Time synchronization and ranging under unknown positions and velocities
Source abstract
Abstract
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.
Source: openaire · Quality: candidate unverified · Source record ↗
Research context
OpenAlex topics: Network Time Synchronization Technologies · Indoor and Outdoor Localization Technologies · Underwater Vehicles and Communication Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
References (42)
Show source-provided references
1. Yang P, Tan Z, Wiesel A, et al. Power system state estimation using PMUs with imperfect synchronization. IEEE T Power Syst, 2013, 28: 4162–417210.1109/TPWRS.2013.2272220 ↗
2. Yick J, Mukherjee B, Ghosal D. Wireless sensor network survey. Comput Netw, 2008, 52: 2292–233010.1016/j.comnet.2008.04.002 ↗
3. Wang Z B, Zhao L, Wang S G, et al. COMPASS time synchronization and dissemination-Toward centimetre positioning accuracy. Sci China-Phys Mech Astron, 2014, 57: 1788–180410.1007/s11433-014-5508-z ↗
4. Avila-Rodriguez J A, Wallner S, Hein G W, et al. A vision on new frequencies, signals and concepts for future GNSS systems. In: Proceedings of the 20th International Technical Meeting of the Satellite Division of the Institute of Navigation. Fort Worth TX, 2007. 517–534
5. Kim J. Measurement time synchronization for a satellite-to-satellite ranging system. In: International Conference on Control, Automation and Systems, 2007. ICCAS07. IEEE, 2007. 190–194
6. Liu J, Wan J, Wang Q, et al. A novel energy-saving one-sided synchronous two-way ranging algorithm for vehicular positioning. Mobile Netw Appl, 2015, 20: 661–67210.1007/s11036-015-0604-5 ↗
7. Misra P, Enge P. Global Positioning System: Signals, Measurements and Performance. 2nd ed. Lincoln: Ganga-Jamuna Press, 2006
8. Güvenç İ, Chong C C. A survey on TOA based wireless localization and NLOS mitigation techniques. IEEE Commun Surv Tut, 2009, 11: 107–12410.1109/SURV.2009.090308 ↗
9. Xiao J, Ren L, Tan J. Research of TDOA based self-localization approach in wireless sensor network. In: Proceedings of the Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on. IEEE, 2006. 2035–204010.1109/IROS.2006.282415 ↗
10. Barchi G. Algorithms and performance analysis for synchrophasor and grid state estimation. Dissertation of Doctoral Degree. Trento: University of Trento, 2015
11. Bolognani S, Carli R, Todescato M. State estimation in power distribution networks with poorly synchronized measurements. In: Proceedings of the Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on. IEEE, 2014. 2579–2584
12. Glennon E P, Gauthier J P, Choudhury M, et al. Synchronization and syntonization of formation flying cubesats using the namuru V3.2 spaceborne GPS receiver. In: Proceedings of the ION 2013 Pacific PNT Meeting. Honolulu, 2013. 23–25
13. Rhee I K, Lee J, Kim J, et al. Clock synchronization in wireless sensor networks: An overview. Sensors, 2009, 9: 56–8510.3390/s90100056 ↗
14. Sivrikaya F, Yener B. Time synchronization in sensor networks: A survey. IEEE Network, 2004, 18: 45–5010.1109/MNET.2004.1316761 ↗
15. Faizulkhakov Y R. Time synchronization methods for wireless sensor networks: A survey. Program Comput Soft, 2007, 33: 214–22610.1134/S0361768807040044 ↗
16. Ranganathan P, Nygard K. Time synchronization in wireless sensor networks: A survey. Int J UbiComp (IJU), 2010, 1: 92–10210.5121/iju.2010.1206 ↗
17. Barnes J, Rizos C, Wang J, et al. High precision indoor and outdoor positioning using LocataNet. J Glob Posit Syst, 2002, 2: 73–8210.5081/jgps.2.2.73 ↗
18. Barnes J, Rizos C, Kanli M, et al. Indoor industrial machine guidance using Locata: A pilot study at BlueScope Steel. In: Proceedings of the 60th Annual Meeting of the US Institution of Navigation. 2004. 533–540
19. Montillet J P, Meng X, Taha A, et al. Achieving Centimetre-level Positioning Accuracy in Urban Canyonswith Locata Technology. J Glob Posit Syst, 2007, 6: 158–16510.5081/jgps.6.2.158 ↗
20. Ganeriwal S, Kumar R, Srivastava M B. Timing-sync protocol for sensor networks. In: Proceedings of the 1st International Conference on Embedded Networked Sensor Systems. Association for Computing Machinery, 2003. 138–14910.1145/958491.958508 ↗
21. Noh K L, Chaudhari Q M, Serpedin E, et al. Novel clock phase offset and skew estimation using two-way timing message exchanges for wireless sensor networks. IEEE T Commun, 2007, 55: 766–77710.1109/TCOMM.2007.894102 ↗
22. Leng M, Wu Y C. On clock synchronization algorithms for wireless sensor networks under unknown delay. IEEE T Veh Technol, 2010, 59: 182–19010.1109/TVT.2009.2028147 ↗
23. Rajan R T, van der Veen A J. Joint ranging and clock synchronization for a wireless network. In: Proceedings of the Computational Advances in Multi-Sensor Adaptive Processing (CAMSAP), 2011 4th IEEE International Workshop on. IEEE, 2011. 297–30010.1109/CAMSAP.2011.6136008 ↗
24. Chepuri S P, Rajan R T, Leus G, et al. Joint clock synchronization and ranging: Asymmetrical time-stamping and passive listening. IEEE Signal Proc Let, 2013, 20: 51–5410.1109/LSP.2012.2222371 ↗
25. Zhu S, Ding Z. Joint synchronization and localization using TOAs: A linearization based WLS solution. IEEE J Sel Aera Comm, 2010, 28: 1017–102510.1109/JSAC.2010.100906 ↗
26. Zheng J, Wu Y C. Joint time synchronization and localization of an unknown node in wireless sensor networks. IEEE T Signal Process, 2010, 58: 1309–132010.1109/TSP.2009.2032990 ↗
27. Liu J, Wang Z, Zuba M, et al. JSL: Joint time synchronization and localization design with stratification compensation in mobile underwater sensor networks. In: Proceedings of the Sensor, Mesh and Ad Hoc Communications and Networks (SECON), 2012 9th Annual IEEE Communications Society Conference on. IEEE, 2012. 317–32510.1109/SECON.2012.6275793 ↗
28. Wei H W, Wan Q, Chen Z X, et al. A novel weighted multidimensional scaling analysis for time-of-arrival-based mobile location. IEEE T Signal Process, 2008, 56: 3018–302210.1109/TSP.2007.914349 ↗
29. Howard A, Matark M J, Sukhatme G S. Localization for mobile robot teams using maximum likelihood estimation. In: Proceedings of the Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on. IEEE, 2002. 434–439
30. Gohring D, Burkhard H D. Multi robot object tracking and self localization using visual percept relations. In: Proceedings of the Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on. IEEE, 2006. 31–3610.1109/IROS.2006.282427 ↗
31. Park J, Demaine E D, Teller S. Moving-baseline localization. In: Proceedings of the Information Processing in Sensor Networks, 2008. IPSN'08. International Conference on. IEEE, 2008. 15–26
32. Rajan R T, Leus G, van der Veen A J. Relative velocity estimation using multidimensional scaling. In: Proceedings of the Computational Advances in Multi-Sensor Adaptive Processing (CAMSAP), 2013 IEEE 5th International Workshop on. IEEE, 2013. 125–128
33. Gu X, Chang Q, Glennon E P, et al. An autonomous satellite time synchronization system using remotely disciplined VC-OCXOs. Sensors, 2015, 15: 17895–1791510.3390/s150817895 ↗
34. Xu Y, Chang Q, Yu Z J. On new measurement and communication techniques of GNSS inter-satellite links. Sci China Tech Sci, 2012, 55: 285–29410.1007/s11431-011-4586-7 ↗
35. Rajan R T, van der Veen A J. Joint ranging and synchronization for an anchorless network of mobile nodes. IEEE T Signal Process, 2015, 63: 1925–194010.1109/TSP.2015.2391076 ↗
36. Shmaliy Y S. An unbiased FIR filter for TIE model of a local clock in applications to GPS-based timekeeping. IEEE T Ultrason Ferr, 2006, 53: 862–87010.1109/TUFFC.2006.1632677 ↗
37. Allan D W. Time and frequency (time-domain) characterization, estimation, and prediction of precision clocks and oscillators. IEEE T Ultrason Ferr, 1987, 34: 647–65410.1109/T-UFFC.1987.26997 ↗
38. Kay S M. Fundamentals of Statistical Signal Processing: Estimation Theory. Englewood Cliffs: Prentice-Hall, 1993
39. Arceo-Miquel L, Shmaliy Y S, Ibarra-Manzano O. Optimal synchronization of local clocks by GPS 1PPS signals using predictive FIR filters. IEEE T Instrum Meas, 2009, 58: 1833–184010.1109/TIM.2009.2013654 ↗
40. Shmaliy Y S, Simon D. Iterative unbiased FIR state estimation: A review of algorithms. EURASIP J Adv Sig Pr, 2013, 2013: 1–1610.1186/1687-6180-2013-1 ↗
41. Giorgi G, Narduzzi G. Performance analysis of Kalman-filter-based clock synchronization in IEEE 1588 networks. IEEE T Instrum Meas, 2011, 60: 2902–290910.1109/TIM.2011.2113120 ↗
42. Farina M, Galleani L, Tavella P, et al. A control theory approach to clock steering techniques. IEEE T Ultrason Ferr, 2010, 57: 2257–227010.1109/TUFFC.2010.1687 ↗