite time service system, such as GPS, as the common time reference. In the event that satellite systems become unavailable, time synchronization in a wide area would be lost. In this paper, a distributed time synchronization solution is proposed without relying on satellite time reference. Simulation and experimental results show that the proposed solution converges fast and can realize high-accuracy time synchronization for large-scale networks.

Time and Frequency Synchronization for MIMO-OFDM Systems

Any carrier frequency offset will cause a loss of subcarrier orthogonality which results in ICI and hence performance degrades severely in MIMO-OFDM systems. In this paper, a time and frequency synchronization solution for multiple-input multiple-output (MIMO) orthogonal frequency division multiplexing (OFDM) systems is proposed. The synchronization is achieved using one Constant Amplitude Zero Auto Correlation (CAZAC) sequence-based preamble which is simultaneously transmitted from all transmit antennas in the same OFDM time instant. The synchronization is accomplished sequentially by coarse time synchronization, fractional frequency offset estimation, integral frequency offset estimation and fine time synchronization. The simulation shows that the proposed algorithm can estimate the timing and frequency offsets efficiently in MIMO-OFDM systems, especially in low signal-to-noise ratio condition.