Improved Clock Parameters Tracking and Ranging Method Based on Two-Way Timing Stamps Exchange Mechanism

Xiaobo Gu, Jianzhong Li, Guoxu Zhou, Shengli Xie

Abstract: A common approach for synchronizing the agents in a Wireless Sensor Network (WSN) is two-way timing stamps exchange mechanism. In this letter, by analyzing the change of accumulated clock offset within each communication cycle, an improved two-state discrete-time state model is proposed. A step further, two Kalman-filter-based estimators are proposed, by which the clock parameters and propagation delays can be estimated. The simulation results show that the proposed estimators outperform the conventional Kalman Filter (KF), especially with respect to the accumulated clock offset.